+ python -m lidar_slam --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters Centerline goodness : 0.108797 Centerline is valid? [0, False] SLAMing on 0.03864 meters Centerline goodness : 0.168221 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.01 [[ 9.99998058e-01 1.85311721e-03 6.70786336e-04 -5.29420241e-03] [-1.85404393e-03 9.99997324e-01 1.38356828e-03 1.20153385e-03] [-6.68220627e-04 -1.38480926e-03 9.99998818e-01 5.55299591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06863999999999999 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 0.09863999999999999 meters Centerline goodness : 0.165856 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99997720e-01 1.94311710e-03 -8.85156201e-04 5.17710731e-03] [-1.94227894e-03 9.99997666e-01 9.46783544e-04 3.92779763e-03] [ 8.86993846e-04 -9.45062166e-04 9.99999160e-01 -5.46094333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12864 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 0.15864 meters Centerline goodness : 0.086447 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99993480e-01 2.58931609e-03 -2.51719863e-03 1.48142927e-02] [-2.58866057e-03 9.99996615e-01 2.63640804e-04 1.09716514e-02] [ 2.51787275e-03 -2.57122912e-04 9.99996797e-01 -1.52745123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18864 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 0.21864 meters Centerline goodness : 0.072076 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99998639 -0.00450068 -0.00263732 0.03284757] [ 0.00450563 0.9999881 0.0018721 0.01456123] [ 0.00262886 -0.00188396 0.99999477 -0.00852196] [ 0. 0. 0. 1. ]] SLAMing on 0.24864 meters Centerline goodness : 0.137828 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998286 -0.00418038 -0.00409823 0.04334231] [ 0.00418737 0.99998979 0.0016976 0.01742564] [ 0.0040911 -0.00171473 0.99999016 -0.01934752] [ 0. 0. 0. 1. ]] SLAMing on 0.27864 meters Centerline goodness : 0.140502 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.9999845 -0.00254914 -0.00494966 0.04884377] [ 0.00256262 0.99999302 0.00271948 0.01909347] [ 0.0049427 -0.00273212 0.99998405 -0.02465736] [ 0. 0. 0. 1. ]] SLAMing on 0.30863999999999997 meters Centerline goodness : 0.110459 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99999104 -0.00239191 -0.00349234 0.03875002] [ 0.0024006 0.99999402 0.00248826 0.02078397] [ 0.00348637 -0.00249663 0.99999081 -0.01377224] [ 0. 0. 0. 1. ]] SLAMing on 0.33863999999999994 meters Centerline goodness : 0.110067 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99998502 -0.00230342 -0.00496599 0.04923273] [ 0.00231455 0.99999482 0.00223568 0.02269917] [ 0.00496082 -0.00224714 0.99998517 -0.02456224] [ 0. 0. 0. 1. ]] SLAMing on 0.36863999999999997 meters Centerline goodness : 0.079643 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.04 [[ 0.99997557 -0.00216412 -0.00664687 0.06020297] [ 0.00217589 0.99999608 0.00176353 0.02606399] [ 0.00664302 -0.00177795 0.99997635 -0.0351102 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39864 meters Centerline goodness : 0.077855 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.05 [[ 0.99996335 -0.00215315 -0.00828594 0.07100065] [ 0.00216506 0.99999664 0.00142789 0.02822311] [ 0.00828284 -0.00144577 0.99996465 -0.04551299] [ 0. 0. 0. 1. ]] SLAMing on 0.42863999999999997 meters Centerline goodness : 0.078364 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.05 [[ 0.99996302 -0.00209081 -0.00834161 0.07130064] [ 0.00210115 0.99999704 0.00123065 0.02962458] [ 0.00833901 -0.00124814 0.99996445 -0.04528072] [ 0. 0. 0. 1. ]] SLAMing on 0.45863999999999994 meters Centerline goodness : 0.114932 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99963542e-01 -3.69838925e-03 -7.69656827e-03 6.71109179e-02] [ 3.69630742e-03 9.99993128e-01 -2.84694852e-04 3.04990939e-02] [ 7.69756829e-03 2.56235590e-04 9.99970340e-01 -4.03830300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48863999999999996 meters Centerline goodness : 0.076659 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99960293e-01 -3.98272175e-03 -7.97190371e-03 7.62730137e-02] [ 3.97911509e-03 9.99991974e-01 -4.68231998e-04 3.01201550e-02] [ 7.97370457e-03 4.36492284e-04 9.99968114e-01 -5.06567892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51864 meters Centerline goodness : 0.079328 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99960343e-01 -3.89121565e-03 -8.01071457e-03 7.67707939e-02] [ 3.88738442e-03 9.99992322e-01 -4.93778155e-04 3.07985171e-02] [ 8.01257446e-03 4.62617846e-04 9.99967792e-01 -5.04538532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54864 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 0.5786399999999999 meters Centerline goodness : 0.115002 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99971909e-01 -3.75032153e-03 -6.48975195e-03 6.77640371e-02] [ 3.74860475e-03 9.99992936e-01 -2.76681322e-04 3.02999630e-02] [ 6.49074375e-03 2.52346035e-04 9.99978903e-01 -4.06563480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60864 meters Centerline goodness : 0.116231 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99958408e-01 -4.29364530e-03 -8.04660436e-03 7.88990657e-02] [ 4.29237678e-03 9.99990772e-01 -1.74909918e-04 2.69768202e-02] [ 8.04728111e-03 1.40363585e-04 9.99967610e-01 -5.10486648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63864 meters Centerline goodness : 0.079358 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.06 [[ 9.99942861e-01 -4.55386740e-03 -9.67141915e-03 8.97615214e-02] [ 4.55314154e-03 9.99989630e-01 -9.70683368e-05 2.55163204e-02] [ 9.67176089e-03 5.30274502e-05 9.99953226e-01 -6.13576137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6686399999999999 meters Centerline goodness : 0.111431 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 0.99992696 0.00269532 -0.01178201 0.11101406] [-0.00271294 0.99999522 -0.00148035 0.02745564] [ 0.01177796 0.00151221 0.99992949 -0.05637855] [ 0. 0. 0. 1. ]] SLAMing on 0.6986399999999999 meters Centerline goodness : 0.110407 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 0.99997765 0.00143697 -0.00652898 0.14575017] [-0.0014477 0.99999761 -0.00163958 0.02451461] [ 0.00652661 0.001649 0.99997734 -0.04969266] [ 0. 0. 0. 1. ]] SLAMing on 0.72864 meters Centerline goodness : 0.157801 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.04 [[ 0.99998694 0.00121837 -0.00496376 0.13624508] [-0.00122552 0.99999821 -0.00143924 0.02190068] [ 0.004962 0.0014453 0.99998664 -0.03956317] [ 0. 0. 0. 1. ]] SLAMing on 0.75864 meters Centerline goodness : 0.079848 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99986273e-01 1.03560781e-03 -5.13627559e-03 1.45953381e-01] [-1.04017828e-03 9.99999065e-01 -8.87251419e-04 1.82691842e-02] [ 5.13535194e-03 8.92581882e-04 9.99986416e-01 -4.98972360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78864 meters Centerline goodness : 0.142534 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99986399e-01 9.45152376e-04 -5.12923043e-03 1.46437590e-01] [-9.48829442e-04 9.99999295e-01 -7.14498589e-04 1.69308883e-02] [ 5.12855150e-03 7.19355636e-04 9.99986590e-01 -4.97379308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8186399999999999 meters Centerline goodness : 0.121823 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.04 [[ 9.99993604e-01 9.61375272e-04 -3.44498287e-03 1.37058152e-01] [-9.62927157e-04 9.99999436e-01 -4.48846450e-04 1.53275832e-02] [ 3.44454941e-03 4.52160847e-04 9.99993965e-01 -4.02753710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84864 meters Centerline goodness : 0.081370 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.05 [[ 9.99986984e-01 8.45746217e-04 -5.03156736e-03 1.48011422e-01] [-8.47677881e-04 9.99999568e-01 -3.81788782e-04 1.45067982e-02] [ 5.03124229e-03 3.86048961e-04 9.99987269e-01 -5.07161182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87864 meters Centerline goodness : 0.119466 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.04 [[ 9.99994283e-01 9.28665280e-04 -3.25143193e-03 1.39300769e-01] [-9.29360176e-04 9.99999546e-01 -2.12215729e-04 1.37758117e-02] [ 3.25123337e-03 2.15236267e-04 9.99994692e-01 -4.13523212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9086399999999999 meters Centerline goodness : 0.124623 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 9.99963307e-01 -7.63998490e-03 -3.87485678e-03 1.52927521e-01] [ 7.64328168e-03 9.99970440e-01 8.36719416e-04 1.14023664e-02] [ 3.86834971e-03 -8.66305336e-04 9.99992143e-01 -2.95274902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9386399999999999 meters Centerline goodness : 0.081322 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.04 [[ 9.99956171e-01 -7.90793198e-03 -5.01195618e-03 1.63948846e-01] [ 7.91211480e-03 9.99968366e-01 8.15291243e-04 1.07009428e-02] [ 5.00535037e-03 -8.54910683e-04 9.99987108e-01 -3.95382513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96864 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 0.99864 meters Centerline goodness : 0.084374 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.04 [[ 9.99977921e-01 -5.44665879e-04 -6.62273371e-03 1.85785550e-01] [ 5.38850713e-04 9.99999468e-01 -8.79813960e-04 1.29771159e-02] [ 6.62320939e-03 8.76225870e-04 9.99977682e-01 -3.52204028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02864 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 1.05864 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 1.08864 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 1.1186399999999999 meters Centerline goodness : 0.097443 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.04 [[ 9.99910224e-01 -2.22532271e-03 -1.32133002e-02 2.47871407e-01] [ 2.22226346e-03 9.99997500e-01 -2.46205802e-04 6.17035653e-03] [ 1.32138151e-02 2.16820264e-04 9.99912670e-01 -3.87750463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1486399999999999 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 1.17864 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 1.20864 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 1.23864 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 1.26864 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 1.29864 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 1.3286399999999998 meters Centerline goodness : 0.086703 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.05 [[ 0.99979383 -0.01297585 -0.01561779 0.33240542] [ 0.01302059 0.9999114 0.00276609 -0.01728195] [ 0.01558052 -0.00296887 0.99987421 -0.04570622] [ 0. 0. 0. 1. ]] SLAMing on 1.3586399999999998 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 1.3886399999999999 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 1.41864 meters Centerline goodness : 0.096857 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.05 [[ 0.99996305 -0.0049729 -0.00701143 0.34833606] [ 0.00499417 0.99998297 0.00302053 -0.0222876 ] [ 0.00699629 -0.00305543 0.99997086 -0.04550525] [ 0. 0. 0. 1. ]] SLAMing on 1.44864 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 1.47864 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 1.50864 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 1.53864 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 1.56864 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 1.5986399999999998 meters Centerline goodness : 0.069644 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.05 [[ 0.99998763 -0.0031958 -0.00381187 0.40677798] [ 0.00320402 0.99999255 0.00215299 -0.01192259] [ 0.00380496 -0.00216518 0.99999042 -0.05201775] [ 0. 0. 0. 1. ]] SLAMing on 1.6286399999999999 meters Centerline goodness : 0.074835 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:-0.04 [[ 0.99998623 0.00252931 -0.00459872 0.42225177] [-0.00254318 0.99999222 -0.0030139 -0.00230032] [ 0.00459106 0.00302556 0.99998488 -0.04286695] [ 0. 0. 0. 1. ]] SLAMing on 1.65864 meters Centerline goodness : 0.073917 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.05 [[ 9.99978866e-01 2.71035458e-03 -5.90940126e-03 4.33139797e-01] [-2.73052883e-03 9.99990463e-01 -3.40853433e-03 7.22880060e-04] [ 5.90010656e-03 3.42459809e-03 9.99976730e-01 -5.26468327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68864 meters Centerline goodness : 0.152114 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.05 [[ 0.99998307 0.00270013 -0.00515429 0.4348441 ] [-0.00272066 0.99998838 -0.0039801 0.00343924] [ 0.00514348 0.00399406 0.9999788 -0.05278305] [ 0. 0. 0. 1. ]] SLAMing on 1.71864 meters Centerline goodness : 0.150847 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.05 [[ 9.99973804e-01 -3.73240147e-03 -6.20158422e-03 4.51979820e-01] [ 3.72750283e-03 9.99992732e-01 -8.01270745e-04 1.51000367e-03] [ 6.20452981e-03 7.78133333e-04 9.99980449e-01 -4.56796534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74864 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 1.77864 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 1.8086399999999998 meters Centerline goodness : 0.072726 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.05 [[ 9.99966945e-01 -8.13060751e-03 -5.07280153e-05 4.58238186e-01] [ 8.13012465e-03 9.99946984e-01 -6.31905396e-03 1.00364846e-02] [ 1.02103073e-04 6.31843265e-03 9.99980033e-01 -5.36805262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8386399999999998 meters Centerline goodness : 0.155983 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.05 [[ 0.99993377 -0.01021423 -0.00530313 0.50758151] [ 0.01017371 0.99991926 -0.00761378 0.00961181] [ 0.00538047 0.00755932 0.99995695 -0.05248973] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999999 meters Centerline goodness : 0.072878 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.05 [[ 0.99996181 -0.00712938 -0.00505521 0.50880959] [ 0.00711383 0.99996993 -0.00308786 0.00235141] [ 0.00507707 0.00305178 0.99998245 -0.05334132] [ 0. 0. 0. 1. ]] SLAMing on 1.8986399999999999 meters Centerline goodness : 0.163764 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:-0.06 [[ 0.99995149 -0.00755561 -0.00631878 0.5193884 ] [ 0.00753799 0.99996765 -0.00280752 -0.00123479] [ 0.00633979 0.00275976 0.9999761 -0.06275812] [ 0. 0. 0. 1. ]] SLAMing on 1.92864 meters Centerline goodness : 0.163203 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.06 [[ 0.99995907 -0.00359571 -0.00830286 0.54260131] [ 0.00353331 0.99996549 -0.00751858 -0.00264765] [ 0.00832961 0.00748894 0.99993726 -0.0604496 ] [ 0. 0. 0. 1. ]] SLAMing on 1.95864 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 1.98864 meters Centerline goodness : 0.164130 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.06 [[ 0.99998514 -0.00359779 -0.00409689 0.57886059] [ 0.00357521 0.99997846 -0.00550517 -0.01133107] [ 0.00411661 0.00549045 0.99997645 -0.05610802] [ 0. 0. 0. 1. ]] SLAMing on 2.01864 meters Centerline goodness : 0.160395 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.05 [[ 0.99998509 0.00255823 -0.00482423 0.59517668] [-0.00260215 0.99995502 -0.00912016 -0.00890099] [ 0.00480069 0.00913258 0.99994677 -0.04853519] [ 0. 0. 0. 1. ]] SLAMing on 2.0486400000000002 meters Centerline goodness : 0.169684 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.06 [[ 0.99998306 0.00264986 -0.00518311 0.60484398] [-0.00269577 0.99995703 -0.00886941 -0.00987854] [ 0.00515938 0.00888323 0.99994723 -0.05809405] [ 0. 0. 0. 1. ]] SLAMing on 2.07864 meters Centerline goodness : 0.195440 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.07 [[ 0.9999774 0.00306392 -0.00598417 0.61592239] [-0.00311607 0.99995708 -0.00872508 -0.01033427] [ 0.00595718 0.00874353 0.99994403 -0.06716548] [ 0. 0. 0. 1. ]] SLAMing on 2.1086400000000003 meters Centerline goodness : 0.165637 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.06 [[ 0.99997487 0.00481554 -0.00520366 0.6116784 ] [-0.00485184 0.99996382 -0.00698713 -0.01102567] [ 0.00516983 0.00701221 0.99996205 -0.06272955] [ 0. 0. 0. 1. ]] SLAMing on 2.13864 meters Centerline goodness : 0.133816 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.06 [[ 0.9999796 -0.00169521 -0.00615803 0.62985181] [ 0.00167323 0.99999222 -0.00357235 -0.01270123] [ 0.00616404 0.00356198 0.99997466 -0.05656112] [ 0. 0. 0. 1. ]] SLAMing on 2.1686400000000003 meters Centerline goodness : 0.135137 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.06 [[ 0.99998071 -0.00173902 -0.00596254 0.63005037] [ 0.00171675 0.99999154 -0.0037378 -0.01228916] [ 0.00596899 0.00372749 0.99997524 -0.05644745] [ 0. 0. 0. 1. ]] SLAMing on 2.19864 meters Centerline goodness : 0.160931 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.05 [[ 0.99997397 0.0038805 -0.00608345 0.64455769] [-0.00393251 0.99995562 -0.00856062 -0.00671436] [ 0.00604996 0.00858432 0.99994485 -0.04774269] [ 0. 0. 0. 1. ]] SLAMing on 2.22864 meters Centerline goodness : 0.161564 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.06 [[ 0.99997325 0.00387315 -0.00620466 0.65374035] [-0.00392801 0.99995308 -0.00885521 -0.00537552] [ 0.00617007 0.00887934 0.99994154 -0.05706144] [ 0. 0. 0. 1. ]] SLAMing on 2.25864 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 2.28864 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 2.3186400000000003 meters Centerline goodness : 0.130463 Centerline is valid? [False, False] Translation: X:0.65, Y:0.00, Z:-0.05 [[ 9.99976233e-01 6.09005950e-03 -3.23172192e-03 6.47565971e-01] [-6.11550793e-03 9.99949904e-01 -7.92400155e-03 9.66989610e-05] [ 3.18330238e-03 7.94357685e-03 9.99963382e-01 -5.00426585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34864 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 2.3786400000000003 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 2.40864 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 2.43864 meters Centerline goodness : 0.953918 Centerline is valid? [False, True] Translation: X:0.66, Y:0.01, Z:-0.04 [[ 9.99984749e-01 4.51379504e-03 3.18222123e-03 6.56290527e-01] [-4.51064243e-03 9.99989330e-01 -9.97176135e-04 5.28551840e-03] [-3.18668833e-03 9.82807066e-04 9.99994440e-01 -4.05265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46864 meters Centerline goodness : 0.982180 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:-0.07 [[ 9.99992132e-01 2.38475998e-03 3.17007539e-03 6.79823927e-01] [-2.38488998e-03 9.99997155e-01 3.72278230e-05 9.37999557e-03] [-3.16997759e-03 -4.47878111e-05 9.99994975e-01 -6.67050885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49864 meters Centerline goodness : 0.975037 Centerline is valid? [True, True] Translation: X:0.72, Y:0.01, Z:-0.06 [[ 9.99994254e-01 -1.20700490e-03 3.16786031e-03 7.16838729e-01] [ 1.20651024e-03 9.99999260e-01 1.58056243e-04 1.28518406e-02] [-3.16804874e-03 -1.54233279e-04 9.99994970e-01 -5.91121017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52864 meters Centerline goodness : 0.955903 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.03 [[ 9.99990514e-01 -2.98787603e-03 3.16930400e-03 7.48517079e-01] [ 2.98768050e-03 9.99995535e-01 6.64274782e-05 1.82583612e-02] [-3.16948832e-03 -5.69579803e-05 9.99994976e-01 -3.46141261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55864 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.07 [[ 9.99975156e-01 -6.29616953e-03 3.16957342e-03 7.78900088e-01] [ 6.29604584e-03 9.99980179e-01 4.89995068e-05 1.69830126e-02] [-3.16981911e-03 -2.90425098e-05 9.99994976e-01 -7.23498038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5886400000000003 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.07 [[ 9.99970996e-01 -6.92536092e-03 3.16957342e-03 8.10992278e-01] [ 6.92524039e-03 9.99976019e-01 4.89995068e-05 1.94203569e-02] [-3.16983675e-03 -2.70480277e-05 9.99994976e-01 -7.12984673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61864 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.07 [[ 9.99940923e-01 -1.03973219e-02 3.16957980e-03 8.41642355e-01] [ 1.03972202e-02 9.99945946e-01 4.85838089e-05 2.42178777e-02] [-3.16991361e-03 -1.56261197e-05 9.99994976e-01 -6.85593977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64864 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:0.87, Y:0.03, Z:-0.07 [[ 9.99946603e-01 -9.83593473e-03 3.16958139e-03 8.70637165e-01] [ 9.83583047e-03 9.99951626e-01 4.84796293e-05 2.78538618e-02] [-3.16990491e-03 -1.73015754e-05 9.99994976e-01 -6.96567078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67864 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:0.90, Y:0.03, Z:-0.06 [[ 9.99906586e-01 -1.32956966e-02 3.16923921e-03 9.03118707e-01] [ 1.32955363e-02 9.99911608e-01 7.16387536e-05 2.95086399e-02] [-3.16991156e-03 -2.94953265e-05 9.99994975e-01 -6.40658822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:0.93, Y:0.03, Z:-0.07 [[ 9.99891401e-01 -1.43923348e-02 3.16961405e-03 9.31434975e-01] [ 1.43922627e-02 9.99896425e-01 4.55618011e-05 3.13886330e-02] [-3.16994150e-03 6.10650620e-08 9.99994976e-01 -6.83726305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73864 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:0.96, Y:0.03, Z:-0.06 [[ 9.99840492e-01 -1.75768538e-02 3.16920069e-03 9.64612570e-01] [ 1.75767035e-02 9.99845515e-01 7.52824159e-05 3.12581489e-02] [-3.17003432e-03 -1.95663070e-05 9.99994975e-01 -6.16410993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76864 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:1.00, Y:0.03, Z:-0.05 [[ 9.99794366e-01 -2.00294541e-02 3.16963942e-03 9.95667446e-01] [ 2.00294192e-02 9.99799390e-01 4.27646437e-05 3.12150138e-02] [-3.16986011e-03 2.07301868e-05 9.99994976e-01 -4.90884884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7986400000000002 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:1.03, Y:0.03, Z:-0.06 [[ 9.99682052e-01 -2.50149574e-02 3.16974289e-03 1.02512041e+00] [ 2.50149719e-02 9.99687076e-01 3.50771645e-05 3.08263294e-02] [-3.16962846e-03 4.42250175e-05 9.99994976e-01 -5.90796822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82864 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:1.06, Y:0.03, Z:-0.04 [[ 9.99636551e-01 -2.67716045e-02 3.16963959e-03 1.05595074e+00] [ 2.67716035e-02 9.99641575e-01 4.27387277e-05 2.84859739e-02] [-3.16964769e-03 4.21331399e-05 9.99994976e-01 -4.15092102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8586400000000003 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:1.08, Y:0.03, Z:-0.06 [[ 9.99628185e-01 -2.70821750e-02 3.16964082e-03 1.08465436e+00] [ 2.70821759e-02 9.99633210e-01 4.26469922e-05 2.81203302e-02] [-3.16963320e-03 4.32096347e-05 9.99994976e-01 -5.77065579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88864 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:1.12, Y:0.03, Z:-0.06 [[ 9.99537662e-01 -3.02393264e-02 3.16933815e-03 1.11693625e+00] [ 3.02392721e-02 9.99542687e-01 6.50536513e-05 2.58953997e-02] [-3.16985595e-03 3.08149042e-05 9.99994976e-01 -5.51073985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91864 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:1.15, Y:0.02, Z:-0.04 [[ 9.99599876e-01 -2.81076821e-02 3.16964452e-03 1.14831392e+00] [ 2.81076906e-02 9.99604900e-01 4.18496301e-05 2.30798032e-02] [-3.16956849e-03 4.72585026e-05 9.99994976e-01 -4.27210972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94864 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:1.18, Y:0.02, Z:-0.04 [[ 9.99654075e-01 -2.61090824e-02 3.16961195e-03 1.18087667e+00] [ 2.61090731e-02 9.99659099e-01 4.43215823e-05 2.16831895e-02] [-3.16968863e-03 3.84493799e-05 9.99994976e-01 -4.17481183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97864 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:1.21, Y:0.02, Z:-0.05 [[ 9.99641559e-01 -2.65839563e-02 3.16977518e-03 1.20984593e+00] [ 2.65839895e-02 9.99646583e-01 3.16735827e-05 1.73494661e-02] [-3.16949694e-03 5.26030407e-05 9.99994976e-01 -5.20416422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00864 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:1.24, Y:0.02, Z:-0.05 [[ 9.99655072e-01 -2.60708762e-02 3.16965016e-03 1.24339157e+00] [ 2.60708763e-02 9.99660096e-01 4.12745245e-05 1.80821097e-02] [-3.16964885e-03 4.13752696e-05 9.99994976e-01 -5.21486255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03864 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:1.28, Y:0.02, Z:-0.04 [[ 9.99706454e-01 -2.40199752e-02 3.16967051e-03 1.27588663e+00] [ 2.40199702e-02 9.99711478e-01 3.96475525e-05 1.61254143e-02] [-3.16970833e-03 3.64994771e-05 9.99994976e-01 -4.16672969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0686400000000003 meters Centerline goodness : 0.861313 Centerline is valid? [True, False] Translation: X:1.28, Y:0.02, Z:-0.04 [[ 0.99992147 -0.01243557 0.00155388 1.27666739] [ 0.01244817 0.99988739 -0.00838153 0.02270969] [-0.00144947 0.00840021 0.99996367 -0.0411094 ] [ 0. 0. 0. 1. ]] SLAMing on 3.09864 meters Centerline goodness : 0.999154 Centerline is valid? [False, True] Translation: X:1.30, Y:0.02, Z:-0.04 [[ 0.99999513 -0.00265348 0.00164076 1.29896798] [ 0.00266528 0.99997027 -0.00723506 0.01761769] [-0.00162151 0.0072394 0.99997248 -0.04143944] [ 0. 0. 0. 1. ]] SLAMing on 3.1286400000000003 meters Centerline goodness : 0.839263 Centerline is valid? [True, False] Translation: X:1.30, Y:0.01, Z:-0.04 [[ 0.99999489 -0.00267323 0.00175198 1.29881615] [ 0.00268477 0.99997451 -0.00661665 0.0148434 ] [-0.00173425 0.00662132 0.99997657 -0.04124046] [ 0. 0. 0. 1. ]] SLAMing on 3.15864 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:1.30, Y:0.01, Z:-0.05 [[ 9.99999289e-01 -7.85505566e-04 8.97006669e-04 1.30385944e+00] [ 7.88983666e-04 9.99992147e-01 -3.88370326e-03 1.07095833e-02] [-8.93948955e-04 3.88440823e-03 9.99992056e-01 -4.55506888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18864 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:1.33, Y:0.00, Z:-0.04 [[ 9.99995782e-01 2.75672389e-03 9.15006214e-04 1.33414054e+00] [-2.75672116e-03 9.99996200e-01 -4.24373412e-06 2.23994223e-03] [-9.15014436e-04 1.72129923e-06 9.99999581e-01 -3.57669007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21864 meters Centerline goodness : 0.936351 Centerline is valid? [True, False] Translation: X:1.33, Y:0.00, Z:-0.03 [[ 9.99998123e-01 6.02480404e-04 1.84173071e-03 1.32901553e+00] [-5.99183934e-04 9.99998219e-01 -1.78990391e-03 2.03050637e-04] [-1.84280581e-03 1.78879702e-03 9.99996702e-01 -3.13629856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24864 meters Centerline goodness : 0.998913 Centerline is valid? [False, True] Translation: X:1.33, Y:-0.00, Z:-0.03 [[ 9.99997989e-01 5.94061566e-04 1.91528487e-03 1.32895103e+00] [-5.92707795e-04 9.99999574e-01 -7.07314948e-04 -4.62552717e-03] [-1.91570424e-03 7.06178322e-04 9.99997916e-01 -3.12509946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.01, Z:-0.03 [[ 9.99993362e-01 3.10156865e-03 1.91235550e-03 1.36100939e+00] [-3.10158051e-03 9.99995190e-01 3.23887829e-06 -6.14930011e-03] [-1.91233626e-03 -9.17018136e-06 9.99998171e-01 -3.15805194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.01, Z:-0.03 [[ 9.99975727e-01 6.69980757e-03 1.91236889e-03 1.39316986e+00] [-6.69981975e-03 9.99977556e-01 -3.80193671e-08 -7.59093809e-03] [-1.91232622e-03 -1.27745084e-05 9.99998171e-01 -3.13012326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3386400000000003 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.01, Z:-0.03 [[ 9.99904240e-01 1.37059781e-02 1.91237403e-03 1.42473495e+00] [-1.37060007e-02 9.99906068e-01 -1.28928396e-06 -1.03132308e-02] [-1.91221206e-03 -2.49218392e-05 9.99998171e-01 -3.20632338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36864 meters Centerline goodness : 0.788594 Centerline is valid? [True, False] Translation: X:1.42, Y:-0.00, Z:-0.03 [[ 0.99998102 0.00567959 0.00238966 1.42339527] [-0.00565627 0.99993739 -0.00965503 -0.00448161] [-0.00244435 0.00964133 0.99995053 -0.03197388] [ 0. 0. 0. 1. ]] SLAMing on 3.39864 meters Centerline goodness : 0.999310 Centerline is valid? [False, True] Translation: X:1.40, Y:-0.01, Z:-0.03 [[ 0.99998553 0.00461264 0.00276967 1.40396734] [-0.00461726 0.99998796 0.00166215 -0.01401774] [-0.00276197 -0.00167492 0.99999478 -0.03423425] [ 0. 0. 0. 1. ]] SLAMing on 3.42864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.01, Z:-0.03 [[ 9.99969153e-01 7.33487193e-03 2.80937097e-03 1.43487008e+00] [-7.33500669e-03 9.99973098e-01 3.76659240e-05 -1.13782490e-02] [-2.80901912e-03 -5.82715170e-05 9.99996053e-01 -3.15562985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45864 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.01, Z:-0.03 [[ 9.99943843e-01 1.02186329e-02 2.80912873e-03 1.46601424e+00] [-1.02188066e-02 9.99947786e-01 4.74883448e-05 -1.00338332e-02] [-2.80849679e-03 -7.61916212e-05 9.99996053e-01 -3.13401881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48864 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.00, Z:-0.03 [[ 9.99843897e-01 1.74439408e-02 2.80912010e-03 1.49768326e+00] [-1.74441440e-02 9.99847838e-01 4.78357198e-05 -4.40253976e-03] [-2.80785822e-03 -9.68309481e-05 9.99996053e-01 -3.45275982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51864 meters Centerline goodness : 0.904435 Centerline is valid? [True, False] Translation: X:1.50, Y:0.00, Z:-0.03 [[ 0.99994964 0.0095745 0.00300909 1.49703878] [-0.00954331 0.99990227 -0.01021599 0.00476444] [-0.00310661 0.01018676 0.99994329 -0.03463702] [ 0. 0. 0. 1. ]] SLAMing on 3.5486400000000002 meters Centerline goodness : 0.999310 Centerline is valid? [False, True] Translation: X:1.50, Y:-0.00, Z:-0.03 [[ 9.99999362e-01 9.38528594e-04 -6.28126246e-04 1.49925930e+00] [-9.37534156e-04 9.99998310e-01 1.58160804e-03 -4.23757740e-03] [ 6.29609568e-04 -1.58101815e-03 9.99998552e-01 -3.44318760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:1.53, Y:0.00, Z:-0.03 [[ 9.99993317e-01 3.61414723e-03 -5.50784856e-04 1.52847787e+00] [-3.61417125e-03 9.99993468e-01 -4.26331076e-05 2.27003994e-03] [ 5.50627176e-04 4.46234535e-05 9.99999847e-01 -3.39564407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60864 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:-0.05 [[ 9.98349992e-01 -5.74194047e-02 -5.51975221e-04 1.55787599e+00] [ 5.74194035e-02 9.98350145e-01 -1.79813203e-05 -2.19566788e-02] [ 5.52097019e-04 -1.37424370e-05 9.99999848e-01 -4.79909448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63864 meters Centerline goodness : 0.909190 Centerline is valid? [True, False] Translation: X:1.56, Y:-0.01, Z:-0.05 [[ 9.99099281e-01 -4.24320934e-02 3.80731598e-04 1.55743735e+00] [ 4.24335159e-02 9.99085259e-01 -5.29554565e-03 -1.42994585e-02] [-1.55682239e-04 5.30693163e-03 9.99985906e-01 -4.76016011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:1.56, Y:-0.01, Z:-0.05 [[ 0.99959513 -0.02833581 -0.00257876 1.5599571 ] [ 0.02830459 0.999534 -0.01142905 -0.00619485] [ 0.00290141 0.01135144 0.99993136 -0.04730366] [ 0. 0. 0. 1. ]] SLAMing on 3.69864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.01, Z:-0.05 [[ 9.99604775e-01 -2.78984350e-02 -3.45991502e-03 1.59013500e+00] [ 2.78983929e-02 9.99610762e-01 -6.04424469e-05 -1.35995150e-02] [ 3.46025454e-03 -3.61075101e-05 9.99994013e-01 -4.66548134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.01, Z:-0.05 [[ 9.99452322e-01 -3.29115166e-02 -3.44782422e-03 1.61943956e+00] [ 3.29109683e-02 9.99458264e-01 -2.15682127e-04 -1.23565736e-02] [ 3.45305484e-03 1.02092769e-04 9.99994033e-01 -4.78664502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.01, Z:-0.05 [[ 9.99344298e-01 -3.60429879e-02 -3.44635194e-03 1.64831285e+00] [ 3.60423933e-02 9.99350234e-01 -2.34505259e-04 -8.32431657e-03] [ 3.45256488e-03 1.10136721e-04 9.99994034e-01 -4.77260201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.00, Z:-0.04 [[ 9.99489719e-01 -3.17558029e-02 -3.44533576e-03 1.67884151e+00] [ 3.17551382e-02 9.99495648e-01 -2.47451476e-04 -2.08806858e-03] [ 3.45145612e-03 1.37918093e-04 9.99994034e-01 -4.25862692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8186400000000003 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:1.71, Y:0.00, Z:-0.04 [[ 9.99447695e-01 -3.30519063e-02 -3.44614481e-03 1.70712641e+00] [ 3.30512849e-02 9.99453629e-01 -2.37138454e-04 3.54978843e-03] [ 3.45209982e-03 1.23107967e-04 9.99994034e-01 -4.23618887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84864 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:1.70, Y:0.00, Z:-0.06 [[ 9.99943447e-01 -1.00620924e-02 -3.44331361e-03 1.70291175e+00] [ 1.00612113e-02 9.99949347e-01 -2.73108623e-04 3.53545981e-03] [ 3.44588724e-03 2.38449272e-04 9.99994034e-01 -5.71668932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.77, Y:0.02, Z:-0.04 [[ 9.99864123e-01 -1.61272462e-02 -3.41274107e-03 1.76552816e+00] [ 1.61249971e-02 9.99869749e-01 -6.85500582e-04 2.07441617e-02] [ 3.42335180e-03 6.30376999e-04 9.99993942e-01 -4.16813513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90864 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:1.80, Y:0.03, Z:-0.04 [[ 9.99883327e-01 -1.48816287e-02 -3.44529467e-03 1.79563273e+00] [ 1.48809961e-02 9.99889250e-01 -2.09163124e-04 2.66302737e-02] [ 3.44802579e-03 1.57869303e-04 9.99994043e-01 -4.42839374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.93864 meters Centerline goodness : 0.832331 Centerline is valid? [True, False] Translation: X:1.77, Y:0.03, Z:-0.05 [[ 9.99978737e-01 -6.51261547e-03 -3.34347566e-04 1.77448619e+00] [ 6.51158554e-03 9.99974317e-01 -2.99424997e-03 3.23662214e-02] [ 3.53839378e-04 2.99200917e-03 9.99995461e-01 -4.76417738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:1.75, Y:0.04, Z:-0.05 [[ 9.99997950e-01 -1.30535528e-03 1.54810429e-03 1.75275548e+00] [ 1.32194494e-03 9.99941193e-01 -1.07639451e-02 4.43233452e-02] [-1.53396248e-03 1.07659696e-02 9.99940869e-01 -4.89912772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.78, Y:0.04, Z:-0.05 [[ 9.99992403e-01 -3.76900833e-03 9.94228366e-04 1.78443752e+00] [ 3.76895956e-03 9.99992896e-01 5.09240804e-05 3.97029268e-02] [-9.94413236e-04 -4.71764870e-05 9.99999504e-01 -4.87065270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.82, Y:0.05, Z:-0.04 [[ 9.99952683e-01 -9.67698864e-03 9.94231511e-04 1.81592070e+00] [ 9.67694284e-03 9.99953176e-01 5.08626010e-05 5.06623293e-02] [-9.94677154e-04 -4.12390728e-05 9.99999504e-01 -3.84586190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:1.85, Y:0.06, Z:-0.05 [[ 9.99911791e-01 -1.32446854e-02 9.94498142e-04 1.84522726e+00] [ 1.32446466e-02 9.99912285e-01 4.56472178e-05 5.51220342e-02] [-9.95015492e-04 -3.24714149e-05 9.99999504e-01 -4.96451702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:1.88, Y:0.06, Z:-0.04 [[ 9.99844597e-01 -1.76009526e-02 9.94239937e-04 1.87532602e+00] [ 1.76009109e-02 9.99845091e-01 5.07097083e-05 5.99092673e-02] [-9.94978459e-04 -3.32022993e-05 9.99999504e-01 -3.66928181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.118639999999999 meters Centerline goodness : 0.858248 Centerline is valid? [True, False] Translation: X:1.88, Y:0.08, Z:-0.03 [[ 0.99990417 -0.01269459 -0.00552266 1.87564554] [ 0.01260295 0.99978735 -0.01632256 0.08056232] [ 0.0057287 0.0162514 0.99985153 -0.03374037] [ 0. 0. 0. 1. ]] SLAMing on 4.148639999999999 meters Centerline goodness : 0.850467 Centerline is valid? [False, False] Translation: X:1.88, Y:0.08, Z:-0.03 [[ 0.99994731 -0.00852607 -0.00571697 1.87601039] [ 0.00845651 0.99989126 -0.01208145 0.08032935] [ 0.00581936 0.01203246 0.99991067 -0.03384996] [ 0. 0. 0. 1. ]] SLAMing on 4.17864 meters Centerline goodness : 0.998867 Centerline is valid? [False, True] Translation: X:1.88, Y:0.09, Z:-0.03 [[ 0.99990216 -0.01274285 -0.0057704 1.87620557] [ 0.01263585 0.99975424 -0.01821506 0.08849458] [ 0.0060011 0.01814036 0.99981744 -0.03359671] [ 0. 0. 0. 1. ]] SLAMing on 4.20864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:1.91, Y:0.07, Z:-0.04 [[ 9.99843012e-01 -1.65847287e-02 -6.23676335e-03 1.90743975e+00] [ 1.65823574e-02 9.99862410e-01 -4.31739968e-04 7.34920849e-02] [ 6.24306553e-03 3.28251951e-04 9.99980458e-01 -3.87143323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.238639999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:1.93, Y:0.07, Z:-0.04 [[ 9.99816145e-01 -1.81299951e-02 -6.24328605e-03 1.92616134e+00] [ 1.81292221e-02 9.99835636e-01 -1.80381311e-04 7.33050672e-02] [ 6.24553019e-03 6.71622277e-05 9.99980494e-01 -4.28125155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2686399999999995 meters Centerline goodness : 0.949985 Centerline is valid? [True, False] Translation: X:1.92, Y:0.08, Z:-0.04 [[ 0.99997738 -0.0063589 -0.00219005 1.92255841] [ 0.00633894 0.99993937 -0.00900395 0.08408249] [ 0.00224717 0.00898986 0.99995707 -0.04153316] [ 0. 0. 0. 1. ]] SLAMing on 4.29864 meters Centerline goodness : 0.999113 Centerline is valid? [False, True] Translation: X:1.95, Y:0.09, Z:-0.04 [[ 0.99997685 -0.00562028 -0.00383464 1.9451857 ] [ 0.00554391 0.99979167 -0.01964371 0.09262966] [ 0.00394424 0.019622 0.99979969 -0.0395309 ] [ 0. 0. 0. 1. ]] SLAMing on 4.32864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:1.98, Y:0.07, Z:-0.06 [[ 9.99940118e-01 -1.02473590e-02 -3.84080380e-03 1.97534888e+00] [ 1.02470899e-02 9.99947493e-01 -8.97337540e-05 7.44906567e-02] [ 3.84152167e-03 5.03713186e-05 9.99992620e-01 -5.84853515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.358639999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:2.00, Y:0.07, Z:-0.04 [[ 9.99882056e-01 -1.48701530e-02 -3.84082776e-03 2.00383575e+00] [ 1.48702587e-02 9.99889432e-01 -1.03651002e-06 7.34152079e-02] [ 3.84041849e-03 -5.60777147e-05 9.99992624e-01 -4.08271087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:2.03, Y:0.07, Z:-0.06 [[ 9.99837808e-01 -1.75956113e-02 -3.84081786e-03 2.03480185e+00] [ 1.75956476e-02 9.99845184e-01 -2.43479716e-05 7.20726057e-02] [ 3.84065166e-03 -4.32376551e-05 9.99992624e-01 -6.01928019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:2.06, Y:0.07, Z:-0.04 [[ 9.99696079e-01 -2.43515597e-02 -3.84082477e-03 2.06296498e+00] [ 2.43517349e-02 9.99703453e-01 -1.14309286e-06 6.56734411e-02] [ 3.83971361e-03 -9.23880012e-05 9.99992624e-01 -4.39109648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:2.10, Y:0.06, Z:-0.06 [[ 9.99640354e-01 -2.65407386e-02 -3.84081690e-03 2.09536577e+00] [ 2.65408230e-02 9.99647730e-01 -2.89941347e-05 6.19368667e-02] [ 3.84023342e-03 -7.29547345e-05 9.99992624e-01 -6.15328474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4786399999999995 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.12, Y:0.05, Z:-0.04 [[ 9.99477070e-01 -3.21066076e-02 -3.84081850e-03 2.12431770e+00] [ 3.21068436e-02 9.99484442e-01 -2.13171437e-07 5.28144030e-02] [ 3.83884518e-03 -1.23103499e-04 9.99992624e-01 -4.07194927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:2.15, Y:0.05, Z:-0.04 [[ 9.99423548e-01 -3.37315723e-02 -3.84081229e-03 2.15418377e+00] [ 3.37317052e-02 9.99430924e-01 -3.02009303e-05 4.85404605e-02] [ 3.83964530e-03 -9.93736267e-05 9.99992624e-01 -4.23797059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:2.18, Y:0.04, Z:-0.04 [[ 9.99428348e-01 -3.35890710e-02 -3.84081241e-03 2.18433802e+00] [ 3.35892076e-02 9.99435723e-01 -2.89391975e-05 4.31794874e-02] [ 3.83961716e-03 -1.00087191e-04 9.99992624e-01 -4.27004623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:2.21, Y:0.03, Z:-0.04 [[ 9.99475093e-01 -3.21680882e-02 -3.84081323e-03 2.21416581e+00] [ 3.21682047e-02 9.99482469e-01 -3.14632600e-05 3.42753903e-02] [ 3.83983760e-03 -9.21053215e-05 9.99992624e-01 -4.28358707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:2.25, Y:0.03, Z:-0.06 [[ 9.99608396e-01 -2.77182808e-02 -3.84081325e-03 2.24661780e+00] [ 2.77183642e-02 9.99615772e-01 -3.15211939e-05 3.02086604e-02] [ 3.84021121e-03 -7.49522104e-05 9.99992624e-01 -6.16985942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:2.28, Y:0.02, Z:-0.06 [[ 9.99750158e-01 -2.20197485e-02 -3.84079274e-03 2.27585951e+00] [ 2.20199198e-02 9.99757532e-01 2.32773111e-06 2.02440605e-02] [ 3.83981021e-03 -8.69010977e-05 9.99992624e-01 -6.15272742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.658639999999999 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:2.30, Y:0.03, Z:-0.05 [[ 9.99873353e-01 1.54442836e-02 -3.84079296e-03 2.29893979e+00] [-1.54443904e-02 9.99880728e-01 1.86021817e-06 3.31128192e-02] [ 3.84036360e-03 5.74587233e-05 9.99992624e-01 -5.21644678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:2.33, Y:0.01, Z:-0.06 [[ 9.99874514e-01 -1.53690012e-02 -3.84066619e-03 2.33484937e+00] [ 1.53685924e-02 9.99881887e-01 -1.35921235e-04 1.44125028e-02] [ 3.84230153e-03 7.68785457e-05 9.99992615e-01 -6.11966700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71864 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:2.36, Y:0.01, Z:-0.04 [[ 9.99942507e-01 -1.00116064e-02 -3.84062831e-03 2.36251879e+00] [ 1.00116844e-02 9.99949882e-01 1.06311566e-06 1.16293740e-02] [ 3.84042518e-03 -3.95142129e-05 9.99992625e-01 -4.30707949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74864 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:2.39, Y:0.01, Z:-0.04 [[ 9.99977335e-01 -5.52989187e-03 -3.84062857e-03 2.39313409e+00] [ 5.52981749e-03 9.99984710e-01 -2.99849361e-05 9.57572912e-03] [ 3.84073566e-03 8.74628143e-06 9.99992624e-01 -4.39543477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.778639999999999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:2.42, Y:0.01, Z:-0.05 [[ 9.99983978e-01 -4.15842018e-03 -3.84062501e-03 2.42203128e+00] [ 4.15842217e-03 9.99991354e-01 -7.46791264e-06 6.65343636e-03] [ 3.84062286e-03 -8.50314720e-06 9.99992625e-01 -4.80187071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80864 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:2.45, Y:0.00, Z:-0.05 [[ 9.99992213e-01 -9.07863057e-04 -3.84062517e-03 2.45141138e+00] [ 9.07825061e-04 9.99999588e-01 -1.16364667e-05 3.09830790e-03] [ 3.84063415e-03 8.14976029e-06 9.99992625e-01 -4.51405587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83864 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:2.48, Y:0.00, Z:-0.04 [[ 9.99992227e-01 8.92000412e-04 -3.84062369e-03 2.48027125e+00] [-8.92103380e-04 9.99999602e-01 -2.50972074e-05 1.95374269e-03] [ 3.84059978e-03 2.85232457e-05 9.99992624e-01 -4.43859688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.00, Z:-0.04 [[ 9.99984732e-01 3.97318877e-03 -3.84062618e-03 2.50997532e+00] [-3.97328703e-03 9.99992106e-01 -1.79552236e-05 -3.33635700e-04] [ 3.84052453e-03 3.32148596e-05 9.99992625e-01 -4.28427837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.898639999999999 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.00, Z:-0.04 [[ 9.99985112e-01 3.87622194e-03 -3.84062988e-03 2.53829697e+00] [-3.87629196e-03 9.99992487e-01 -1.07885540e-05 -3.54368593e-04] [ 3.84055920e-03 2.56757961e-05 9.99992625e-01 -4.27343127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92864 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.00, Z:-0.04 [[ 9.99980810e-01 4.86102809e-03 -3.84062950e-03 2.56758820e+00] [-4.86110759e-03 9.99988185e-01 -1.13653541e-05 -1.80886957e-04] [ 3.84052887e-03 3.00348492e-05 9.99992625e-01 -4.09170589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95864 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:2.60, Y:0.00, Z:-0.06 [[ 9.99969679e-01 6.77422016e-03 -3.84063433e-03 2.59858578e+00] [-6.77429205e-03 9.99977054e-01 -5.70976420e-06 1.38965372e-03] [ 3.84050753e-03 3.17271697e-05 9.99992625e-01 -5.85140128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:2.63, Y:0.00, Z:-0.04 [[ 9.99962788e-01 7.72481218e-03 -3.84063635e-03 2.62755121e+00] [-7.72488252e-03 9.99970163e-01 -3.48116931e-06 2.91372467e-03] [ 3.84049487e-03 3.31495044e-05 9.99992625e-01 -4.27556753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0186399999999995 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:2.66, Y:0.00, Z:-0.04 [[ 9.99958910e-01 8.21143273e-03 -3.84062844e-03 2.65730930e+00] [-8.21153350e-03 9.99966285e-01 -1.04698013e-05 3.04360478e-03] [ 3.84041298e-03 4.20068202e-05 9.99992625e-01 -4.17594487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04864 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:2.69, Y:0.00, Z:-0.04 [[ 9.99954318e-01 8.75285544e-03 -3.84062366e-03 2.68684952e+00] [-8.75297359e-03 9.99961692e-01 -1.39544681e-05 3.84385857e-03] [ 3.84035439e-03 4.75707081e-05 9.99992625e-01 -4.15420030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.078639999999999 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:2.71, Y:0.01, Z:-0.04 [[ 9.99943034e-01 9.95887269e-03 -3.84063484e-03 2.71455840e+00] [-9.95897307e-03 9.99950408e-01 -7.01260762e-06 8.28898927e-03] [ 3.84037454e-03 4.52609871e-05 9.99992625e-01 -4.34110458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:2.74, Y:0.01, Z:-0.04 [[ 9.99950883e-01 9.13675388e-03 -3.84062090e-03 2.74327559e+00] [-9.13687546e-03 9.99958258e-01 -1.41104199e-05 9.13967014e-03] [ 3.84033166e-03 4.92010017e-05 9.99992625e-01 -4.46094040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13864 meters Centerline goodness : 0.894014 Centerline is valid? [True, False] Translation: X:2.77, Y:0.01, Z:-0.04 [[ 9.99961885e-01 9.60439370e-04 -8.67793337e-03 2.76732847e+00] [-9.48013548e-04 9.99998520e-01 1.43588720e-03 8.74541160e-03] [ 8.67929961e-03 -1.42760567e-03 9.99961315e-01 -4.18838732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16864 meters Centerline goodness : 0.997588 Centerline is valid? [False, True] Translation: X:2.74, Y:0.02, Z:-0.04 [[ 9.99997649e-01 -1.65047924e-03 -1.40622503e-03 2.74421897e+00] [ 1.63429058e-03 9.99933265e-01 -1.14365508e-02 2.18614912e-02] [ 1.42500698e-03 1.14342258e-02 9.99933612e-01 -4.44963030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.198639999999999 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:2.77, Y:0.01, Z:-0.05 [[ 9.99996961e-01 -1.93478327e-03 -1.52766519e-03 2.77413407e+00] [ 1.93473036e-03 9.99998128e-01 -3.61129849e-05 1.46706301e-02] [ 1.52773220e-03 3.31572549e-05 9.99998832e-01 -4.69164495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2286399999999995 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:2.80, Y:0.02, Z:-0.05 [[ 9.99994195e-01 -3.04565698e-03 -1.52786561e-03 2.80326238e+00] [ 3.04563382e-03 9.99995362e-01 -1.74893686e-05 1.82315351e-02] [ 1.52791179e-03 1.28359479e-05 9.99998833e-01 -4.66710485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25864 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:2.87, Y:0.05, Z:-0.06 [[ 9.98268022e-01 5.88100482e-02 -1.52787367e-03 2.86705579e+00] [-5.88101423e-02 9.98269186e-01 -1.67495451e-05 4.67675690e-02] [ 1.52424416e-03 1.06575003e-04 9.99998833e-01 -5.61616729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.288639999999999 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:2.86, Y:0.01, Z:-0.05 [[ 9.99854780e-01 -1.69728086e-02 -1.53047157e-03 2.85554922e+00] [ 1.69732223e-02 9.99855911e-01 2.57789855e-04 1.36791570e-02] [ 1.52587563e-03 -2.83729453e-04 9.99998796e-01 -5.00919471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.318639999999999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:2.89, Y:0.02, Z:-0.05 [[ 9.99927855e-01 -1.19146107e-02 -1.52563279e-03 2.88625349e+00] [ 1.19145728e-02 9.99929018e-01 -3.39295271e-05 1.79224220e-02] [ 1.52592875e-03 1.57498163e-05 9.99998836e-01 -4.91182346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34864 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:2.92, Y:0.02, Z:-0.05 [[ 9.99917410e-01 -1.27610632e-02 -1.52576314e-03 2.91623596e+00] [ 1.27610384e-02 9.99918574e-01 -2.60196153e-05 1.84924620e-02] [ 1.52597094e-03 6.54714443e-06 9.99998836e-01 -4.60273891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:2.95, Y:0.02, Z:-0.06 [[ 9.99896934e-01 -1.42756452e-02 -1.52577139e-03 2.94580975e+00] [ 1.42756228e-02 9.99898098e-01 -2.55216554e-05 1.80689292e-02] [ 1.52598024e-03 3.73768814e-06 9.99998836e-01 -5.88941140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.408639999999999 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:2.98, Y:0.02, Z:-0.05 [[ 9.99894228e-01 -1.44638834e-02 -1.52577395e-03 2.97546285e+00] [ 1.44638616e-02 9.99895393e-01 -2.53675689e-05 1.84219727e-02] [ 1.52598125e-03 3.29630260e-06 9.99998836e-01 -4.57861741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4386399999999995 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:3.01, Y:0.02, Z:-0.05 [[ 9.99922590e-01 -1.23485333e-02 -1.52570447e-03 3.00611450e+00] [ 1.23485026e-02 9.99923754e-01 -2.95321700e-05 1.92016542e-02] [ 1.52595282e-03 1.06897183e-05 9.99998836e-01 -4.72503657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46864 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:3.04, Y:0.02, Z:-0.05 [[ 9.99946010e-01 -1.02785525e-02 -1.52569983e-03 3.03633882e+00] [ 1.02785190e-02 9.99947174e-01 -2.98118026e-05 1.99364260e-02] [ 1.52592566e-03 1.41282584e-05 9.99998836e-01 -4.69984471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49864 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:3.07, Y:0.02, Z:-0.05 [[ 9.99953869e-01 -9.48318622e-03 -1.52581231e-03 3.06672026e+00] [ 9.48316225e-03 9.99955034e-01 -2.29433251e-05 2.02899513e-02] [ 1.52596127e-03 8.47274101e-06 9.99998836e-01 -4.68892364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:3.10, Y:0.02, Z:-0.05 [[ 9.99942939e-01 -1.05731244e-02 -1.52579237e-03 3.09633498e+00] [ 1.05730999e-02 9.99944103e-01 -2.41614993e-05 2.11789014e-02] [ 1.52596254e-03 8.02776550e-06 9.99998836e-01 -4.80912063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:3.13, Y:0.02, Z:-0.06 [[ 9.99932804e-01 -1.14917104e-02 -1.52584065e-03 3.12634084e+00] [ 1.14916914e-02 9.99933968e-01 -2.12087180e-05 2.14930462e-02] [ 1.52598362e-03 3.67280294e-06 9.99998836e-01 -6.07645089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58864 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:3.16, Y:0.02, Z:-0.06 [[ 9.99895657e-01 -1.43647670e-02 -1.52578459e-03 3.15563041e+00] [ 1.43647461e-02 9.99896821e-01 -2.46749235e-05 2.12838070e-02] [ 1.52598162e-03 2.75484051e-06 9.99998836e-01 -5.97993171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.618639999999999 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:3.19, Y:0.02, Z:-0.04 [[ 9.99878615e-01 -1.55057457e-02 -1.52578299e-03 3.18586074e+00] [ 1.55057260e-02 9.99879779e-01 -2.47736756e-05 2.23090428e-02] [ 1.52598369e-03 1.11229548e-06 9.99998836e-01 -4.45599551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.648639999999999 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:3.22, Y:0.02, Z:-0.06 [[ 9.99881324e-01 -1.53300349e-02 -1.52577444e-03 3.21704287e+00] [ 1.53300141e-02 9.99882488e-01 -2.53009795e-05 2.32820437e-02] [ 1.52598300e-03 1.90783320e-06 9.99998836e-01 -5.93073871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67864 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:3.25, Y:0.03, Z:-0.05 [[ 9.99904625e-01 -1.37263903e-02 -1.52578333e-03 3.24588554e+00] [ 1.37263685e-02 9.99905789e-01 -2.47528448e-05 2.56213444e-02] [ 1.52597935e-03 3.80701977e-06 9.99998836e-01 -4.68181077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70864 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:3.28, Y:0.03, Z:-0.06 [[ 9.99926422e-01 -1.20342301e-02 -1.52573678e-03 3.27673747e+00] [ 1.20342020e-02 9.99927586e-01 -2.76074087e-05 2.80793313e-02] [ 1.52595853e-03 9.24435272e-06 9.99998836e-01 -5.96317959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.738639999999999 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:3.31, Y:0.03, Z:-0.05 [[ 9.99943397e-01 -1.05297170e-02 -1.52578548e-03 3.30668281e+00] [ 1.05296918e-02 9.99944561e-01 -2.45851847e-05 3.19424365e-02] [ 1.52595977e-03 8.51774223e-06 9.99998836e-01 -4.55895951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7686399999999995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.34, Y:0.03, Z:-0.06 [[ 9.99950489e-01 -9.83320420e-03 -1.52584345e-03 3.33669254e+00] [ 9.83318360e-03 9.99951653e-01 -2.10003158e-05 3.34308948e-02] [ 1.52597618e-03 5.99537728e-06 9.99998836e-01 -5.92290825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:3.37, Y:0.03, Z:-0.05 [[ 9.99948674e-01 -1.00160158e-02 -1.52578882e-03 3.36693212e+00] [ 1.00159902e-02 9.99949838e-01 -2.44146010e-05 3.39363711e-02] [ 1.52595682e-03 9.13106204e-06 9.99998836e-01 -4.66685552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.828639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.40, Y:0.03, Z:-0.06 [[ 9.99937100e-01 -1.11115728e-02 -1.52582167e-03 3.39723513e+00] [ 1.11115516e-02 9.99938265e-01 -2.23365717e-05 3.40347305e-02] [ 1.52597567e-03 5.38092049e-06 9.99998836e-01 -5.93105285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.858639999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:3.43, Y:0.04, Z:-0.06 [[ 9.99931983e-01 -1.15629484e-02 -1.52579576e-03 3.42663537e+00] [ 1.15629253e-02 9.99933147e-01 -2.39851726e-05 3.50666073e-02] [ 1.52597109e-03 6.34087889e-06 9.99998836e-01 -5.94811834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88864 meters Centerline goodness : 0.892545 Centerline is valid? [True, False] Translation: X:3.43, Y:0.05, Z:-0.06 [[ 0.99994857 -0.00624445 -0.00799089 3.42967567] [ 0.00611863 0.99985842 -0.01567485 0.05055729] [ 0.00808764 0.01562515 0.99984521 -0.0574089 ] [ 0. 0. 0. 1. ]] SLAMing on 5.91864 meters Centerline goodness : 0.998763 Centerline is valid? [False, True] Translation: X:3.42, Y:0.07, Z:-0.05 [[ 9.99998517e-01 -1.42207915e-03 -9.71239381e-04 3.42427996e+00] [ 1.39023168e-03 9.99485635e-01 -3.20395404e-02 6.81131460e-02] [ 1.01630257e-03 3.20381427e-02 9.99486130e-01 -5.47014398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.948639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:3.45, Y:0.04, Z:-0.09 [[ 9.99715193e-01 -2.38382734e-02 -1.12676513e-03 3.45267809e+00] [ 2.38382113e-02 9.99715827e-01 -6.85076431e-05 3.73850841e-02] [ 1.12807804e-03 4.16280663e-05 9.99999363e-01 -9.48916988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9786399999999995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:3.48, Y:0.04, Z:-0.06 [[ 9.99999344e-01 -2.04711887e-04 -1.12703452e-03 3.48282950e+00] [ 2.04698699e-04 9.99999979e-01 -1.18167897e-05 4.01357997e-02] [ 1.12703692e-03 1.15860795e-05 9.99999365e-01 -5.75221272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00864 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:3.51, Y:0.04, Z:-0.06 [[ 9.99999324e-01 2.87626994e-04 -1.12702766e-03 3.51131972e+00] [-2.87642058e-04 9.99999959e-01 -1.32040581e-05 4.10206918e-02] [ 1.12702382e-03 1.35282297e-05 9.99999365e-01 -5.69358500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.038639999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.54, Y:0.04, Z:-0.06 [[ 9.99999334e-01 -2.48358766e-04 -1.12700590e-03 3.54212011e+00] [ 2.48338477e-04 9.99999969e-01 -1.81425953e-05 4.21441390e-02] [ 1.12701037e-03 1.78627043e-05 9.99999365e-01 -5.79566613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.068639999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:3.57, Y:0.04, Z:-0.06 [[ 9.99998648e-01 -1.19739220e-03 -1.12703808e-03 3.57228360e+00] [ 1.19738118e-03 9.99999283e-01 -1.04497396e-05 4.34180104e-02] [ 1.12704978e-03 9.10023129e-06 9.99999365e-01 -5.78827178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:3.60, Y:0.04, Z:-0.06 [[ 9.99998020e-01 -1.64030404e-03 -1.12704658e-03 3.60167763e+00] [ 1.64029573e-03 9.99998655e-01 -8.29572952e-06 4.43388716e-02] [ 1.12705867e-03 6.44702339e-06 9.99999365e-01 -5.60406160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:3.63, Y:0.05, Z:-0.06 [[ 9.99997968e-01 -1.67162446e-03 -1.12705398e-03 3.63119542e+00] [ 1.67161837e-03 9.99998603e-01 -6.34447287e-06 4.76202601e-02] [ 1.12706301e-03 4.46045585e-06 9.99999365e-01 -5.62884621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.158639999999999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.66, Y:0.05, Z:-0.06 [[ 9.99996686e-01 -2.31486554e-03 -1.12705208e-03 3.66096907e+00] [ 2.31485929e-03 9.99997321e-01 -6.84986109e-06 4.93614923e-02] [ 1.12706492e-03 4.24087140e-06 9.99999365e-01 -5.68069213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1886399999999995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:3.68, Y:0.02, Z:-0.07 [[ 9.97910898e-01 -6.45954220e-02 -1.12706344e-03 3.68257974e+00] [ 6.45954588e-02 9.97911532e-01 -3.82576266e-06 2.14984685e-02] [ 1.12495673e-03 -6.89854096e-05 9.99999365e-01 -7.23340212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:3.72, Y:0.05, Z:-0.06 [[ 9.99998813e-01 -1.05100582e-03 -1.12684903e-03 3.72178874e+00] [ 1.05094156e-03 9.99999446e-01 -5.76180722e-05 5.19848941e-02] [ 1.12690897e-03 5.64337513e-05 9.99999363e-01 -5.54868043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24864 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:3.75, Y:0.05, Z:-0.06 [[ 9.99998357e-01 -1.42019106e-03 -1.12696628e-03 3.75136424e+00] [ 1.42018362e-03 9.99998992e-01 -7.39856506e-06 5.18533523e-02] [ 1.12697565e-03 5.79805385e-06 9.99999365e-01 -5.52834052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.278639999999999 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:3.77, Y:0.01, Z:-0.08 [[ 9.96626980e-01 -8.20572509e-02 -1.12697288e-03 3.77057370e+00] [ 8.20572981e-02 9.96627613e-01 -4.41651502e-06 1.41099415e-02] [ 1.12353470e-03 -8.80747318e-05 9.99999365e-01 -7.51100210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30864 meters Centerline goodness : 0.827266 Centerline is valid? [True, False] Translation: X:3.77, Y:0.03, Z:-0.07 [[ 9.97274479e-01 -7.37385957e-02 -2.49668636e-03 3.77061823e+00] [ 7.36996994e-02 9.97193748e-01 -1.31523382e-02 2.58481485e-02] [ 3.45951497e-03 1.29324862e-02 9.99910387e-01 -7.32754342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:3.77, Y:0.03, Z:-0.07 [[ 9.98130820e-01 -6.11008872e-02 1.24403655e-03 3.76693473e+00] [ 6.11135494e-02 9.97920354e-01 -2.04963704e-02 3.36578304e-02] [ 1.08970201e-05 2.05340865e-02 9.99789153e-01 -7.20242755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.368639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:0.02, Z:-0.07 [[ 9.98178727e-01 -6.03260247e-02 -1.09327901e-05 3.80144203e+00] [ 6.03260247e-02 9.98178727e-01 -6.69422875e-07 1.83907269e-02] [ 1.09532621e-05 8.67190793e-09 1.00000000e+00 -7.45607095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.398639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:3.83, Y:0.02, Z:-0.06 [[ 9.98155096e-01 -6.07157588e-02 -1.09331338e-05 3.83060430e+00] [ 6.07157588e-02 9.98155096e-01 -6.63761769e-07 2.09824045e-02] [ 1.09532640e-05 -1.27632141e-09 1.00000000e+00 -5.73736038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:3.86, Y:0.02, Z:-0.06 [[ 9.98157055e-01 -6.06835552e-02 -1.09291827e-05 3.86257421e+00] [ 6.06835552e-02 9.98157055e-01 -7.28810544e-07 2.42537084e-02] [ 1.09532676e-05 6.42457241e-08 1.00000000e+00 -5.69011635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.03, Z:-0.07 [[ 9.98256040e-01 -5.90328657e-02 -1.09295957e-05 3.89532580e+00] [ 5.90328657e-02 9.98256040e-01 -7.21927983e-07 2.73593077e-02] [ 1.09531524e-05 7.54636161e-08 1.00000000e+00 -7.46182812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.488639999999999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:3.92, Y:0.03, Z:-0.06 [[ 9.98192025e-01 -6.01055902e-02 -1.09338942e-05 3.92471660e+00] [ 6.01055902e-02 9.98192025e-01 -6.49572334e-07 2.98330616e-02] [ 1.09531690e-05 -8.79024327e-09 1.00000000e+00 -5.62126812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5186399999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.96, Y:0.03, Z:-0.07 [[ 9.98154727e-01 -6.07218267e-02 -1.09308696e-05 3.95741350e+00] [ 6.07218267e-02 9.98154727e-01 -7.00640006e-07 3.48645148e-02] [ 1.09532433e-05 3.56047612e-08 1.00000000e+00 -7.35875283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.99, Y:0.04, Z:-0.07 [[ 9.98149976e-01 -6.07998716e-02 -1.09342335e-05 3.99027131e+00] [ 6.07998716e-02 9.98149977e-01 -6.43479522e-07 3.88697909e-02] [ 1.09531284e-05 -2.25109256e-08 1.00000000e+00 -7.37409038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.578639999999999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:4.02, Y:0.04, Z:-0.05 [[ 9.98018945e-01 -6.29141027e-02 -1.09345595e-05 4.01987592e+00] [ 6.29141027e-02 9.98018946e-01 -6.37891798e-07 4.33492337e-02] [ 1.09530299e-05 -5.13099009e-08 1.00000000e+00 -5.31177333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.608639999999999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:4.05, Y:0.05, Z:-0.06 [[ 9.97926394e-01 -6.43654513e-02 -1.09338272e-05 4.05048493e+00] [ 6.43654513e-02 9.97926394e-01 -6.50435662e-07 4.61325481e-02] [ 1.09530203e-05 -5.46738066e-08 1.00000000e+00 -5.56263397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:4.08, Y:0.05, Z:-0.06 [[ 9.97910863e-01 -6.46057975e-02 -1.09325280e-05 4.08386690e+00] [ 6.46057975e-02 9.97910863e-01 -6.72800779e-07 4.88440105e-02] [ 1.09531553e-05 -3.49094835e-08 1.00000000e+00 -5.55548758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.11, Y:0.05, Z:-0.08 [[ 9.97665617e-01 -6.82884871e-02 -1.09350124e-05 4.11476417e+00] [ 6.82884871e-02 9.97665617e-01 -6.29647146e-07 5.17591003e-02] [ 1.09524835e-05 -1.18558146e-07 1.00000000e+00 -7.51204290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.698639999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:4.15, Y:0.05, Z:-0.06 [[ 9.97519259e-01 -7.03940823e-02 -1.09350455e-05 4.14540787e+00] [ 7.03940823e-02 9.97519260e-01 -6.29071095e-07 5.32616442e-02] [ 1.09522014e-05 -1.42251963e-07 1.00000000e+00 -5.67493387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7286399999999995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:4.18, Y:0.05, Z:-0.06 [[ 9.97313716e-01 -7.32485611e-02 -1.09327257e-05 4.17770196e+00] [ 7.32485611e-02 9.97313716e-01 -6.69481986e-07 5.32944710e-02] [ 1.09523959e-05 -1.33122857e-07 1.00000000e+00 -5.78857447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75864 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:4.21, Y:0.06, Z:-0.06 [[ 9.97178586e-01 -7.50657562e-02 -1.09334203e-05 4.21021492e+00] [ 7.50657562e-02 9.97178586e-01 -6.57241382e-07 5.50333574e-02] [ 1.09519089e-05 -1.65338433e-07 1.00000000e+00 -5.80976224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.24, Y:0.06, Z:-0.07 [[ 9.97105523e-01 -7.60300947e-02 -1.09320659e-05 4.24181803e+00] [ 7.60300947e-02 9.97105523e-01 -6.81315145e-07 5.71364064e-02] [ 1.09522238e-05 -1.51822912e-07 1.00000000e+00 -7.49183493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.818639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.28, Y:0.06, Z:-0.07 [[ 9.97142795e-01 -7.55396947e-02 -1.09359918e-05 4.27530774e+00] [ 7.55396947e-02 9.97142795e-01 -6.11054160e-07 5.93124333e-02] [ 1.09509043e-05 -2.16793228e-07 1.00000000e+00 -7.49179889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:0.06, Z:-0.08 [[ 9.97044533e-01 -7.68257754e-02 -1.09362897e-05 4.30842637e+00] [ 7.68257753e-02 9.97044533e-01 -6.05675535e-07 6.01396196e-02] [ 1.09504993e-05 -2.36303452e-07 1.00000000e+00 -7.52807443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87864 meters Centerline goodness : 0.979598 Centerline is valid? [True, True] Translation: X:4.35, Y:0.10, Z:-0.08 [[ 9.99992486e-01 3.87655268e-03 -1.09365843e-05 4.34729581e+00] [-3.87655269e-03 9.99992486e-01 -6.00307069e-07 9.88999885e-02] [ 1.09341750e-05 6.42698804e-07 1.00000000e+00 -7.52224431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.37, Y:0.06, Z:-0.08 [[ 9.97140216e-01 -7.55737320e-02 -1.09697733e-05 4.36807688e+00] [ 7.55737320e-02 9.97140216e-01 2.66245029e-08 5.81146587e-02] [ 1.09363900e-05 -8.55575069e-07 1.00000000e+00 -7.55051641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9386399999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.40, Y:0.06, Z:-0.08 [[ 9.97297591e-01 -7.34677862e-02 -1.09353525e-05 4.40084414e+00] [ 7.34677862e-02 9.97297591e-01 -6.00349359e-07 5.98362869e-02] [ 1.09499070e-05 -2.04669171e-07 1.00000000e+00 -7.54652275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:4.43, Y:0.06, Z:-0.06 [[ 9.97471218e-01 -7.10715746e-02 -1.09356435e-05 4.43062375e+00] [ 7.10715746e-02 9.97471218e-01 -5.95001843e-07 6.20444772e-02] [ 1.09502773e-05 -1.83716187e-07 1.00000000e+00 -5.61397985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.998639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.46, Y:0.06, Z:-0.06 [[ 9.97715811e-01 -6.75511756e-02 -1.09335884e-05 4.46258615e+00] [ 6.75511756e-02 9.97715811e-01 -6.32822416e-07 6.33716590e-02] [ 1.09513619e-05 -1.07199819e-07 1.00000000e+00 -5.79903926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.028639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.50, Y:0.06, Z:-0.06 [[ 9.97789226e-01 -6.64579555e-02 -1.09339256e-05 4.49503706e+00] [ 6.64579555e-02 9.97789226e-01 -6.26552894e-07 6.44500555e-02] [ 1.09513926e-05 -1.01478617e-07 1.00000000e+00 -5.71061085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05864 meters Centerline goodness : 0.978535 Centerline is valid? [True, True] Translation: X:4.54, Y:0.10, Z:-0.08 [[ 9.99825989e-01 1.86545592e-02 -1.09334238e-05 4.54020290e+00] [-1.86545592e-02 9.99825989e-01 -6.35946787e-07 1.02698410e-01] [ 1.09196580e-05 8.39794326e-07 1.00000000e+00 -7.53191042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08864 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:4.61, Y:0.05, Z:-0.08 [[ 9.96800548e-01 -7.99291399e-02 -1.09737685e-05 4.60688571e+00] [ 7.99291399e-02 9.96800548e-01 1.79117935e-07 5.36881472e-02] [ 1.09243417e-05 -1.05566873e-06 1.00000000e+00 -8.34204436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.118639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.57, Y:0.06, Z:-0.05 [[ 9.97564389e-01 -6.97516305e-02 -1.10668059e-05 4.57326931e+00] [ 6.97516305e-02 9.97564389e-01 2.05349180e-06 6.13542957e-02] [ 1.08966171e-05 -2.82041805e-06 1.00000000e+00 -5.43837460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.148639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:0.06, Z:-0.06 [[ 9.97637218e-01 -6.87021153e-02 -1.09031357e-05 4.60423690e+00] [ 6.87021153e-02 9.97637218e-01 -6.87093688e-07 6.34166873e-02] [ 1.09245788e-05 -6.35982543e-08 1.00000000e+00 -5.94131671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:0.07, Z:-0.06 [[ 9.97700346e-01 -6.77791989e-02 -1.09027554e-05 4.63681501e+00] [ 6.77791989e-02 9.97700346e-01 -6.93481243e-07 6.74069641e-02] [ 1.09246865e-05 -4.70935537e-08 1.00000000e+00 -5.98677701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.208639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:0.07, Z:-0.07 [[ 9.98103929e-01 -6.15511722e-02 -1.09030599e-05 4.66824685e+00] [ 6.15511721e-02 9.98103929e-01 -6.88313646e-07 7.30722891e-02] [ 1.09247535e-05 1.59124347e-08 1.00000000e+00 -7.48769070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.238639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:0.08, Z:-0.08 [[ 9.98236294e-01 -5.93658284e-02 -1.09059666e-05 4.69984688e+00] [ 5.93658284e-02 9.98236294e-01 -6.38679727e-07 7.71866575e-02] [ 1.09246475e-05 -9.88846014e-09 1.00000000e+00 -7.50069927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2686399999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.73, Y:0.08, Z:-0.06 [[ 9.98377818e-01 -5.69362097e-02 -1.09062502e-05 4.72944566e+00] [ 5.69362097e-02 9.98377818e-01 -6.33800596e-07 8.42886902e-02] [ 1.09246445e-05 1.18119088e-08 1.00000000e+00 -5.94748483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:0.09, Z:-0.06 [[ 9.98496797e-01 -5.48100947e-02 -1.09037152e-05 4.76090165e+00] [ 5.48100947e-02 9.98496797e-01 -6.77540577e-07 9.05405553e-02] [ 1.09244608e-05 7.88884306e-08 1.00000000e+00 -6.08263480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.328639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.79, Y:0.10, Z:-0.06 [[ 9.98591634e-01 -5.30541956e-02 -1.09044589e-05 4.79241532e+00] [ 5.30541956e-02 9.98591634e-01 -6.64611969e-07 9.68549889e-02] [ 1.09243619e-05 8.51486553e-08 1.00000000e+00 -5.95665645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.358639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:0.10, Z:-0.06 [[ 9.98702460e-01 -5.09253955e-02 -1.09032907e-05 4.82378694e+00] [ 5.09253955e-02 9.98702460e-01 -6.85112613e-07 1.04579303e-01] [ 1.09240329e-05 1.28969259e-07 1.00000000e+00 -6.26991471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.86, Y:0.11, Z:-0.06 [[ 9.98804261e-01 -4.88881108e-02 -1.09036101e-05 4.85559316e+00] [ 4.88881108e-02 9.98804261e-01 -6.79463498e-07 1.08570860e-01] [ 1.09237900e-05 1.45594135e-07 1.00000000e+00 -6.11047749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.89, Y:0.11, Z:-0.06 [[ 9.98849910e-01 -4.79463958e-02 -1.09056364e-05 4.88699432e+00] [ 4.79463958e-02 9.98849910e-01 -6.43490321e-07 1.13190891e-01] [ 1.09239470e-05 1.19864289e-07 1.00000000e+00 -6.04297443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.448639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.12, Z:-0.06 [[ 9.98903310e-01 -4.68206962e-02 -1.09052542e-05 4.91907907e+00] [ 4.68206962e-02 9.98903310e-01 -6.50313908e-07 1.21721730e-01] [ 1.09237426e-05 1.39009122e-07 1.00000000e+00 -6.17478913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4786399999999995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:4.95, Y:0.13, Z:-0.06 [[ 9.98922618e-01 -4.64069393e-02 -1.09044706e-05 4.94931853e+00] [ 4.64069393e-02 9.98922618e-01 -6.64422306e-07 1.26073456e-01] [ 1.09235562e-05 1.57663361e-07 1.00000000e+00 -6.00236247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:0.13, Z:-0.06 [[ 9.98949663e-01 -4.58210734e-02 -1.09046942e-05 4.98063357e+00] [ 4.58210734e-02 9.98949663e-01 -6.60382319e-07 1.29973247e-01] [ 1.09235000e-05 1.60023903e-07 1.00000000e+00 -6.31116399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.538639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.01, Y:0.13, Z:-0.06 [[ 9.98981902e-01 -4.51127397e-02 -1.09057166e-05 5.01255957e+00] [ 4.51127397e-02 9.98981902e-01 -6.41787758e-07 1.32826750e-01] [ 1.09235663e-05 1.49147601e-07 1.00000000e+00 -6.17376958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.568639999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.04, Y:0.14, Z:-0.06 [[ 9.98993232e-01 -4.48611473e-02 -1.09055113e-05 5.04489635e+00] [ 4.48611473e-02 9.98993232e-01 -6.45546798e-07 1.35725319e-01] [ 1.09234920e-05 1.55663131e-07 1.00000000e+00 -6.08411875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:0.14, Z:-0.06 [[ 9.98968790e-01 -4.54021549e-02 -1.09061638e-05 5.07799587e+00] [ 4.54021549e-02 9.98968790e-01 -6.33473814e-07 1.39738526e-01] [ 1.09236784e-05 1.37657229e-07 1.00000000e+00 -6.19826081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.11, Y:0.14, Z:-0.06 [[ 9.98961420e-01 -4.55640280e-02 -1.09065168e-05 5.11034708e+00] [ 4.55640279e-02 9.98961420e-01 -6.26863667e-07 1.41723652e-01] [ 1.09237519e-05 1.29267783e-07 1.00000000e+00 -6.14712784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.658639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.14, Y:0.14, Z:-0.06 [[ 9.98951749e-01 -4.57755784e-02 -1.09058072e-05 5.14286265e+00] [ 4.57755783e-02 9.98951749e-01 -6.40276440e-07 1.43238219e-01] [ 1.09236842e-05 1.40385636e-07 1.00000000e+00 -6.41869340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6886399999999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.18, Y:0.14, Z:-0.06 [[ 9.98830540e-01 -4.83482414e-02 -1.09066339e-05 5.17540742e+00] [ 4.83482414e-02 9.98830540e-01 -6.24458349e-07 1.42710415e-01] [ 1.09240705e-05 9.64115004e-08 1.00000000e+00 -6.31112218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.21, Y:0.14, Z:-0.06 [[ 9.98787972e-01 -4.92197778e-02 -1.09056898e-05 5.20790347e+00] [ 4.92197778e-02 9.98787972e-01 -6.42724164e-07 1.42687402e-01] [ 1.09241066e-05 1.05169534e-07 1.00000000e+00 -6.19771467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.748639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.24, Y:0.14, Z:-0.06 [[ 9.98769147e-01 -4.96003076e-02 -1.09054356e-05 5.24037387e+00] [ 4.96003076e-02 9.98769147e-01 -6.47685492e-07 1.41948366e-01] [ 1.09241380e-05 1.05975325e-07 1.00000000e+00 -6.03534217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.778639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.27, Y:0.14, Z:-0.06 [[ 9.98878959e-01 -4.73373648e-02 -1.09049530e-05 5.27261822e+00] [ 4.73373648e-02 9.98878959e-01 -6.57207545e-07 1.43263513e-01] [ 1.09238386e-05 1.40259048e-07 1.00000000e+00 -6.03112588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.30, Y:0.14, Z:-0.06 [[ 9.98971895e-01 -4.53338046e-02 -1.09059855e-05 5.30450714e+00] [ 4.53338046e-02 9.98971895e-01 -6.36644802e-07 1.44972535e-01] [ 1.09236346e-05 1.41580447e-07 1.00000000e+00 -5.97250169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.34, Y:0.15, Z:-0.06 [[ 9.99092139e-01 -4.26016090e-02 -1.09054682e-05 5.33692490e+00] [ 4.26016090e-02 9.99092139e-01 -6.47112495e-07 1.46090633e-01] [ 1.09231356e-05 1.81934515e-07 1.00000000e+00 -6.18278239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.868639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:0.15, Z:-0.06 [[ 9.99185056e-01 -4.03636384e-02 -1.09071451e-05 5.36856688e+00] [ 4.03636384e-02 9.99185056e-01 -6.12977343e-07 1.46574657e-01] [ 1.09229984e-05 1.72225739e-07 1.00000000e+00 -6.08798067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.898639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.40, Y:0.15, Z:-0.06 [[ 9.99244092e-01 -3.88747279e-02 -1.09068631e-05 5.40119420e+00] [ 3.88747279e-02 9.99244092e-01 -6.18776407e-07 1.49087892e-01] [ 1.09226733e-05 1.94307331e-07 1.00000000e+00 -5.99402194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.43, Y:0.15, Z:-0.06 [[ 9.99307371e-01 -3.72125999e-02 -1.09073347e-05 5.43462049e+00] [ 3.72125999e-02 9.99307371e-01 -6.08948557e-07 1.51758321e-01] [ 1.09224406e-05 2.02636498e-07 1.00000000e+00 -6.01514781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.958639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.47, Y:0.15, Z:-0.06 [[ 9.99345281e-01 -3.61802324e-02 -1.09086608e-05 5.46651378e+00] [ 3.61802324e-02 9.99345281e-01 -5.81035695e-07 1.53253478e-01] [ 1.09225407e-05 1.85977397e-07 1.00000000e+00 -5.87940878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.988639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.50, Y:0.16, Z:-0.06 [[ 9.99395302e-01 -3.47711144e-02 -1.09095841e-05 5.49866955e+00] [ 3.47711144e-02 9.99395302e-01 -5.61360016e-07 1.55706881e-01] [ 1.09225062e-05 1.81682164e-07 1.00000000e+00 -6.09985807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.53, Y:0.16, Z:-0.06 [[ 9.99431219e-01 -3.37229707e-02 -1.09098010e-05 5.53122051e+00] [ 3.37229707e-02 9.99431219e-01 -5.56684085e-07 1.60525810e-01] [ 1.09223687e-05 1.88456555e-07 1.00000000e+00 -5.91561695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:5.56, Y:0.16, Z:-0.06 [[ 9.99452707e-01 -3.30799849e-02 -1.09118180e-05 5.56353970e+00] [ 3.30799849e-02 9.99452708e-01 -5.12641170e-07 1.63266668e-01] [ 1.09228042e-05 1.51397830e-07 1.00000000e+00 -6.07357151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:5.60, Y:0.17, Z:-0.06 [[ 9.99481665e-01 -3.21931764e-02 -1.09121131e-05 5.59529045e+00] [ 3.21931764e-02 9.99481665e-01 -5.06174807e-07 1.65887777e-01] [ 1.09227524e-05 1.54616855e-07 1.00000000e+00 -6.00881265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.63, Y:0.17, Z:-0.06 [[ 9.99586295e-01 -2.87617688e-02 -1.09114873e-05 5.62739162e+00] [ 2.87617688e-02 9.99586295e-01 -5.19993957e-07 1.70592004e-01] [ 1.09219291e-05 2.05945158e-07 1.00000000e+00 -5.91532768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.138639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.66, Y:0.17, Z:-0.06 [[ 9.99613328e-01 -2.78063816e-02 -1.09125013e-05 5.65955520e+00] [ 2.78063816e-02 9.99613328e-01 -4.97448614e-07 1.74378610e-01] [ 1.09221140e-05 1.93819087e-07 1.00000000e+00 -5.99279641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.69, Y:0.18, Z:-0.06 [[ 9.99591747e-01 -2.85716492e-02 -1.09119201e-05 5.68949952e+00] [ 2.85716492e-02 9.99591747e-01 -5.10477448e-07 1.78378516e-01] [ 1.09220504e-05 1.98497491e-07 1.00000000e+00 -6.15253504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:5.72, Y:0.18, Z:-0.06 [[ 9.99583738e-01 -2.88504788e-02 -1.09102339e-05 5.72159322e+00] [ 2.88504788e-02 9.99583738e-01 -5.48405152e-07 1.80368576e-01] [ 1.09215142e-05 2.33411399e-07 1.00000000e+00 -5.91279720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.228639999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.75, Y:0.18, Z:-0.06 [[ 9.99470600e-01 -3.25348913e-02 -1.09129047e-05 5.75155956e+00] [ 3.25348913e-02 9.99470600e-01 -4.87870066e-07 1.81848507e-01] [ 1.09230002e-05 1.32561619e-07 1.00000000e+00 -6.11954049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.78, Y:0.18, Z:-0.06 [[ 9.99301728e-01 -3.73638348e-02 -1.09100290e-05 5.78340786e+00] [ 3.73638348e-02 9.99301728e-01 -5.53170699e-07 1.84738718e-01] [ 1.09230794e-05 1.45143915e-07 1.00000000e+00 -6.16819212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.81, Y:0.19, Z:-0.06 [[ 9.99182131e-01 -4.04359838e-02 -1.09117663e-05 5.81425137e+00] [ 4.04359838e-02 9.99182131e-01 -5.13045820e-07 1.85251941e-01] [ 1.09235874e-05 7.13982114e-08 1.00000000e+00 -5.96281584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.84, Y:0.18, Z:-0.06 [[ 9.98767469e-01 -4.96340922e-02 -1.09111500e-05 5.84405697e+00] [ 4.96340922e-02 9.98767469e-01 -5.27424003e-07 1.80904794e-01] [ 1.09238799e-05 -1.47910890e-08 1.00000000e+00 -5.82181036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34864 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:5.90, Y:0.20, Z:-0.07 [[ 9.99982868e-01 -5.85348755e-03 -1.09091690e-05 5.89638006e+00] [ 5.85348754e-03 9.99982868e-01 -5.73814774e-07 2.01970624e-01] [ 1.09123409e-05 5.09948258e-07 1.00000000e+00 -6.57758744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.378639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.18, Z:-0.06 [[ 9.98276793e-01 -5.86808632e-02 -1.09641692e-05 5.90130877e+00] [ 5.86808632e-02 9.98276793e-01 7.39448255e-07 1.76933650e-01] [ 1.09018842e-05 -1.38156095e-06 1.00000000e+00 -6.05691519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:5.93, Y:0.18, Z:-0.06 [[ 9.98073908e-01 -6.20360646e-02 -1.09028961e-05 5.93396137e+00] [ 6.20360646e-02 9.98073908e-01 -5.90317954e-07 1.75947477e-01] [ 1.09185171e-05 -8.71918193e-08 1.00000000e+00 -5.95629680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:0.18, Z:-0.08 [[ 9.98169227e-01 -6.04830133e-02 -1.09017292e-05 5.96747397e+00] [ 6.04830133e-02 9.98169227e-01 -6.15980616e-07 1.76556619e-01] [ 1.09190270e-05 -4.45165367e-08 1.00000000e+00 -7.73151310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.468639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:6.00, Y:0.18, Z:-0.06 [[ 9.98096176e-01 -6.16767717e-02 -1.09073515e-05 5.99678767e+00] [ 6.16767717e-02 9.98096176e-01 -4.91111097e-07 1.76025896e-01] [ 1.09168760e-05 -1.82554123e-07 1.00000000e+00 -6.03985240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.03, Y:0.18, Z:-0.06 [[ 9.98029026e-01 -6.27539895e-02 -1.09037433e-05 6.02782319e+00] [ 6.27539895e-02 9.98029026e-01 -5.71370415e-07 1.76132448e-01] [ 1.09181081e-05 -1.14009134e-07 1.00000000e+00 -5.91135302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:0.18, Z:-0.08 [[ 9.98264655e-01 -5.88869974e-02 -1.09019241e-05 6.06170768e+00] [ 5.88869974e-02 9.98264655e-01 -6.12220348e-07 1.76470039e-01] [ 1.09190573e-05 -3.08236410e-08 1.00000000e+00 -7.72221444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.558639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:0.18, Z:-0.08 [[ 9.98392811e-01 -5.66726974e-02 -1.09078140e-05 6.09428724e+00] [ 5.66726974e-02 9.98392811e-01 -4.77740268e-07 1.77933500e-01] [ 1.09173579e-05 -1.41202795e-07 1.00000000e+00 -7.70512270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.13, Y:0.18, Z:-0.08 [[ 9.98668370e-01 -5.15896058e-02 -1.09080159e-05 6.12640527e+00] [ 5.15896058e-02 9.98668370e-01 -4.73085732e-07 1.79283063e-01] [ 1.09178968e-05 -9.02844846e-08 1.00000000e+00 -7.65369270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.16, Y:0.18, Z:-0.06 [[ 9.98741097e-01 -5.01619417e-02 -1.09080892e-05 6.15633331e+00] [ 5.01619416e-02 9.98741097e-01 -4.71388454e-07 1.81054510e-01] [ 1.09180028e-05 -7.63759151e-08 1.00000000e+00 -6.00211909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64864 meters Centerline goodness : 0.973204 Centerline is valid? [True, True] Translation: X:6.19, Y:0.22, Z:-0.08 [[ 9.99398920e-01 3.46669781e-02 -1.09052440e-05 6.19132672e+00] [-3.46669782e-02 9.99398920e-01 -5.37103474e-07 2.20343423e-01] [ 1.08800693e-05 9.14832486e-07 1.00000000e+00 -7.93179273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.22, Y:0.18, Z:-0.06 [[ 9.99032877e-01 -4.39694360e-02 -1.09239709e-05 6.21689681e+00] [ 4.39694360e-02 9.99032877e-01 -9.81275620e-08 1.83886039e-01] [ 1.09177207e-05 -3.82288180e-07 1.00000000e+00 -6.07604414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.708639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.25, Y:0.19, Z:-0.06 [[ 9.99053829e-01 -4.34907696e-02 -1.09054425e-05 6.24942811e+00] [ 4.34907696e-02 9.99053829e-01 -5.23911121e-07 1.85521730e-01] [ 1.09179094e-05 4.91293225e-08 1.00000000e+00 -6.07600322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:6.29, Y:0.20, Z:-0.07 [[ 9.99949540e-01 -1.00457290e-02 -1.09055729e-05 6.28518770e+00] [ 1.00457290e-02 9.99949540e-01 -5.20884685e-07 2.01360575e-01] [ 1.09102552e-05 4.11303971e-07 1.00000000e+00 -7.09559881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.31, Y:0.19, Z:-0.06 [[ 9.99144442e-01 -4.13567969e-02 -1.09186930e-05 6.31134210e+00] [ 4.13567969e-02 9.99144442e-01 -2.12864432e-07 1.89633063e-01] [ 1.09181548e-05 -2.38879854e-07 1.00000000e+00 -6.02506874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.798639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.34, Y:0.19, Z:-0.06 [[ 9.99160432e-01 -4.09686593e-02 -1.09049770e-05 6.34057497e+00] [ 4.09686593e-02 9.99160432e-01 -5.31607174e-07 1.92359292e-01] [ 1.09176008e-05 8.43985642e-08 1.00000000e+00 -6.12096618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.37, Y:0.20, Z:-0.06 [[ 9.99307741e-01 -3.72026766e-02 -1.09020486e-05 6.37386898e+00] [ 3.72026766e-02 9.99307741e-01 -5.99510058e-07 1.95825490e-01] [ 1.09168049e-05 1.93509655e-07 1.00000000e+00 -6.34155864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.41, Y:0.20, Z:-0.06 [[ 9.99345795e-01 -3.61660279e-02 -1.09063227e-05 6.40608601e+00] [ 3.61660279e-02 9.99345795e-01 -4.99202938e-07 1.98702152e-01] [ 1.09172420e-05 1.04437984e-07 1.00000000e+00 -6.39997345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.888639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.44, Y:0.20, Z:-0.06 [[ 9.99369987e-01 -3.54912625e-02 -1.09059920e-05 6.43905975e+00] [ 3.54912625e-02 9.99369987e-01 -5.07055097e-07 2.01736090e-01] [ 1.09171171e-05 1.19668222e-07 1.00000000e+00 -6.03181563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.47, Y:0.20, Z:-0.06 [[ 9.99407408e-01 -3.44214125e-02 -1.09072646e-05 6.47169882e+00] [ 3.44214125e-02 9.99407408e-01 -4.76584030e-07 2.03874199e-01] [ 1.09172057e-05 1.00858154e-07 1.00000000e+00 -6.26651831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.50, Y:0.21, Z:-0.07 [[ 9.99392791e-01 -3.48432168e-02 -1.09078266e-05 6.50210793e+00] [ 3.48432168e-02 9.99392791e-01 -4.62981309e-07 2.06613281e-01] [ 1.09173351e-05 8.26364130e-08 1.00000000e+00 -6.51846721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.978639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.21, Z:-0.07 [[ 9.99404947e-01 -3.44927905e-02 -1.09060064e-05 6.53357676e+00] [ 3.44927905e-02 9.99404947e-01 -5.07269200e-07 2.09244236e-01] [ 1.09170139e-05 1.30788754e-07 1.00000000e+00 -6.54570007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:0.21, Z:-0.08 [[ 9.99436056e-01 -3.35792978e-02 -1.09081127e-05 6.56591786e+00] [ 3.35792978e-02 9.99436056e-01 -4.55499180e-07 2.12138528e-01] [ 1.09172565e-05 8.89555374e-08 1.00000000e+00 -7.88810356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.60, Y:0.22, Z:-0.06 [[ 9.99340534e-01 -3.63111070e-02 -1.09086736e-05 6.59553454e+00] [ 3.63111070e-02 9.99340534e-01 -4.41644367e-07 2.15512382e-01] [ 1.09175163e-05 4.52471015e-08 1.00000000e+00 -6.37935345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:6.63, Y:0.20, Z:-0.08 [[ 9.96386452e-01 -8.49354939e-02 -1.09048035e-05 6.63110944e+00] [ 8.49354939e-02 9.96386452e-01 -5.37392454e-07 1.95407465e-01] [ 1.09110422e-05 -3.90754314e-07 1.00000000e+00 -7.74308575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.22, Z:-0.06 [[ 9.99383143e-01 -3.51188524e-02 -1.09099274e-05 6.66014439e+00] [ 3.51188524e-02 9.99383143e-01 -4.08936139e-07 2.20163106e-01] [ 1.09175589e-05 2.55397538e-08 1.00000000e+00 -6.35413794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.128639999999999 meters Centerline goodness : 0.838101 Centerline is valid? [True, False] Translation: X:6.66, Y:0.23, Z:-0.06 [[ 9.99711200e-01 -2.40241146e-02 -5.98557738e-04 6.66017405e+00] [ 2.40171102e-02 9.99663620e-01 -9.78901963e-03 2.30584892e-01] [ 8.33528925e-04 9.77181693e-03 9.99951907e-01 -6.24800858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15864 meters Centerline goodness : 0.999360 Centerline is valid? [False, True] Translation: X:6.66, Y:0.24, Z:-0.06 [[ 9.99920569e-01 -1.22403131e-02 -3.00492508e-03 6.66222589e+00] [ 1.21809607e-02 9.99744642e-01 -1.90335217e-02 2.41238987e-01] [ 3.23713401e-03 1.89954070e-02 9.99814331e-01 -6.17082723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.69, Y:0.23, Z:-0.08 [[ 9.99922068e-01 -1.20469968e-02 -3.27523020e-03 6.69331633e+00] [ 1.20466499e-02 9.99927429e-01 -1.25627492e-04 2.25329881e-01] [ 3.27650595e-03 8.61621495e-05 9.99994629e-01 -8.15118150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.218639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.72, Y:0.23, Z:-0.07 [[ 9.99890544e-01 -1.44279693e-02 -3.27635455e-03 6.72230390e+00] [ 1.44278939e-02 9.99895911e-01 -4.66324109e-05 2.25427491e-01] [ 3.27668633e-03 -6.43589187e-07 9.99994632e-01 -6.76117628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:0.23, Z:-0.08 [[ 9.99867969e-01 -1.59157240e-02 -3.27619161e-03 6.75262149e+00] [ 1.59156193e-02 9.99873337e-01 -5.80241015e-05 2.25871379e-01] [ 3.27670013e-03 5.87382216e-06 9.99994632e-01 -7.96952132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:6.78, Y:0.23, Z:-0.06 [[ 9.99847342e-01 -1.71626988e-02 -3.27635060e-03 6.78242135e+00] [ 1.71626372e-02 9.99852710e-01 -4.69226000e-05 2.26159210e-01] [ 3.27667335e-03 -9.31537987e-06 9.99994632e-01 -6.24039484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.308639999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:6.81, Y:0.23, Z:-0.07 [[ 9.99821079e-01 -1.86299694e-02 -3.27635452e-03 6.81252642e+00] [ 1.86299166e-02 9.99826447e-01 -4.66507804e-05 2.25954006e-01] [ 3.27665500e-03 -1.43957779e-05 9.99994632e-01 -6.63944795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:6.84, Y:0.22, Z:-0.07 [[ 9.99806713e-01 -1.93856620e-02 -3.27618435e-03 6.84270185e+00] [ 1.93855743e-02 9.99812080e-01 -5.85180720e-05 2.24493360e-01] [ 3.27670311e-03 -5.00395399e-06 9.99994632e-01 -6.65276525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:6.87, Y:0.22, Z:-0.07 [[ 9.99795864e-01 -1.99373387e-02 -3.27624523e-03 6.87387399e+00] [ 1.99372678e-02 9.99801231e-01 -5.42912422e-05 2.22862366e-01] [ 3.27667644e-03 -1.10392193e-05 9.99994632e-01 -6.55853497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.398639999999999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:6.90, Y:0.22, Z:-0.06 [[ 9.99775797e-01 -2.09194228e-02 -3.27630738e-03 6.90454590e+00] [ 2.09193716e-02 9.99781165e-01 -4.98855096e-05 2.20067937e-01] [ 3.27663399e-03 -1.86639667e-05 9.99994632e-01 -6.42331370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:6.94, Y:0.22, Z:-0.06 [[ 9.99858950e-01 -1.64726242e-02 -3.27616734e-03 6.93626626e+00] [ 1.64725163e-02 9.99864317e-01 -5.99189893e-05 2.19026025e-01] [ 3.27670984e-03 5.94381783e-06 9.99994632e-01 -6.14596492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.458639999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:6.96, Y:0.21, Z:-0.07 [[ 9.99772601e-01 -2.10715124e-02 -3.27684279e-03 6.96488977e+00] [ 2.10715887e-02 9.99777969e-01 -1.12553345e-05 2.13792974e-01] [ 3.27635240e-03 -5.77955083e-05 9.99994631e-01 -6.81517602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:7.00, Y:0.21, Z:-0.07 [[ 9.99752538e-01 -2.20029382e-02 -3.27627452e-03 6.99550280e+00] [ 2.20028881e-02 9.99757906e-01 -5.13470548e-05 2.11501393e-01] [ 3.27661113e-03 -2.07531533e-05 9.99994632e-01 -6.66217514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:7.03, Y:0.21, Z:-0.08 [[ 9.99815680e-01 -1.89175244e-02 -3.27619159e-03 7.02717597e+00] [ 1.89174381e-02 9.99821048e-01 -5.73373753e-05 2.11546134e-01] [ 3.27668999e-03 -4.65034488e-06 9.99994632e-01 -7.84294739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.548639999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:7.06, Y:0.21, Z:-0.08 [[ 9.99852639e-01 -1.68512613e-02 -3.27636867e-03 7.05642823e+00] [ 1.68512069e-02 9.99858007e-01 -4.42162192e-05 2.12419713e-01] [ 3.27664855e-03 -1.10010628e-05 9.99994632e-01 -7.82580026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:7.09, Y:0.21, Z:-0.08 [[ 9.99873283e-01 -1.55782913e-02 -3.27636585e-03 7.08610905e+00] [ 1.55782294e-02 9.99878651e-01 -4.44241611e-05 2.11664919e-01] [ 3.27666032e-03 -6.62144691e-06 9.99994632e-01 -7.90386180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:7.12, Y:0.21, Z:-0.08 [[ 9.99923205e-01 -1.19519860e-02 -3.27636302e-03 7.11620253e+00] [ 1.19519039e-02 9.99928572e-01 -4.46321403e-05 2.07652907e-01] [ 3.27666244e-03 5.46993682e-06 9.99994632e-01 -7.77847538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.638639999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:7.15, Y:0.21, Z:-0.06 [[ 9.99925788e-01 -1.17338779e-02 -3.27636017e-03 7.14570978e+00] [ 1.17337940e-02 9.99931156e-01 -4.48400818e-05 2.08133399e-01] [ 3.27666076e-03 6.39261888e-06 9.99994632e-01 -6.12290546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:7.18, Y:0.21, Z:-0.06 [[ 9.99948930e-01 -9.56051173e-03 -3.27631227e-03 7.17619497e+00] [ 9.56040460e-03 9.99954297e-01 -4.83601490e-05 2.10053046e-01] [ 3.27662488e-03 1.70348084e-05 9.99994632e-01 -6.24209624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:7.20, Y:0.21, Z:-0.06 [[ 9.99973563e-01 -6.49150377e-03 -3.27632248e-03 7.20499252e+00] [ 6.49138262e-03 9.99978930e-01 -4.76086178e-05 2.11215239e-01] [ 3.27656250e-03 2.63394963e-05 9.99994632e-01 -6.39041738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:7.23, Y:0.21, Z:-0.06 [[ 9.99980921e-01 -5.23673643e-03 -3.27635420e-03 7.23375901e+00] [ 5.23661608e-03 9.99986288e-01 -4.53110418e-05 2.10723530e-01] [ 3.27654656e-03 2.81531682e-05 9.99994632e-01 -6.42269917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75864 meters Centerline goodness : 0.866660 Centerline is valid? [True, False] Translation: X:7.23, Y:0.21, Z:-0.06 [[ 9.99980755e-01 -5.26369183e-03 -3.28382751e-03 7.23380808e+00] [ 5.26417953e-03 9.99986134e-01 1.39890131e-04 2.09785962e-01] [ 3.28304564e-03 -1.57174097e-04 9.99994598e-01 -6.42943825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters Centerline goodness : 0.999162 Centerline is valid? [False, True] Translation: X:7.23, Y:0.21, Z:-0.06 [[ 9.99980373e-01 -5.28224792e-03 -3.36927366e-03 7.23409075e+00] [ 5.28341853e-03 9.99985985e-01 3.38631354e-04 2.08882290e-01] [ 3.36743771e-03 -3.56425990e-04 9.99994267e-01 -6.42967074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81864 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:7.26, Y:0.21, Z:-0.07 [[ 9.99977778e-01 -5.75562390e-03 -3.36409170e-03 7.26342828e+00] [ 5.75550107e-03 9.99983436e-01 -4.61917201e-05 2.08060053e-01] [ 3.36430184e-03 2.68286602e-05 9.99994340e-01 -6.63567365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:7.29, Y:0.21, Z:-0.06 [[ 9.99971724e-01 -6.72562259e-03 -3.36417486e-03 7.29229040e+00] [ 6.72552601e-03 9.99977383e-01 -4.00204661e-05 2.05683467e-01] [ 3.36436793e-03 1.73934890e-05 9.99994340e-01 -6.35291137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.878639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:7.32, Y:0.21, Z:-0.08 [[ 9.99983927e-01 -4.56386131e-03 -3.36403054e-03 7.32240128e+00] [ 4.56371684e-03 9.99989585e-01 -5.06178633e-05 2.05976448e-01] [ 3.36422651e-03 3.52645669e-05 9.99994340e-01 -7.72532859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:7.35, Y:0.21, Z:-0.08 [[ 9.99989830e-01 -3.00380010e-03 -3.36410230e-03 7.35114234e+00] [ 3.00366474e-03 9.99995488e-01 -4.52868077e-05 2.07500131e-01] [ 3.36422316e-03 3.51817116e-05 9.99994340e-01 -7.59423093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:7.38, Y:0.21, Z:-0.06 [[ 9.99991825e-01 -2.24353460e-03 -3.36409636e-03 7.38053754e+00] [ 2.24339348e-03 9.99997483e-01 -4.57237208e-05 2.09066828e-01] [ 3.36419048e-03 3.81763552e-05 9.99994340e-01 -6.13718618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:7.41, Y:0.21, Z:-0.06 [[ 9.99980944e-01 5.17629804e-03 -3.36404347e-03 7.41024517e+00] [-5.17649427e-03 9.99986601e-01 -4.96270799e-05 2.11288252e-01] [ 3.36374151e-03 6.70400859e-05 9.99994340e-01 -6.24639910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:7.44, Y:0.21, Z:-0.06 [[ 9.99969878e-01 6.99476616e-03 -3.36406277e-03 7.43892439e+00] [-6.99496791e-03 9.99975534e-01 -4.82110604e-05 2.12956501e-01] [ 3.36364324e-03 7.17411193e-05 9.99994340e-01 -6.33502480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:7.47, Y:0.22, Z:-0.06 [[ 9.99925258e-01 1.17542690e-02 -3.36400203e-03 7.46719010e+00] [-1.17545123e-02 9.99930912e-01 -5.25547587e-05 2.16879737e-01] [ 3.36315188e-03 9.20930340e-05 9.99994340e-01 -6.42065008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.058639999999999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:7.50, Y:0.22, Z:-0.06 [[ 9.99897531e-01 1.39144495e-02 -3.36376731e-03 7.49856009e+00] [-1.39147604e-02 9.99903183e-01 -6.90400994e-05 2.19625577e-01] [ 3.36248098e-03 1.15839041e-04 9.99994340e-01 -6.46032402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:7.53, Y:0.22, Z:-0.06 [[ 9.99888935e-01 1.45189502e-02 -3.36416599e-03 7.52828356e+00] [-1.45191688e-02 9.99894590e-01 -4.05584462e-05 2.22148378e-01] [ 3.36322251e-03 8.93988356e-05 9.99994340e-01 -6.28699645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:7.56, Y:0.23, Z:-0.06 [[ 9.99885902e-01 1.47263596e-02 -3.36418511e-03 7.55736469e+00] [-1.47265748e-02 9.99891557e-01 -3.92095432e-05 2.28145977e-01] [ 3.36324287e-03 8.87479932e-05 9.99994340e-01 -6.26845445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:7.59, Y:0.23, Z:-0.07 [[ 9.99891713e-01 1.43263262e-02 -3.36419759e-03 7.58602118e+00] [-1.43265362e-02 9.99897369e-01 -3.83461037e-05 2.31501659e-01] [ 3.36330297e-03 8.65392500e-05 9.99994340e-01 -6.52055184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:7.62, Y:0.23, Z:-0.06 [[ 9.99901574e-01 1.36208008e-02 -3.36400016e-03 7.61519906e+00] [-1.36210512e-02 9.99907228e-01 -5.15477488e-05 2.34878592e-01] [ 3.36298595e-03 9.73638935e-05 9.99994340e-01 -6.43395269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.208639999999999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:7.64, Y:0.24, Z:-0.07 [[ 9.99912779e-01 1.27718004e-02 -3.36397803e-03 7.64454651e+00] [-1.27720509e-02 9.99918433e-01 -5.29844842e-05 2.37381227e-01] [ 3.36302693e-03 9.59447616e-05 9.99994340e-01 -6.61137122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:7.68, Y:0.24, Z:-0.08 [[ 9.99918927e-01 1.22810008e-02 -3.36391138e-03 7.67505802e+00] [-1.22812628e-02 9.99924581e-01 -5.72375915e-05 2.41419133e-01] [ 3.36295475e-03 9.85460309e-05 9.99994340e-01 -7.60963195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:7.70, Y:0.24, Z:-0.06 [[ 9.99946456e-01 9.78617700e-03 -3.36397530e-03 7.70440327e+00] [-9.78641130e-03 9.99952111e-01 -5.31954523e-05 2.43538448e-01] [ 3.36329363e-03 8.61138499e-05 9.99994340e-01 -6.24440523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.298639999999999 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:7.74, Y:0.25, Z:-0.06 [[ 9.99951526e-01 9.25365958e-03 -3.36374698e-03 7.73562365e+00] [-9.25393852e-03 9.99957179e-01 -6.73714603e-05 2.46454488e-01] [ 3.36297950e-03 9.84961023e-05 9.99994340e-01 -6.06255768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32864 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:7.76, Y:0.25, Z:-0.06 [[ 9.99952302e-01 9.16940307e-03 -3.36393250e-03 7.76423924e+00] [-9.16964256e-03 9.99957956e-01 -5.57759039e-05 2.47691131e-01] [ 3.36327964e-03 8.66193021e-05 9.99994340e-01 -6.08674105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35864 meters Centerline goodness : 0.778735 Centerline is valid? [True, False] Translation: X:7.76, Y:0.26, Z:-0.06 [[ 9.99994537e-01 9.20209571e-04 -3.17475238e-03 7.76368448e+00] [-9.53309989e-04 9.99945043e-01 -1.04404307e-02 2.56558767e-01] [ 3.16497052e-03 1.04434002e-02 9.99940457e-01 -6.01009753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.388639999999999 meters Centerline goodness : 0.998821 Centerline is valid? [False, True] Translation: X:7.74, Y:0.27, Z:-0.06 [[ 9.99993304e-01 1.65588773e-03 3.26338351e-03 7.73566344e+00] [-1.57946606e-03 9.99727667e-01 -2.32829800e-02 2.72165054e-01] [-3.30104878e-03 2.32776697e-02 9.99723588e-01 -5.92600554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:7.77, Y:0.25, Z:-0.06 [[ 9.99994594e-01 1.91443665e-03 2.67338654e-03 7.76787227e+00] [-1.91435428e-03 9.99998167e-01 -3.33695910e-05 2.53814361e-01] [-2.67344552e-03 2.82516017e-05 9.99996426e-01 -6.24367555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44864 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:7.80, Y:0.26, Z:-0.06 [[ 9.99996308e-01 5.00331569e-04 2.67084403e-03 7.79757432e+00] [-5.00511570e-04 9.99999873e-01 6.67268848e-05 2.55930759e-01] [-2.67081030e-03 -6.80634268e-05 9.99996431e-01 -6.11564726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.478639999999999 meters Centerline goodness : 0.846619 Centerline is valid? [True, False] Translation: X:7.77, Y:0.27, Z:-0.06 [[ 9.99973760e-01 -2.36444896e-03 6.84748191e-03 7.77294072e+00] [ 2.47858154e-03 9.99857347e-01 -1.67075785e-02 2.70161076e-01] [-6.80700088e-03 1.67241121e-02 9.99836971e-01 -6.14855376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50864 meters Centerline goodness : 0.998969 Centerline is valid? [False, True] Translation: X:7.75, Y:0.28, Z:-0.06 [[ 9.99959321e-01 -1.98539659e-04 9.01763054e-03 7.74990551e+00] [ 4.46565297e-04 9.99621405e-01 -2.75108452e-02 2.79119156e-01] [-9.00875452e-03 2.75137530e-02 9.99580830e-01 -6.16280779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:7.78, Y:0.26, Z:-0.07 [[ 9.99965292e-01 -7.58585300e-04 8.29693477e-03 7.78384517e+00] [ 7.56644723e-04 9.99999686e-01 2.37027310e-04 2.55757527e-01] [-8.29711197e-03 -2.30741251e-04 9.99965552e-01 -6.80767573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:7.82, Y:0.26, Z:-0.07 [[ 9.99965569e-01 -6.71267244e-05 8.29802583e-03 7.81640622e+00] [ 6.55089240e-05 9.99999979e-01 1.95233730e-04 2.61176340e-01] [-8.29803876e-03 -1.94683413e-04 9.99965552e-01 -6.88702866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:7.85, Y:0.27, Z:-0.07 [[ 9.99965566e-01 2.41740007e-05 8.29856659e-03 7.84714187e+00] [-2.56218598e-05 9.99999984e-01 1.74364715e-04 2.65085900e-01] [-8.29856225e-03 -1.74571335e-04 9.99965551e-01 -6.67602153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.628639999999999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:7.88, Y:0.27, Z:-0.07 [[ 9.99965555e-01 1.65132390e-04 8.29824132e-03 7.87882556e+00] [-1.66689440e-04 9.99999969e-01 1.86944947e-04 2.65972540e-01] [-8.29821019e-03 -1.88321737e-04 9.99965552e-01 -6.70255137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:7.91, Y:0.27, Z:-0.07 [[ 9.99964812e-01 1.23027373e-03 8.29827564e-03 7.91073468e+00] [-1.23185637e-03 9.99999224e-01 1.85610142e-04 2.69320670e-01] [-8.29804085e-03 -1.95825895e-04 9.99965551e-01 -6.81506127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:7.94, Y:0.27, Z:-0.07 [[ 9.99965301e-01 7.30432652e-04 8.29835474e-03 7.94131862e+00] [-7.31972547e-04 9.99999715e-01 1.82530704e-04 2.70129854e-01] [-8.29821906e-03 -1.88598539e-04 9.99965551e-01 -6.63509492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.718639999999999 meters Centerline goodness : 0.796673 Centerline is valid? [True, False] Translation: X:7.92, Y:0.28, Z:-0.07 [[ 9.99885031e-01 4.02813389e-03 1.46184131e-02 7.91735436e+00] [-3.92030566e-03 9.99964954e-01 -7.39736731e-03 2.76908712e-01] [-1.46476984e-02 7.33920820e-03 9.99865781e-01 -6.88517419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:7.92, Y:0.28, Z:-0.07 [[ 9.99891121e-01 -4.02966940e-05 1.47561684e-02 7.91705837e+00] [ 2.25926593e-04 9.99920864e-01 -1.25783662e-02 2.81202055e-01] [-1.47544938e-02 1.25803304e-02 9.99812002e-01 -6.82342983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:7.95, Y:0.27, Z:-0.07 [[ 9.99895768e-01 -1.01192677e-03 1.44024103e-02 7.94952769e+00] [ 1.00635508e-03 9.99999416e-01 3.94100091e-04 2.73290889e-01] [-1.44028007e-02 -3.79565074e-04 9.99896202e-01 -7.11644587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:7.98, Y:0.27, Z:-0.06 [[ 9.99893840e-01 -2.20845091e-03 1.44024607e-02 7.98087370e+00] [ 2.20302991e-03 9.99997496e-01 3.92248480e-04 2.74854702e-01] [-1.44032909e-02 -3.60477788e-04 9.99896202e-01 -5.76918047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:8.01, Y:0.28, Z:-0.06 [[ 9.99894229e-01 -2.01631816e-03 1.44036276e-02 8.01151069e+00] [ 2.01149664e-03 9.99997916e-01 3.49222701e-04 2.76315287e-01] [-1.44043017e-02 -3.20212916e-04 9.99896201e-01 -6.08385263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:8.04, Y:0.28, Z:-0.07 [[ 9.99892405e-01 -2.78029866e-03 1.44030804e-02 8.04196181e+00] [ 2.77526519e-03 9.99996081e-01 3.69447395e-04 2.80200791e-01] [-1.44040511e-02 -3.29435277e-04 9.99896202e-01 -7.17578317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.898639999999999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:8.07, Y:0.28, Z:-0.06 [[ 9.99893292e-01 -2.44327023e-03 1.44026168e-02 8.07438973e+00] [ 2.43795329e-03 9.99996953e-01 3.86710682e-04 2.82832077e-01] [-1.44035178e-02 -3.51556510e-04 9.99896202e-01 -5.70408638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:8.11, Y:0.29, Z:-0.06 [[ 9.99894764e-01 -1.72476524e-03 1.44043797e-02 8.10718966e+00] [ 1.72033022e-03 9.99998469e-01 3.20279015e-04 2.85266752e-01] [-1.44049100e-02 -2.95465020e-04 9.99896200e-01 -5.80325222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.958639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:8.14, Y:0.29, Z:-0.07 [[ 9.99892933e-01 -2.57128634e-03 1.44052227e-02 8.13771528e+00] [ 2.56739892e-03 9.99996663e-01 2.88347914e-04 2.87146204e-01] [-1.44059160e-02 -2.51333089e-04 9.99896198e-01 -7.17719663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:8.17, Y:0.29, Z:-0.06 [[ 9.99889993e-01 -3.54442233e-03 1.44027680e-02 8.16831710e+00] [ 3.53930010e-03 9.99993664e-01 3.81116392e-04 2.91712681e-01] [-1.44040275e-02 -3.30098748e-04 9.99896202e-01 -5.96972439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01864 meters Centerline goodness : 0.909153 Centerline is valid? [True, False] Translation: X:8.17, Y:0.31, Z:-0.06 [[ 9.99975327e-01 2.47126794e-03 6.57563252e-03 8.17228428e+00] [-2.37545093e-03 9.99891472e-01 -1.45396542e-02 3.07802675e-01] [-6.61085026e-03 1.45236753e-02 9.99872672e-01 -5.72334267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.048639999999999 meters Centerline goodness : 0.998821 Centerline is valid? [False, True] Translation: X:8.18, Y:0.31, Z:-0.06 [[ 9.99984216e-01 4.88634434e-04 5.59719083e-03 8.17745074e+00] [-3.91434167e-04 9.99849334e-01 -1.73538526e-02 3.12360718e-01] [-5.60482722e-03 1.73513878e-02 9.99833744e-01 -6.11934393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:8.21, Y:0.30, Z:-0.07 [[ 9.99986434e-01 -2.02323649e-04 5.20487047e-03 8.20961605e+00] [ 2.01409263e-04 9.99999964e-01 1.76202459e-04 2.99256543e-01] [-5.20490593e-03 -1.75151759e-04 9.99986439e-01 -6.51276931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:8.24, Y:0.30, Z:-0.06 [[ 9.99985552e-01 -1.33671566e-03 5.20661767e-03 8.24280610e+00] [ 1.33622353e-03 9.99999102e-01 9.79981567e-05 3.04925911e-01] [-5.20674399e-03 -9.10395358e-05 9.99986441e-01 -6.41241646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.138639999999999 meters Centerline goodness : 0.947226 Centerline is valid? [True, False] Translation: X:8.25, Y:0.31, Z:-0.07 [[ 9.99984453e-01 -3.49962698e-03 4.34135194e-03 8.24787435e+00] [ 3.51309455e-03 9.99989029e-01 -3.09842418e-03 3.09860939e-01] [-4.33046098e-03 3.11362758e-03 9.99985776e-01 -6.82848602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16864 meters Centerline goodness : 0.998479 Centerline is valid? [False, True] Translation: X:8.22, Y:0.32, Z:-0.07 [[ 9.99941475e-01 -5.69663785e-04 1.08037735e-02 8.22482043e+00] [ 6.93607396e-04 9.99933954e-01 -1.14719771e-02 3.19755661e-01] [-1.07965247e-02 1.14787993e-02 9.99875828e-01 -7.11263530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:8.26, Y:0.31, Z:-0.09 [[ 9.99938120e-01 -3.41630747e-03 1.05870228e-02 8.25664288e+00] [ 3.41445270e-03 9.99994152e-01 1.93262710e-04 3.13298288e-01] [-1.05876211e-02 -1.57101863e-04 9.99943937e-01 -8.86347376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:8.29, Y:0.31, Z:-0.09 [[ 9.99926911e-01 -5.83862912e-03 1.05869750e-02 8.28876968e+00] [ 5.83688277e-03 9.99982946e-01 1.95843812e-04 3.14588413e-01] [-1.05879379e-02 -1.34034566e-04 9.99943937e-01 -9.02730802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:8.32, Y:0.31, Z:-0.07 [[ 9.99837917e-01 -1.45620549e-02 1.05870600e-02 8.31829822e+00] [ 1.45608474e-02 9.99893967e-01 1.91135909e-04 3.13941533e-01] [-1.05887208e-02 -3.69483636e-05 9.99943937e-01 -7.32513760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28864 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:8.35, Y:0.32, Z:-0.08 [[ 9.99941958e-01 2.00625403e-03 1.05856584e-02 8.35268424e+00] [-2.00922987e-03 9.99997945e-01 2.70492188e-04 3.21872720e-01] [-1.05850940e-02 -2.91745509e-04 9.99943934e-01 -7.95245533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.318639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.31, Z:-0.09 [[ 9.99761885e-01 -1.90804875e-02 1.05881557e-02 8.38337264e+00] [ 1.90802362e-02 9.99817948e-01 1.24757725e-04 3.13777976e-01] [-1.05886085e-02 7.72964927e-05 9.99943936e-01 -9.04536971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.42, Y:0.31, Z:-0.09 [[ 9.99720688e-01 -2.11295221e-02 1.05872226e-02 8.41629621e+00] [ 2.11288036e-02 9.99776746e-01 1.79724106e-04 3.12819314e-01] [-1.05886565e-02 4.40214397e-05 9.99943938e-01 -9.07737714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.378639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.45, Y:0.31, Z:-0.09 [[ 9.99655139e-01 -2.40314722e-02 1.05873095e-02 8.44870856e+00] [ 2.40309723e-02 9.99711199e-01 1.74450376e-04 3.09690162e-01] [-1.05884442e-02 8.00331262e-05 9.99943938e-01 -9.07612106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40864 meters Centerline goodness : 0.862399 Centerline is valid? [True, False] Translation: X:8.45, Y:0.32, Z:-0.09 [[ 9.99885451e-01 -1.34108366e-02 7.01674813e-03 8.45074531e+00] [ 1.34758823e-02 9.99865887e-01 -9.30639210e-03 3.17422283e-01] [-6.89100059e-03 9.39988294e-03 9.99932076e-01 -8.94298409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:8.47, Y:0.32, Z:-0.09 [[ 9.99976422e-01 -5.53323627e-03 4.06682851e-03 8.47331469e+00] [ 5.57510085e-03 9.99930834e-01 -1.03559424e-02 3.17703498e-01] [-4.00924535e-03 1.03783712e-02 9.99938106e-01 -8.72736562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.468639999999999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:8.50, Y:0.30, Z:-0.08 [[ 9.99965464e-01 -7.23413550e-03 4.09120518e-03 8.50185426e+00] [ 7.23423512e-03 9.99973833e-01 -9.55251187e-06 3.02022164e-01] [-4.09102902e-03 3.91489221e-05 9.99991631e-01 -7.54644931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49864 meters Centerline goodness : 0.869495 Centerline is valid? [True, False] Translation: X:8.52, Y:0.30, Z:-0.07 [[ 9.99999604e-01 -8.72190963e-04 -1.77095846e-04 8.52298980e+00] [ 8.71890092e-04 9.99998189e-01 -1.69194300e-03 3.01356107e-01] [ 1.78571222e-04 1.69178792e-03 9.99998553e-01 -7.09472764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52864 meters Centerline goodness : 0.998871 Centerline is valid? [False, True] Translation: X:8.52, Y:0.30, Z:-0.07 [[ 9.99999445e-01 -1.02020733e-03 -2.63580281e-04 8.52316816e+00] [ 1.02010790e-03 9.99999409e-01 -3.77078885e-04 2.95042858e-01] [ 2.63964824e-04 3.76809796e-04 9.99999894e-01 -7.13724895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.558639999999999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:8.55, Y:0.29, Z:-0.07 [[ 9.99996391e-01 -2.67388257e-03 -2.60121069e-04 8.55302315e+00] [ 2.67388266e-03 9.99996425e-01 -3.14293767e-08 2.91102763e-01] [ 2.60120223e-04 -6.64103952e-07 9.99999966e-01 -6.99389185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58864 meters Centerline goodness : 0.878785 Centerline is valid? [True, False] Translation: X:8.57, Y:0.29, Z:-0.07 [[ 9.99992198e-01 -1.98604826e-05 -3.95021386e-03 8.57407162e+00] [-5.24399036e-06 9.99979806e-01 -6.35510681e-03 2.93293259e-01] [ 3.95026030e-03 6.35507794e-03 9.99972004e-01 -6.53752330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:8.57, Y:0.28, Z:-0.07 [[ 9.99992249e-01 -1.54689414e-04 -3.93420277e-03 8.57411358e+00] [ 1.36899999e-04 9.99989768e-01 -4.52160056e-03 2.84793075e-01] [ 3.93486196e-03 4.52102693e-03 9.99982038e-01 -6.60309742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.648639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:8.60, Y:0.28, Z:-0.07 [[ 9.99990954e-01 -1.75530095e-03 -3.87437910e-03 8.60199715e+00] [ 1.75551066e-03 9.99998458e-01 5.07261481e-05 2.76941614e-01] [ 3.87428409e-03 -5.75272031e-05 9.99992493e-01 -6.54909919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:8.63, Y:0.27, Z:-0.07 [[ 9.99989542e-01 -2.42991465e-03 -3.87440311e-03 8.63102971e+00] [ 2.43012204e-03 9.99997046e-01 4.88212002e-05 2.73942533e-01] [ 3.87427303e-03 -5.82359620e-05 9.99992493e-01 -6.56071310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999999 meters Centerline goodness : 0.788049 Centerline is valid? [True, False] Translation: X:8.63, Y:0.27, Z:-0.07 [[ 9.99988443e-01 -2.59173215e-03 -4.04923867e-03 8.63148623e+00] [ 2.59831248e-03 9.99995311e-01 1.62066315e-03 2.66454478e-01] [ 4.04501936e-03 -1.63116561e-03 9.99990489e-01 -6.61309033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73864 meters Centerline goodness : 0.999260 Centerline is valid? [False, True] Translation: X:8.65, Y:0.27, Z:-0.06 [[ 9.99963664e-01 -2.18834497e-04 -8.52190886e-03 8.65296855e+00] [ 1.79699709e-04 9.99989437e-01 -4.59275107e-03 2.67844872e-01] [ 8.52282390e-03 4.59105281e-03 9.99953141e-01 -6.18286400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:8.68, Y:0.26, Z:-0.06 [[ 9.99962915e-01 1.62443667e-03 -8.45748644e-03 8.68317404e+00] [-1.62379015e-03 9.99998678e-01 8.33090141e-05 2.56432462e-01] [ 8.45761059e-03 -6.95727414e-05 9.99964231e-01 -6.35115960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.798639999999999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:8.71, Y:0.25, Z:-0.06 [[ 9.99963935e-01 -7.80763013e-04 -8.45686094e-03 8.70987992e+00] [ 7.81878301e-04 9.99999686e-01 1.28574202e-04 2.54112186e-01] [ 8.45675790e-03 -1.35181801e-04 9.99964232e-01 -6.28289888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:8.74, Y:0.25, Z:-0.06 [[ 9.99964156e-01 3.88351212e-04 -8.45791829e-03 8.73949377e+00] [-3.87928542e-04 9.99999923e-01 5.16138700e-05 2.50881790e-01] [ 8.45793769e-03 -4.83309520e-05 9.99964230e-01 -6.02065639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:8.77, Y:0.24, Z:-0.06 [[ 9.99957594e-01 3.64355160e-03 -8.45776976e-03 8.77136833e+00] [-3.64315477e-03 9.99993362e-01 6.23247830e-05 2.44080464e-01] [ 8.45794069e-03 -3.15091759e-05 9.99964230e-01 -6.04380022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:8.80, Y:0.24, Z:-0.06 [[ 9.99964242e-01 -6.20254507e-05 -8.45637237e-03 8.79871635e+00] [ 6.33877957e-05 9.99999985e-01 1.60834839e-04 2.40353406e-01] [ 8.45636227e-03 -1.61365118e-04 9.99964231e-01 -6.24830715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:8.83, Y:0.24, Z:-0.07 [[ 9.99964209e-01 -2.31197191e-04 -8.45739152e-03 8.82790559e+00] [ 2.31942776e-04 9.99999969e-01 8.71771376e-05 2.37062901e-01] [ 8.45737111e-03 -8.91356483e-05 9.99964232e-01 -6.52591377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:8.86, Y:0.23, Z:-0.08 [[ 9.99963068e-01 -1.53154944e-03 -8.45681076e-03 8.85763641e+00] [ 1.53270314e-03 9.99998817e-01 1.29943541e-04 2.30546399e-01] [ 8.45660174e-03 -1.42900522e-04 9.99964232e-01 -7.93954577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.978639999999999 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:8.92, Y:0.23, Z:-0.08 [[ 9.99935618e-01 -7.56561575e-03 -8.45703675e-03 8.91844256e+00] [ 7.56684223e-03 9.99971365e-01 1.13036017e-04 2.29352770e-01] [ 8.45593939e-03 -1.77021803e-04 9.99964232e-01 -7.53248354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00864 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:8.92, Y:0.21, Z:-0.06 [[ 9.99955992e-01 -4.09748162e-03 -8.43947552e-03 8.91664511e+00] [ 4.10813638e-03 9.99990786e-01 1.24554234e-03 2.14847661e-01] [ 8.43429417e-03 -1.28015804e-03 9.99963611e-01 -6.01730832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03864 meters Centerline goodness : 0.996698 Centerline is valid? [True, True] Translation: X:8.95, Y:0.21, Z:-0.06 [[ 9.99947275e-01 -5.83274540e-03 -8.45144096e-03 8.94545406e+00] [ 5.83364312e-03 9.99982981e-01 8.15719907e-05 2.12325445e-01] [ 8.45082133e-03 -1.30870380e-04 9.99964283e-01 -6.13001015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:8.98, Y:0.21, Z:-0.06 [[ 9.99937882e-01 -7.26614010e-03 -8.45192299e-03 8.97508345e+00] [ 7.26669568e-03 9.99973597e-01 3.50263086e-05 2.07317602e-01] [ 8.45144533e-03 -9.64416851e-05 9.99964281e-01 -5.94521560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09864 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:9.01, Y:0.20, Z:-0.06 [[ 9.99934555e-01 -7.71015299e-03 -8.45222105e-03 9.00590201e+00] [ 7.71047386e-03 9.99970274e-01 5.37691650e-06 2.03356050e-01] [ 8.45192834e-03 -7.05471940e-05 9.99964279e-01 -6.29585803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999999 meters Centerline goodness : 0.855230 Centerline is valid? [True, False] Translation: X:9.02, Y:0.20, Z:-0.06 [[ 9.99963476e-01 -1.34336560e-03 -8.44049797e-03 9.02366933e+00] [ 1.32286238e-03 9.99996162e-01 -2.43426187e-03 1.98823116e-01] [ 8.44373568e-03 2.42300734e-03 9.99961415e-01 -5.87374066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15864 meters Centerline goodness : 0.952062 Centerline is valid? [False, True] Translation: X:9.05, Y:0.20, Z:-0.06 [[ 9.99932235e-01 3.05916834e-03 -1.12323936e-02 9.04691002e+00] [-3.14525607e-03 9.99965757e-01 -7.65458824e-03 1.99699171e-01] [ 1.12085923e-02 7.68939829e-03 9.99907616e-01 -5.65372901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18864 meters Centerline goodness : 0.899300 Centerline is valid? [True, False] Translation: X:9.05, Y:0.20, Z:-0.06 [[ 9.99924838e-01 6.90006055e-04 -1.22409699e-02 9.05236388e+00] [-8.03975737e-04 9.99956356e-01 -9.30803437e-03 1.96396314e-01] [ 1.22340130e-02 9.31717621e-03 9.99881753e-01 -6.10602086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.218639999999999 meters Centerline goodness : 0.998918 Centerline is valid? [False, True] Translation: X:9.05, Y:0.19, Z:-0.06 [[ 9.99924789e-01 4.74703125e-04 -1.22552514e-02 9.05236043e+00] [-5.63027449e-04 9.99973888e-01 -7.20461549e-03 1.86460583e-01] [ 1.22515113e-02 7.21097367e-03 9.99898946e-01 -6.15388524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:9.08, Y:0.18, Z:-0.06 [[ 9.99927016e-01 1.45515583e-04 -1.20806600e-02 9.07965439e+00] [-1.42116016e-04 9.99999950e-01 2.82263714e-04 1.75404739e-01] [ 1.20807004e-02 -2.80526258e-04 9.99926986e-01 -6.09749171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27864 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:9.11, Y:0.17, Z:-0.05 [[ 9.99925112e-01 1.95566846e-03 -1.20807953e-02 9.10924433e+00] [-1.95247236e-03 9.99998056e-01 2.76348731e-04 1.67506889e-01] [ 1.20813122e-02 -2.52740616e-04 9.99926986e-01 -4.67814943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters Centerline goodness : 0.750185 Centerline is valid? [True, False] Translation: X:9.13, Y:0.17, Z:-0.04 [[ 9.99883099e-01 2.13891465e-03 -1.51398063e-02 9.13259043e+00] [-2.28225603e-03 9.99952678e-01 -9.45691031e-03 1.69836900e-01] [ 1.51188623e-02 9.49035770e-03 9.99840664e-01 -4.42154316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33864 meters Centerline goodness : 0.996800 Centerline is valid? [False, True] Translation: X:9.12, Y:0.17, Z:-0.05 [[ 9.99998213e-01 1.33883455e-03 -1.33488170e-03 9.12423715e+00] [-1.35277588e-03 9.99943977e-01 -1.04982498e-02 1.65179692e-01] [ 1.32075150e-03 1.05000368e-02 9.99944001e-01 -4.51356555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:9.15, Y:0.15, Z:-0.06 [[ 9.99964831e-01 8.31058408e-03 -1.12765712e-03 9.15453947e+00] [-8.31057886e-03 9.99965466e-01 9.30990202e-06 1.51600402e-01] [ 1.12769554e-03 6.19087944e-08 9.99999364e-01 -6.10582887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.398639999999999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:9.18, Y:0.15, Z:-0.06 [[ 9.99928705e-01 1.18875706e-02 -1.12740527e-03 9.18407673e+00] [-1.18875531e-02 9.99929340e-01 2.21364760e-05 1.50862030e-01] [ 1.12758875e-03 -8.73280771e-06 9.99999364e-01 -6.08923136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42864 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:9.21, Y:0.15, Z:-0.06 [[ 9.99877049e-01 1.56401813e-02 -1.12740667e-03 9.21304444e+00] [-1.56401663e-02 9.99877685e-01 2.20647361e-05 1.50231074e-01] [ 1.12761387e-03 -4.42919534e-06 9.99999364e-01 -6.14001419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.458639999999999 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:9.24, Y:0.15, Z:-0.05 [[ 9.99736878e-01 2.29107711e-02 -1.12741570e-03 9.24348036e+00] [-2.29107613e-02 9.99737514e-01 2.15931543e-05 1.48076469e-01] [ 1.12761449e-03 4.24247944e-06 9.99999364e-01 -4.79986734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:9.27, Y:0.15, Z:-0.06 [[ 9.99701615e-01 2.44010227e-02 -1.12732080e-03 9.27225815e+00] [-2.44010082e-02 9.99702251e-01 2.66081208e-05 1.46877693e-01] [ 1.12763441e-03 9.07582856e-07 9.99999364e-01 -6.14453508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:9.30, Y:0.15, Z:-0.06 [[ 9.99712611e-01 2.39462990e-02 -1.12742578e-03 9.30153059e+00] [-2.39462906e-02 9.99713246e-01 2.09620893e-05 1.46055835e-01] [ 1.12760445e-03 6.04160033e-06 9.99999364e-01 -6.14120214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999999 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:9.33, Y:0.15, Z:-0.06 [[ 9.99694185e-01 2.47035316e-02 -1.12743508e-03 9.33054004e+00] [-2.47035242e-02 9.99694821e-01 2.04492745e-05 1.45744893e-01] [ 1.12759618e-03 7.40859894e-06 9.99999364e-01 -6.06919984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57864 meters Centerline goodness : 0.972265 Centerline is valid? [True, True] Translation: X:9.39, Y:0.12, Z:-0.06 [[ 9.99360191e-01 -3.57482615e-02 -1.12744413e-03 9.39264060e+00] [ 3.57483067e-02 9.99360825e-01 1.99375159e-05 1.21253109e-01] [ 1.12601076e-03 -6.02289782e-05 9.99999364e-01 -6.42595293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.37, Y:0.14, Z:-0.08 [[ 9.99999258e-01 4.73793698e-04 -1.12260234e-03 9.37132250e+00] [-4.73549902e-04 9.99999864e-01 2.17425575e-04 1.40245053e-01] [ 1.12270521e-03 -2.16893806e-04 9.99999346e-01 -8.02834402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.638639999999999 meters Centerline goodness : 0.953528 Centerline is valid? [True, True] Translation: X:9.35, Y:0.15, Z:-0.08 [[ 9.97932656e-01 6.42584555e-02 -1.12447514e-03 9.34951235e+00] [-6.42585377e-02 9.97933284e-01 -3.70755520e-05 1.49336531e-01] [ 1.11976875e-03 1.09256032e-04 9.99999367e-01 -7.58531974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66864 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:9.42, Y:0.17, Z:-0.05 [[ 9.96857746e-01 7.92045226e-02 -1.13048288e-03 9.42327210e+00] [-7.92047218e-02 9.96858362e-01 -1.32437660e-04 1.72960512e-01] [ 1.11644165e-03 2.21561089e-04 9.99999352e-01 -4.65772870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:9.45, Y:0.17, Z:-0.06 [[ 9.96978979e-01 7.76638331e-02 -1.11531635e-03 9.45266870e+00] [-7.76637901e-02 9.96979603e-01 8.18429183e-05 1.71608240e-01] [ 1.11830389e-03 5.02402597e-06 9.99999375e-01 -6.02352655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.728639999999999 meters Centerline goodness : 0.865380 Centerline is valid? [True, False] Translation: X:9.45, Y:0.17, Z:-0.06 [[ 9.98058047e-01 6.21269500e-02 4.51400746e-03 9.45078493e+00] [-6.21423747e-02 9.98061636e-01 3.36105798e-03 1.66867907e-01] [-4.29644539e-03 -3.63504210e-03 9.99984163e-01 -6.16278918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75864 meters Centerline goodness : 0.996892 Centerline is valid? [False, True] Translation: X:9.45, Y:0.16, Z:-0.06 [[ 9.98969189e-01 4.38976401e-02 1.15566709e-02 9.44598564e+00] [-4.39465960e-02 9.99025807e-01 4.01672850e-03 1.61040148e-01] [-1.13690875e-02 -4.52046436e-03 9.99925152e-01 -6.19830116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78864 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:9.51, Y:0.18, Z:-0.10 [[ 9.98159738e-01 5.95655113e-02 1.13616577e-02 9.51298702e+00] [-5.95635570e-02 9.98224385e-01 -5.10619115e-04 1.80152060e-01] [-1.13718991e-02 -1.67061306e-04 9.99935324e-01 -1.02546465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.818639999999998 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:9.50, Y:0.15, Z:-0.06 [[ 9.99572566e-01 2.69691864e-02 1.12848845e-02 9.49860464e+00] [-2.69425792e-02 9.99633849e-01 -2.50322915e-03 1.50723600e-01] [-1.13482626e-02 2.19811529e-03 9.99933190e-01 -6.30495922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84864 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:9.53, Y:0.15, Z:-0.08 [[ 9.99585755e-01 2.64476971e-02 1.13506316e-02 9.52868794e+00] [-2.64450939e-02 9.99650195e-01 -3.79394786e-04 1.45242809e-01] [-1.13566952e-02 7.90691058e-05 9.99935508e-01 -7.80897653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.878639999999999 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:9.52, Y:0.13, Z:-0.08 [[ 9.99675156e-01 2.28194247e-02 1.13515106e-02 9.51765446e+00] [-2.28169105e-02 9.99739599e-01 -3.50963047e-04 1.27571807e-01] [-1.13565635e-02 9.18426367e-05 9.99935508e-01 -7.82376500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90864 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:9.58, Y:0.14, Z:-0.08 [[ 9.99423194e-01 3.19901312e-02 1.13978380e-02 9.58180308e+00] [-3.20056605e-02 9.99486988e-01 1.18263725e-03 1.38086160e-01] [-1.13541580e-02 -1.54675043e-03 9.99934343e-01 -7.78410704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93864 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:9.61, Y:0.14, Z:-0.07 [[ 9.99397919e-01 3.27903756e-02 1.13397927e-02 9.61286025e+00] [-3.27878036e-02 9.99462250e-01 -4.12694995e-04 1.36917774e-01] [-1.13472271e-02 4.06396245e-05 9.99935617e-01 -6.51447332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.968639999999999 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:9.68, Y:0.14, Z:-0.08 [[ 9.99510717e-01 2.91505919e-02 1.13388501e-02 9.67916519e+00] [-2.91474939e-02 9.99575025e-01 -4.38413411e-04 1.42436711e-01] [-1.13468114e-02 1.07699838e-04 9.99935617e-01 -8.46150351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99864 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:9.65, Y:0.14, Z:-0.07 [[ 9.98601489e-01 5.16566730e-02 1.12540646e-02 9.64770271e+00] [-5.16302241e-02 9.98662812e-01 -2.62835040e-03 1.43261776e-01] [-1.13747877e-02 2.04362475e-03 9.99933217e-01 -6.76730731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02864 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:9.69, Y:0.12, Z:-0.08 [[ 9.99520404e-01 2.88150878e-02 1.13425594e-02 9.68957183e+00] [-2.88187365e-02 9.99584641e-01 1.58338094e-04 1.19423503e-01] [-1.13332856e-02 -4.85140386e-04 9.99935659e-01 -7.87000583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.058639999999999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:9.75, Y:0.12, Z:-0.08 [[ 9.99661826e-01 2.34093400e-02 1.13241870e-02 9.75268022e+00] [-2.34064941e-02 9.99725957e-01 -3.83798727e-04 1.21998475e-01] [-1.13300682e-02 1.18609420e-04 9.99935806e-01 -7.86209586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:9.74, Y:0.11, Z:-0.08 [[ 9.99734129e-01 2.01244829e-02 1.12550223e-02 9.74435201e+00] [-2.01001561e-02 9.99795394e-01 -2.27039135e-03 1.08318589e-01] [-1.12984099e-02 2.04356002e-03 9.99934083e-01 -8.21025832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:9.78, Y:0.10, Z:-0.08 [[ 9.99745312e-01 1.95276443e-02 1.13129613e-02 9.77640155e+00] [-1.95250549e-02 9.99809310e-01 -3.39301871e-04 1.03070844e-01] [-1.13174298e-02 1.18329265e-04 9.99935949e-01 -8.28170675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.10, Z:-0.08 [[ 9.99734582e-01 2.00694450e-02 1.13129177e-02 9.80892107e+00] [-2.00668739e-02 9.99798582e-01 -3.40750200e-04 9.73156454e-02] [-1.13174777e-02 1.13644866e-04 9.99935949e-01 -8.36580525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.09, Z:-0.08 [[ 9.99718089e-01 2.08749153e-02 1.13128516e-02 9.84101039e+00] [-2.08723711e-02 9.99782090e-01 -3.42930667e-04 9.35035340e-02] [-1.13175450e-02 1.06707956e-04 9.99935949e-01 -8.37474411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:9.87, Y:0.09, Z:-0.07 [[ 9.99700249e-01 2.17124952e-02 1.13128073e-02 9.87162889e+00] [-2.17099882e-02 9.99764251e-01 -3.44386099e-04 8.97185056e-02] [-1.13176178e-02 9.86819570e-05 9.99935949e-01 -6.72596536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.238639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.09, Z:-0.08 [[ 9.99581269e-01 2.66328808e-02 1.13126983e-02 9.90200361e+00] [-2.66306483e-02 9.99645281e-01 -3.47961620e-04 8.55410121e-02] [-1.13179527e-02 4.65514284e-05 9.99935949e-01 -8.37005513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.93, Y:0.08, Z:-0.08 [[ 9.99469096e-01 3.05540007e-02 1.13127785e-02 9.93389770e+00] [-3.05520490e-02 9.99533118e-01 -3.45334109e-04 8.40193637e-02] [-1.13180481e-02 -4.77793674e-07 9.99935949e-01 -8.44602941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.298639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:9.96, Y:0.08, Z:-0.07 [[ 9.99316627e-01 3.51894883e-02 1.13127334e-02 9.96451535e+00] [-3.51878170e-02 9.99380657e-01 -3.46806515e-04 8.32094014e-02] [-1.13179309e-02 -5.15008742e-05 9.99935949e-01 -6.52867266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.08, Z:-0.09 [[ 9.99155599e-01 3.94977883e-02 1.13143479e-02 9.99614550e+00] [-3.94969917e-02 9.99219646e-01 -2.93931072e-04 8.26525764e-02] [-1.13171283e-02 -1.53199829e-04 9.99935948e-01 -8.51978997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.08, Z:-0.08 [[ 9.99097246e-01 4.09477351e-02 1.13126328e-02 1.00261853e+01] [-4.09464029e-02 9.99161283e-01 -3.49452035e-04 8.19719266e-02] [-1.13174540e-02 -1.14075057e-04 9.99935949e-01 -8.22797775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.08, Z:-0.08 [[ 9.98873355e-01 4.60868740e-02 1.13145976e-02 1.00596540e+01] [-4.60865925e-02 9.98937408e-01 -2.85754275e-04 8.07751961e-02] [-1.13157444e-02 -2.36018919e-04 9.99935947e-01 -8.46310057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:10.09, Y:0.08, Z:-0.07 [[ 9.98895863e-01 4.55969543e-02 1.13124986e-02 1.00906798e+01] [-4.55958797e-02 9.98959905e-01 -3.53020114e-04 8.10381340e-02] [-1.13168291e-02 -1.63172992e-04 9.99935949e-01 -6.80008568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:10.12, Y:0.08, Z:-0.07 [[ 9.98851377e-01 4.65612957e-02 1.13124793e-02 1.01229261e+01] [-4.65602759e-02 9.98915420e-01 -3.53635588e-04 8.07453514e-02] [-1.13166758e-02 -1.73482766e-04 9.99935949e-01 -6.73323511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.478639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.15, Y:0.08, Z:-0.08 [[ 9.98835014e-01 4.69110409e-02 1.13123371e-02 1.01531428e+01] [-4.69099921e-02 9.98899056e-01 -3.58176363e-04 7.93812824e-02] [-1.13166853e-02 -1.72902552e-04 9.99935949e-01 -8.32329468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.19, Y:0.08, Z:-0.08 [[ 9.98815982e-01 4.73140641e-02 1.13142653e-02 1.01861846e+01] [-4.73137363e-02 9.98880034e-01 -2.96790948e-04 7.86842104e-02] [-1.13156361e-02 -2.38880623e-04 9.99935948e-01 -8.21870064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:0.08, Z:-0.07 [[ 9.98818791e-01 4.72550476e-02 1.13129311e-02 1.02188435e+01] [-4.72542388e-02 9.98882837e-01 -3.38924760e-04 8.13263137e-02] [-1.13163086e-02 -1.96059527e-04 9.99935949e-01 -6.91232096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.568639999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:10.25, Y:0.08, Z:-0.07 [[ 9.98809192e-01 4.74581400e-02 1.13102810e-02 1.02507383e+01] [-4.74563977e-02 9.98873221e-01 -4.22532326e-04 8.14122846e-02] [-1.13175894e-02 -1.14716022e-04 9.99935947e-01 -6.94478012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:10.28, Y:0.08, Z:-0.07 [[ 9.98801309e-01 4.76236346e-02 1.13107800e-02 1.02837817e+01] [-4.76220802e-02 9.98865342e-01 -4.06871015e-04 8.02422059e-02] [-1.13173228e-02 -1.32259568e-04 9.99935948e-01 -6.99569374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:10.32, Y:0.08, Z:-0.07 [[ 9.98845934e-01 4.66784631e-02 1.13102040e-02 1.03161419e+01] [-4.66766448e-02 9.98909961e-01 -4.24824009e-04 7.91616039e-02] [-1.13177056e-02 -1.03588640e-04 9.99935947e-01 -7.06231360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.35, Y:0.08, Z:-0.07 [[ 9.98879688e-01 4.59502101e-02 1.13113871e-02 1.03493349e+01] [-4.59487625e-02 9.98943722e-01 -3.87954405e-04 8.13818790e-02] [-1.13172658e-02 -1.32224467e-04 9.99935949e-01 -7.09090194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:10.38, Y:0.08, Z:-0.07 [[ 9.98945871e-01 4.44884540e-02 1.13103774e-02 1.03815941e+01] [-4.44865580e-02 9.99009895e-01 -4.19293139e-04 8.25238629e-02] [-1.13178327e-02 -8.43086122e-05 9.99935948e-01 -7.10134954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.718639999999999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.41, Y:0.08, Z:-0.07 [[ 9.99002679e-01 4.31938846e-02 1.13108597e-02 1.04137704e+01] [-4.31920743e-02 9.99066705e-01 -4.04392769e-04 8.36828508e-02] [-1.13177707e-02 -8.45500355e-05 9.99935948e-01 -7.10591883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:10.44, Y:0.09, Z:-0.07 [[ 9.99168635e-01 3.91676165e-02 1.13109400e-02 1.04431621e+01] [-3.91655762e-02 9.99232654e-01 -4.01919613e-04 8.71108629e-02] [-1.13180028e-02 -4.14140102e-05 9.99935948e-01 -7.46917035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.48, Y:0.09, Z:-0.09 [[ 9.99168598e-01 3.91678358e-02 1.13134032e-02 1.04751821e+01] [-3.91666553e-02 9.99232639e-01 -3.25972377e-04 8.91142189e-02] [-1.13174893e-02 -1.17406799e-04 9.99935948e-01 -8.97519345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.808639999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:10.51, Y:0.09, Z:-0.07 [[ 9.99305685e-01 3.54990855e-02 1.13120353e-02 1.05056938e+01] [-3.54971939e-02 9.99369708e-01 -3.68017247e-04 9.26902819e-02] [-1.13179697e-02 -3.37837835e-05 9.99935949e-01 -7.31792823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:10.54, Y:0.09, Z:-0.07 [[ 9.99332002e-01 3.47503810e-02 1.13120077e-02 1.05377914e+01] [-3.47484319e-02 9.99396023e-01 -3.68865091e-04 9.31188762e-02] [-1.13179938e-02 -2.44558409e-05 9.99935949e-01 -7.33647609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.09, Z:-0.09 [[ 9.99310785e-01 3.53551594e-02 1.13122977e-02 1.05682584e+01] [-3.53533491e-02 9.99374810e-01 -3.60024001e-04 9.38251405e-02] [-1.13179540e-02 -4.01517407e-05 9.99935949e-01 -9.12363991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.898639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.10, Z:-0.09 [[ 9.99398714e-01 3.27757970e-02 1.13118373e-02 1.06011728e+01] [-3.27736638e-02 9.99462729e-01 -3.73949988e-04 9.92787456e-02] [-1.13180163e-02 2.99478436e-06 9.99935949e-01 -9.14965030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:10.63, Y:0.10, Z:-0.09 [[ 9.99430502e-01 3.17917484e-02 1.13117761e-02 1.06345365e+01] [-3.17895313e-02 9.99494514e-01 -3.75791687e-04 1.01183629e-01] [-1.13180052e-02 1.59816129e-05 9.99935949e-01 -9.21372397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.958639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.10, Z:-0.09 [[ 9.99468018e-01 3.05896371e-02 1.13117015e-02 1.06671262e+01] [-3.05873178e-02 9.99532027e-01 -3.78022858e-04 1.01201033e-01] [-1.13179716e-02 3.18271476e-05 9.99935949e-01 -9.33114488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.70, Y:0.10, Z:-0.08 [[ 9.99588108e-01 2.63753939e-02 1.13116268e-02 1.06974731e+01] [-2.63727796e-02 9.99652105e-01 -3.80245061e-04 1.00397879e-01] [-1.13177207e-02 8.17693993e-05 9.99935949e-01 -7.65657928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:10.73, Y:0.10, Z:-0.08 [[ 9.99626312e-01 2.48849005e-02 1.13127680e-02 1.07287164e+01] [-2.48825753e-02 9.99690321e-01 -3.46257853e-04 1.00113410e-01] [-1.13178813e-02 6.46376576e-05 9.99935949e-01 -7.52277223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.048639999999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:10.76, Y:0.10, Z:-0.08 [[ 9.99676992e-01 2.27580573e-02 1.13129390e-02 1.07597520e+01] [-2.27556532e-02 9.99740998e-01 -3.41201605e-04 1.01453028e-01] [-1.13177741e-02 8.36580763e-05 9.99935948e-01 -7.55435017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:10.79, Y:0.10, Z:-0.08 [[ 9.99704133e-01 2.15325562e-02 1.13135008e-02 1.07922057e+01] [-2.15302591e-02 9.99768144e-01 -3.24806169e-04 1.00611009e-01] [-1.13178716e-02 8.11274663e-05 9.99935948e-01 -8.01216334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:10.82, Y:0.10, Z:-0.08 [[ 9.99638846e-01 2.43760677e-02 1.13130136e-02 1.08241838e+01] [-2.43737928e-02 9.99702858e-01 -3.38941523e-04 1.01410596e-01] [-1.13179141e-02 6.30780638e-05 9.99935948e-01 -7.68478437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.138639999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:10.85, Y:0.10, Z:-0.08 [[ 9.99616260e-01 2.52863113e-02 1.13108582e-02 1.08547819e+01] [-2.52833928e-02 9.99680244e-01 -4.00973145e-04 1.01432499e-01] [-1.13173806e-02 1.14842404e-04 9.99935950e-01 -7.80968308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.10, Z:-0.09 [[ 9.99489754e-01 2.98708389e-02 1.13121354e-02 1.08876626e+01] [-2.98686287e-02 9.99553767e-01 -3.64310186e-04 1.02402851e-01] [-1.13179698e-02 2.62463263e-05 9.99935949e-01 -9.45381288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:10.92, Y:0.10, Z:-0.08 [[ 9.99367893e-01 3.37027668e-02 1.13109963e-02 1.09203396e+01] [-3.37004345e-02 9.99431900e-01 -3.96781944e-04 1.02234117e-01] [-1.13179432e-02 1.53456438e-05 9.99935950e-01 -7.90927989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:10.95, Y:0.10, Z:-0.08 [[ 9.99282364e-01 3.61509373e-02 1.13078528e-02 1.09511225e+01] [-3.61477576e-02 9.99346338e-01 -4.85523435e-04 1.00912557e-01] [-1.13180134e-02 7.64214835e-05 9.99935946e-01 -7.75206592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:10.98, Y:0.10, Z:-0.08 [[ 9.99297471e-01 3.57301509e-02 1.13101832e-02 1.09830433e+01] [-3.57276925e-02 9.99361474e-01 -4.19399096e-04 9.95284407e-02] [-1.13179465e-02 1.50177086e-05 9.99935950e-01 -7.94510004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:11.01, Y:0.10, Z:-0.08 [[ 9.99327591e-01 3.48781607e-02 1.13083821e-02 1.10121822e+01] [-3.48750726e-02 9.99391569e-01 -4.70224796e-04 9.87761894e-02] [-1.13179023e-02 7.55279660e-05 9.99935948e-01 -8.05051671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.318639999999998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:11.04, Y:0.10, Z:-0.08 [[ 9.99371567e-01 3.35935540e-02 1.13112544e-02 1.10443963e+01] [-3.35913019e-02 9.99435577e-01 -3.89078000e-04 9.63660326e-02] [-1.13179406e-02 8.87372858e-06 9.99935950e-01 -8.04360123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.07, Y:0.10, Z:-0.09 [[ 9.99387040e-01 3.31307677e-02 1.13091477e-02 1.10745334e+01] [-3.31278150e-02 9.99451023e-01 -4.48370838e-04 9.54619119e-02] [-1.13177941e-02 7.34486514e-05 9.99935949e-01 -9.48864569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.378639999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:11.11, Y:0.09, Z:-0.08 [[ 9.99408103e-01 3.24886142e-02 1.13107779e-02 1.11052081e+01] [-3.24861387e-02 9.99472105e-01 -4.02568478e-04 9.41495286e-02] [-1.13178859e-02 3.48866986e-05 9.99935950e-01 -7.83781085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.408639999999998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:11.14, Y:0.09, Z:-0.08 [[ 9.99388022e-01 3.31005709e-02 1.13107855e-02 1.11363311e+01] [-3.30981370e-02 9.99452026e-01 -4.02355004e-04 9.28756467e-02] [-1.13179057e-02 2.77428426e-05 9.99935950e-01 -7.92642730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:11.17, Y:0.09, Z:-0.08 [[ 9.99384516e-01 3.32062354e-02 1.13108222e-02 1.11679822e+01] [-3.32038200e-02 9.99448521e-01 -4.01325534e-04 9.17608741e-02] [-1.13179111e-02 2.55160198e-05 9.99935950e-01 -7.96227949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:11.20, Y:0.09, Z:-0.08 [[ 9.99339403e-01 3.45372733e-02 1.13107795e-02 1.12003226e+01] [-3.45349296e-02 9.99403410e-01 -4.02518974e-04 9.08185534e-02] [-1.13179336e-02 1.16360959e-05 9.99935950e-01 -8.11058492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:11.23, Y:0.09, Z:-0.08 [[ 9.99264913e-01 3.66295445e-02 1.13097610e-02 1.12327244e+01] [-3.66270145e-02 9.99328913e-01 -4.30819087e-04 9.22107065e-02] [-1.13179519e-02 1.62596153e-05 9.99935950e-01 -8.36646179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:11.26, Y:0.09, Z:-0.08 [[ 9.99237624e-01 3.73663702e-02 1.13104275e-02 1.12649611e+01] [-3.73640952e-02 9.99301633e-01 -4.12460047e-04 9.16903900e-02] [-1.13179408e-02 -1.04582919e-05 9.99935950e-01 -8.46911871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.558639999999999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:11.30, Y:0.09, Z:-0.09 [[ 9.99260454e-01 3.67507245e-02 1.13105969e-02 1.12957939e+01] [-3.67484626e-02 9.99324464e-01 -4.07818898e-04 8.90955121e-02] [-1.13179438e-02 -8.12974914e-06 9.99935950e-01 -8.52669137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:11.33, Y:0.09, Z:-0.08 [[ 9.99333813e-01 3.46987138e-02 1.13106149e-02 1.13258979e+01] [-3.46963260e-02 9.99397818e-01 -4.07326578e-04 8.73650693e-02] [-1.13179376e-02 1.46184407e-05 9.99935950e-01 -8.40101201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:11.36, Y:0.09, Z:-0.09 [[ 9.99331808e-01 3.47558081e-02 1.13124334e-02 1.13578834e+01] [-3.47539832e-02 9.99395834e-01 -3.57915059e-04 8.58364875e-02] [-1.13180384e-02 -3.54762175e-05 9.99935948e-01 -8.50199513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.648639999999999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:11.39, Y:0.09, Z:-0.08 [[ 9.99388022e-01 3.31004006e-02 1.13112555e-02 1.13885580e+01] [-3.30981100e-02 9.99452031e-01 -3.89692184e-04 8.52797465e-02] [-1.13179562e-02 1.50725227e-05 9.99935950e-01 -8.21968950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:11.42, Y:0.09, Z:-0.08 [[ 9.99369197e-01 3.36634881e-02 1.13126960e-02 1.14198446e+01] [-3.36616685e-02 9.99433224e-01 -3.51264267e-04 8.52183269e-02] [-1.13181090e-02 -2.97615350e-05 9.99935948e-01 -8.37348065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.708639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:11.45, Y:0.09, Z:-0.10 [[ 9.99181176e-01 3.88455395e-02 1.13138187e-02 1.14527269e+01] [-3.88443890e-02 9.99245220e-01 -3.21504636e-04 8.58202224e-02] [-1.13177683e-02 -1.18236994e-04 9.99935945e-01 -9.99989519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.738639999999998 meters Centerline goodness : 0.738961 Centerline is valid? [True, False] Translation: X:11.45, Y:0.08, Z:-0.10 [[ 9.99684709e-01 2.29527276e-02 1.01810848e-02 1.14543214e+01] [-2.29986313e-02 9.99725749e-01 4.41478092e-03 7.95309193e-02] [-1.00769613e-02 -4.64754000e-03 9.99938426e-01 -9.98142978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76864 meters Centerline goodness : 0.998916 Centerline is valid? [False, True] Translation: X:11.48, Y:0.08, Z:-0.10 [[ 9.99958968e-01 7.22316122e-03 5.46706751e-03 1.14764858e+01] [-7.20729860e-03 9.99969776e-01 -2.91564703e-03 8.19892695e-02] [-5.48796246e-03 2.87612461e-03 9.99980805e-01 -9.66670322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.798639999999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:11.51, Y:0.08, Z:-0.10 [[ 9.99939222e-01 9.56449940e-03 5.48384991e-03 1.15092548e+01] [-9.56457119e-03 9.99954258e-01 -1.31345040e-05 8.01710838e-02] [-5.48372469e-03 -3.93169671e-05 9.99984963e-01 -9.65781090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:11.54, Y:0.08, Z:-0.10 [[ 9.99910467e-01 1.22059450e-02 5.48380604e-03 1.15405629e+01] [-1.22060174e-02 9.99925504e-01 -2.02670360e-05 8.36231974e-02] [-5.48364490e-03 -4.66702105e-05 9.99984964e-01 -9.62184081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85864 meters Centerline goodness : 0.777575 Centerline is valid? [True, False] Translation: X:11.54, Y:0.09, Z:-0.10 [[ 9.99951386e-01 8.13825346e-03 5.56730538e-03 1.15402972e+01] [-8.10795878e-03 9.99952318e-01 -5.44263285e-03 8.86749235e-02] [-5.61133345e-03 5.39722878e-03 9.99969691e-01 -9.65242708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999999 meters Centerline goodness : 0.999311 Centerline is valid? [False, True] Translation: X:11.54, Y:0.09, Z:-0.10 [[ 9.99910346e-01 1.22552092e-02 5.39533110e-03 1.15409170e+01] [-1.22468639e-02 9.99923761e-01 -1.57709532e-03 8.99847229e-02] [-5.41424740e-03 1.51087804e-03 9.99984201e-01 -9.72827523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91864 meters Centerline goodness : 0.792645 Centerline is valid? [True, False] Translation: X:11.54, Y:0.10, Z:-0.10 [[ 9.99950857e-01 8.24585470e-03 5.50351996e-03 1.15406833e+01] [-8.20571963e-03 9.99939863e-01 -7.27578727e-03 9.64754186e-02] [-5.56318408e-03 7.23026938e-03 9.99958386e-01 -9.74500504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94864 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:11.55, Y:0.09, Z:-0.10 [[ 9.99998686e-01 -1.18392818e-03 1.10773346e-03 1.15451013e+01] [ 1.17914616e-03 9.99990027e-01 4.30767910e-03 8.90028247e-02] [-1.11282240e-03 -4.30636726e-03 9.99990108e-01 -9.70438059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.978639999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:11.58, Y:0.10, Z:-0.10 [[ 9.99998864e-01 -9.39716284e-04 1.17838912e-03 1.15767200e+01] [ 9.39688650e-04 9.99999558e-01 2.40043640e-05 9.56693362e-02] [-1.17841116e-03 -2.28970178e-05 9.99999305e-01 -9.78149364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:11.61, Y:0.10, Z:-0.09 [[ 9.99997175e-01 -2.06419487e-03 1.17842984e-03 1.16078761e+01] [ 2.06417097e-03 9.99997869e-01 2.14989028e-05 9.88802373e-02] [-1.17847170e-03 -1.90663615e-05 9.99999305e-01 -9.46781091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:11.64, Y:0.10, Z:-0.10 [[ 9.99992631e-01 -3.65376464e-03 1.17842952e-03 1.16388753e+01] [ 3.65374182e-03 9.99993325e-01 2.15185300e-05 1.01027342e-01] [-1.17850028e-03 -1.72126942e-05 9.99999305e-01 -9.68572387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:11.67, Y:0.10, Z:-0.09 [[ 9.99966413e-01 -8.11070219e-03 1.17841601e-03 1.16685651e+01] [ 8.11068145e-03 9.99967108e-01 2.23763786e-05 1.04472993e-01] [-1.17855873e-03 -1.28178702e-05 9.99999305e-01 -9.36952536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.70, Y:0.11, Z:-0.10 [[ 9.99965779e-01 -8.18858580e-03 1.17832283e-03 1.17002941e+01] [ 8.18855791e-03 9.99966473e-01 2.84954361e-05 1.05083580e-01] [-1.17851666e-03 -1.88456962e-05 9.99999305e-01 -9.74596982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.128639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:11.73, Y:0.11, Z:-0.10 [[ 9.99965317e-01 -8.24475331e-03 1.17839806e-03 1.17320319e+01] [ 8.24473150e-03 9.99966011e-01 2.33608616e-05 1.05405042e-01] [-1.17855061e-03 -1.36444758e-05 9.99999305e-01 -9.69856446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.158639999999998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:11.76, Y:0.11, Z:-0.10 [[ 9.99976533e-01 -6.74869208e-03 1.17841443e-03 1.17645396e+01] [ 6.74867057e-03 9.99977227e-01 2.22233336e-05 1.08473952e-01] [-1.17853757e-03 -1.42700813e-05 9.99999305e-01 -9.52012170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18864 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:11.79, Y:0.11, Z:-0.09 [[ 9.99986472e-01 -5.06620510e-03 1.17845029e-03 1.17944198e+01] [ 5.06618544e-03 9.99987167e-01 1.96666907e-05 1.10877530e-01] [-1.17853480e-03 -1.36961769e-05 9.99999305e-01 -9.45382360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.218639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:11.83, Y:0.11, Z:-0.09 [[ 9.99998344e-01 1.38696144e-03 1.17837575e-03 1.18262801e+01] [-1.38699198e-03 9.99999038e-01 2.50925670e-05 1.14066010e-01] [-1.17833981e-03 -2.67269231e-05 9.99999305e-01 -9.48958336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.86, Y:0.12, Z:-0.11 [[ 9.99986517e-01 5.05740047e-03 1.17845821e-03 1.18582748e+01] [-5.05742635e-03 9.99987211e-01 1.89750221e-05 1.16261694e-01] [-1.17834717e-03 -2.49347318e-05 9.99999305e-01 -1.06489224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:11.89, Y:0.12, Z:-0.09 [[ 9.99986346e-01 5.09112863e-03 1.17850236e-03 1.18882841e+01] [-5.09115061e-03 9.99987040e-01 1.56505169e-05 1.18601173e-01] [-1.17840740e-03 -2.16502362e-05 9.99999305e-01 -9.42554233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.308639999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:11.92, Y:0.12, Z:-0.09 [[ 9.99976674e-01 6.72776326e-03 1.17843976e-03 1.19192004e+01] [-6.72779182e-03 9.99977368e-01 2.02758425e-05 1.20668984e-01] [-1.17827668e-03 -2.82036669e-05 9.99999305e-01 -9.45232449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.95, Y:0.13, Z:-0.10 [[ 9.99914648e-01 1.30118403e-02 1.17842421e-03 1.19496488e+01] [-1.30118746e-02 9.99915342e-01 2.14380284e-05 1.25046631e-01] [-1.17804550e-03 -3.67697067e-05 9.99999305e-01 -1.04860491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:11.98, Y:0.13, Z:-0.09 [[ 9.99912695e-01 1.31610281e-02 1.17849918e-03 1.19793840e+01] [-1.31610560e-02 9.99913389e-01 1.58714868e-05 1.28340136e-01] [-1.17818822e-03 -3.13803948e-05 9.99999305e-01 -9.24037184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.398639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:12.01, Y:0.13, Z:-0.09 [[ 9.99832680e-01 1.82543817e-02 1.17843759e-03 1.20097254e+01] [-1.82544183e-02 9.99833374e-01 2.03397888e-05 1.32820231e-01] [-1.17786994e-03 -4.18480781e-05 9.99999305e-01 -9.39938885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42864 meters Centerline goodness : 0.987509 Centerline is valid? [True, True] Translation: X:12.03, Y:0.11, Z:-0.12 [[ 9.98849432e-01 -4.79418771e-02 1.17849777e-03 1.20309578e+01] [ 4.79418916e-02 9.98850126e-01 1.59844100e-05 1.12432947e-01] [-1.17790897e-03 4.05333934e-05 9.99999305e-01 -1.15716499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.458639999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:12.07, Y:0.15, Z:-0.09 [[ 9.99554128e-01 2.98355141e-02 1.17770318e-03 1.20706733e+01] [-2.98356237e-02 9.99554816e-01 7.55547275e-05 1.47899841e-01] [-1.17492467e-03 -1.10658549e-04 9.99999304e-01 -9.31465104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.488639999999998 meters Centerline goodness : 0.896479 Centerline is valid? [True, False] Translation: X:12.06, Y:0.15, Z:-0.09 [[ 9.99819222e-01 1.70841690e-02 8.34597398e-03 1.20647838e+01] [-1.71216350e-02 9.99843563e-01 4.43847940e-03 1.52959397e-01] [-8.26884063e-03 -4.58057374e-03 9.99955321e-01 -9.36313541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51864 meters Centerline goodness : 0.999409 Centerline is valid? [False, True] Translation: X:12.06, Y:0.16, Z:-0.09 [[ 9.99873952e-01 1.32429356e-02 8.75815528e-03 1.20637154e+01] [-1.32264055e-02 9.99910640e-01 -1.94262428e-03 1.61846153e-01] [-8.78309870e-03 1.82654050e-03 9.99959760e-01 -9.37943237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:12.10, Y:0.16, Z:-0.10 [[ 9.99891419e-01 1.19049945e-02 8.68456017e-03 1.20957527e+01] [-1.19077964e-02 9.99929063e-01 2.70987263e-04 1.64756725e-01] [-8.68071801e-03 -3.74371813e-04 9.99962252e-01 -9.56806879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:12.13, Y:0.17, Z:-0.10 [[ 9.99935593e-01 7.30665273e-03 8.68466362e-03 1.21274025e+01] [-7.30925437e-03 9.99973251e-01 2.67865007e-04 1.72994865e-01] [-8.68247412e-03 -3.31326170e-04 9.99962252e-01 -9.77239497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:12.16, Y:0.18, Z:-0.10 [[ 9.99955006e-01 3.81670127e-03 8.68435729e-03 1.21602406e+01] [-3.81925217e-03 9.99992668e-01 2.77170025e-04 1.78596225e-01] [-8.68323574e-03 -3.10325305e-04 9.99962252e-01 -9.84534831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.638639999999999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:12.19, Y:0.18, Z:-0.10 [[ 9.99962010e-01 7.46241433e-04 8.68455377e-03 1.21910929e+01] [-7.48624122e-04 9.99999683e-01 2.71111833e-04 1.84010152e-01] [-8.68434871e-03 -2.77603000e-04 9.99962252e-01 -9.56704772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:12.22, Y:0.19, Z:-0.10 [[ 9.99955199e-01 -3.76662016e-03 8.68398603e-03 1.22233025e+01] [ 3.76425414e-03 9.99992873e-01 2.88786417e-04 1.91203202e-01] [-8.68501189e-03 -2.56084749e-04 9.99962252e-01 -9.93528425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69864 meters Centerline goodness : 0.862810 Centerline is valid? [True, False] Translation: X:12.20, Y:0.20, Z:-0.10 [[ 9.99918634e-01 -2.64197513e-03 1.24798078e-02 1.21995592e+01] [ 2.78958810e-03 9.99926184e-01 -1.18255839e-02 2.02978147e-01] [-1.24476437e-02 1.18594353e-02 9.99852194e-01 -1.00239275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.728639999999999 meters Centerline goodness : 0.999017 Centerline is valid? [False, True] Translation: X:12.19, Y:0.21, Z:-0.10 [[ 9.99898035e-01 -4.18926536e-03 1.36517311e-02 1.21943620e+01] [ 4.39218037e-03 9.99879822e-01 -1.48677566e-02 2.10038413e-01] [-1.35878055e-02 1.49262015e-02 9.99796269e-01 -9.55406632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:12.23, Y:0.20, Z:-0.10 [[ 9.99882840e-01 -7.62578565e-03 1.32722921e-02 1.22257777e+01] [ 7.62191475e-03 9.99970894e-01 3.42211206e-04 1.98159499e-01] [-1.32745154e-02 -2.41010833e-04 9.99911861e-01 -9.67621914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78864 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:12.27, Y:0.22, Z:-0.11 [[ 9.99057490e-01 4.13277383e-02 1.32721659e-02 1.22662100e+01] [-4.13359819e-02 9.99145243e-01 3.47283596e-04 2.19634946e-01] [-1.32464690e-02 -8.95574288e-04 9.99911861e-01 -1.11418674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.818639999999998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:12.29, Y:0.20, Z:-0.10 [[ 9.99820571e-01 -1.35000111e-02 1.32881595e-02 1.22882385e+01] [ 1.35054214e-02 9.99908747e-01 -3.17496699e-04 2.02176327e-01] [-1.32826607e-02 4.96901925e-04 9.99911658e-01 -9.74801260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84864 meters Centerline goodness : 0.928428 Centerline is valid? [True, False] Translation: X:12.29, Y:0.22, Z:-0.10 [[ 9.99955217e-01 -4.28481118e-03 8.43827672e-03 1.22910057e+01] [ 4.38813684e-03 9.99915157e-01 -1.22646703e-02 2.15696802e-01] [-8.38500900e-03 1.23011494e-02 9.99889181e-01 -9.60876566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.878639999999999 meters Centerline goodness : 0.999214 Centerline is valid? [False, True] Translation: X:12.29, Y:0.23, Z:-0.09 [[ 9.99998966e-01 1.05561789e-03 9.76271231e-04 1.22941706e+01] [-1.02775245e-03 9.99604145e-01 -2.81157814e-02 2.33044980e-01] [-1.00556429e-03 2.81147490e-02 9.99604197e-01 -9.26965000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.908639999999998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:12.32, Y:0.21, Z:-0.10 [[ 9.99999659e-01 -4.52826632e-04 6.90341855e-04 1.23249052e+01] [ 4.52802848e-04 9.99999897e-01 3.46092497e-05 2.08211344e-01] [-6.90357455e-04 -3.42966492e-05 9.99999761e-01 -9.80507281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93864 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:12.36, Y:0.24, Z:-0.11 [[ 9.98057337e-01 6.22982801e-02 6.90593757e-04 1.23642945e+01] [-6.22983018e-02 9.98057574e-01 9.95934377e-06 2.35159679e-01] [-6.88631879e-04 -5.29628144e-05 9.99999761e-01 -1.14485274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.968639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.39, Y:0.21, Z:-0.11 [[ 9.99996542e-01 -2.53735528e-03 6.90924809e-04 1.23851730e+01] [ 2.53737364e-03 9.99996781e-01 -2.56949150e-05 2.11249893e-01] [-6.90857387e-04 2.74479606e-05 9.99999761e-01 -1.11775304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99864 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:12.42, Y:0.21, Z:-0.10 [[ 9.99987695e-01 -4.91262805e-03 6.90560995e-04 1.24155986e+01] [ 4.91262400e-03 9.99987933e-01 7.55580604e-06 2.11907900e-01] [-6.90589781e-04 -4.16324654e-06 9.99999762e-01 -9.69389935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:12.45, Y:0.21, Z:-0.10 [[ 9.99967756e-01 -8.00057947e-03 6.90558175e-04 1.24472149e+01] [ 8.00057599e-03 9.99967995e-01 7.81095994e-06 2.13060669e-01] [-6.90598566e-04 -2.28584494e-06 9.99999762e-01 -9.56428156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:12.48, Y:0.21, Z:-0.10 [[ 9.99950955e-01 -9.87979632e-03 6.90575078e-04 1.24796161e+01] [ 9.87979435e-03 9.99951194e-01 6.26368810e-06 2.13663245e-01] [-6.90603257e-04 5.59358854e-07 9.99999762e-01 -1.00705068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:12.51, Y:0.21, Z:-0.10 [[ 9.99912146e-01 -1.32371914e-02 6.90612895e-04 1.25100532e+01] [ 1.32371926e-02 9.99912385e-01 2.79115904e-06 2.13946495e-01] [-6.90589333e-04 6.35086210e-06 9.99999762e-01 -1.00635144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.21, Z:-0.11 [[ 9.99846409e-01 -1.75123135e-02 6.90580916e-04 1.25409896e+01] [ 1.75123137e-02 9.99846648e-01 5.74250944e-06 2.12356770e-01] [-6.90575579e-04 6.35204222e-06 9.99999762e-01 -1.14028379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.57, Y:0.21, Z:-0.11 [[ 9.99851092e-01 -1.72429030e-02 6.90564346e-04 1.25741259e+01] [ 1.72429021e-02 9.99851330e-01 7.30829432e-06 2.12217117e-01] [-6.90587696e-04 4.60012734e-06 9.99999762e-01 -1.13442267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.178639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.61, Y:0.21, Z:-0.11 [[ 9.99862591e-01 -1.65626467e-02 6.90567796e-04 1.26064537e+01] [ 1.65626458e-02 9.99862830e-01 6.96625336e-06 2.12365238e-01] [-6.90588450e-04 4.47233367e-06 9.99999762e-01 -1.13494934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.64, Y:0.21, Z:-0.11 [[ 9.99892071e-01 -1.46754732e-02 6.90570684e-04 1.26388359e+01] [ 1.46754721e-02 9.99892309e-01 6.66716754e-06 2.11034723e-01] [-6.90594159e-04 3.46800285e-06 9.99999762e-01 -1.13037876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:12.67, Y:0.21, Z:-0.10 [[ 9.99874725e-01 -1.58131856e-02 6.90573456e-04 1.26684796e+01] [ 1.58131849e-02 9.99874964e-01 6.36642352e-06 2.09344766e-01] [-6.90587783e-04 4.55453981e-06 9.99999762e-01 -9.61864867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.268639999999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:12.70, Y:0.21, Z:-0.10 [[ 9.99903806e-01 -1.38528698e-02 6.90527897e-04 1.27015881e+01] [ 1.38528652e-02 9.99904044e-01 1.13937025e-05 2.08467085e-01] [-6.90619472e-04 -1.82681657e-06 9.99999762e-01 -9.66805127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:12.73, Y:0.21, Z:-0.09 [[ 9.99908441e-01 -1.35141500e-02 6.90532504e-04 1.27327842e+01] [ 1.35141458e-02 9.99908680e-01 1.08414650e-05 2.08235798e-01] [-6.90615958e-04 -1.50851541e-06 9.99999762e-01 -9.47241167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:12.76, Y:0.21, Z:-0.09 [[ 9.99917489e-01 -1.28272171e-02 6.90529035e-04 1.27645777e+01] [ 1.28272123e-02 9.99917728e-01 1.12816604e-05 2.08875582e-01] [-6.90616936e-04 -2.42316696e-06 9.99999762e-01 -9.47461530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.358639999999998 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:12.80, Y:0.21, Z:-0.10 [[ 9.99914343e-01 -1.30702231e-02 6.90531857e-04 1.27967470e+01] [ 1.30702187e-02 9.99914581e-01 1.08920724e-05 2.07218432e-01] [-6.90615235e-04 -1.86573703e-06 9.99999762e-01 -9.58820785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.20, Z:-0.11 [[ 9.99909701e-01 -1.34206444e-02 6.90529683e-04 1.28299761e+01] [ 1.34206399e-02 9.99909939e-01 1.12121857e-05 2.03579436e-01] [-6.90617968e-04 -1.94382306e-06 9.99999762e-01 -1.13266875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:12.86, Y:0.20, Z:-0.10 [[ 9.99855269e-01 -1.69989520e-02 6.90572663e-04 1.28591449e+01] [ 1.69989531e-02 9.99855507e-01 4.28398065e-06 2.02854853e-01] [-6.90545703e-04 7.45565166e-06 9.99999762e-01 -9.70059704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.448639999999997 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:12.89, Y:0.20, Z:-0.10 [[ 9.99854025e-01 -1.70719796e-02 6.90532956e-04 1.28906938e+01] [ 1.70719762e-02 9.99854263e-01 1.07559963e-05 2.02091658e-01] [-6.90615946e-04 1.03433594e-06 9.99999762e-01 -9.57462653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:12.92, Y:0.20, Z:-0.10 [[ 9.99856627e-01 -1.69189050e-02 6.90545653e-04 1.29240862e+01] [ 1.69189031e-02 9.99856865e-01 8.58834232e-06 1.98743665e-01] [-6.90592118e-04 3.09616400e-06 9.99999762e-01 -1.01321611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:12.96, Y:0.20, Z:-0.10 [[ 9.99849027e-01 -1.73621838e-02 6.90574496e-04 1.29554763e+01] [ 1.73621857e-02 9.99849266e-01 3.24288334e-06 1.96475685e-01] [-6.90526706e-04 8.74748889e-06 9.99999762e-01 -9.99079305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:12.99, Y:0.19, Z:-0.10 [[ 9.99842084e-01 -1.77575639e-02 6.90572432e-04 1.29869925e+01] [ 1.77575657e-02 9.99842322e-01 3.63313533e-06 1.94106259e-01] [-6.90528060e-04 8.63032372e-06 9.99999762e-01 -9.63886794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:13.02, Y:0.19, Z:-0.10 [[ 9.99852470e-01 -1.71627778e-02 6.90564454e-04 1.30181820e+01] [ 1.71627782e-02 9.99852709e-01 5.27889888e-06 1.93314395e-01] [-6.90553341e-04 6.57388451e-06 9.99999762e-01 -9.83746189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:13.05, Y:0.19, Z:-0.10 [[ 9.99899408e-01 -1.41667821e-02 6.90567233e-04 1.30516971e+01] [ 1.41667823e-02 9.99899646e-01 4.66713121e-06 1.91926873e-01] [-6.90564051e-04 5.11645392e-06 9.99999762e-01 -9.58888589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:0.19, Z:-0.11 [[ 9.99892697e-01 -1.46327716e-02 6.90593970e-04 1.30814043e+01] [ 1.46327763e-02 9.99892935e-01 -1.67822659e-06 1.89919174e-01] [-6.90495474e-04 1.17833536e-05 9.99999762e-01 -1.14711603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:0.19, Z:-0.12 [[ 9.99942357e-01 -1.07147780e-02 6.90573716e-04 1.31133731e+01] [ 1.07147785e-02 9.99942595e-01 2.99378104e-06 1.88818140e-01] [-6.90566151e-04 4.40573594e-06 9.99999762e-01 -1.15406213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.15, Y:0.19, Z:-0.10 [[ 9.99964800e-01 -8.36196162e-03 6.90574893e-04 1.31450382e+01] [ 8.36196175e-03 9.99965038e-01 2.69171952e-06 1.88842766e-01] [-6.90573257e-04 3.08293607e-06 9.99999762e-01 -1.01258578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.17, Y:0.19, Z:-0.10 [[ 9.99969599e-01 -7.76682792e-03 6.90586512e-04 1.31742038e+01] [ 7.76683013e-03 9.99969838e-01 -5.08805057e-07 1.88615287e-01] [-6.90561731e-04 5.87245772e-06 9.99999762e-01 -9.90065524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.748639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:13.21, Y:0.19, Z:-0.11 [[ 9.99980840e-01 -6.15164768e-03 6.90567233e-04 1.32059063e+01] [ 6.15164570e-03 9.99981078e-01 4.99257899e-06 1.88631438e-01] [-6.90584879e-04 -7.44358384e-07 9.99999762e-01 -1.13326059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.24, Y:0.19, Z:-0.11 [[ 9.99989405e-01 -4.55114263e-03 6.90576088e-04 1.32385300e+01] [ 4.55114223e-03 9.99989643e-01 2.15475169e-06 1.89186055e-01] [-6.90578742e-04 9.88181139e-07 9.99999762e-01 -1.13095484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.27, Y:0.19, Z:-0.11 [[ 9.99982602e-01 -5.85817231e-03 6.90576902e-04 1.32703668e+01] [ 5.85817242e-03 9.99982841e-01 1.85099907e-06 1.88616775e-01] [-6.90575896e-04 2.19455170e-06 9.99999762e-01 -1.13126965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.838639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.19, Z:-0.11 [[ 9.99979819e-01 -6.31546034e-03 6.90577131e-04 1.33021089e+01] [ 6.31546063e-03 9.99980057e-01 1.76138847e-06 1.88179368e-01] [-6.90574483e-04 2.59995976e-06 9.99999762e-01 -1.13716852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.33, Y:0.19, Z:-0.11 [[ 9.99981704e-01 -6.00959235e-03 6.90577239e-04 1.33343434e+01] [ 6.00959259e-03 9.99981942e-01 1.71783102e-06 1.87720656e-01] [-6.90575092e-04 2.43228827e-06 9.99999762e-01 -1.14235337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:13.37, Y:0.19, Z:-0.10 [[ 9.99987602e-01 -4.93135585e-03 6.90577863e-04 1.33659178e+01] [ 4.93135605e-03 9.99987841e-01 1.41285634e-06 1.87973106e-01] [-6.90576433e-04 1.99264649e-06 9.99999762e-01 -9.66551254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:13.40, Y:0.19, Z:-0.10 [[ 9.99987401e-01 -4.97210106e-03 6.90580504e-04 1.33951347e+01] [ 4.97210225e-03 9.99987639e-01 -6.09832940e-09 1.89519119e-01] [-6.90571937e-04 3.43973513e-06 9.99999762e-01 -9.57977922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:13.43, Y:0.19, Z:-0.10 [[ 9.99997870e-01 -1.94485290e-03 6.90572289e-04 1.34263717e+01] [ 1.94485045e-03 9.99998109e-01 4.21445355e-06 1.94894284e-01] [-6.90579179e-04 -2.87138474e-06 9.99999762e-01 -9.85558501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.20, Z:-0.12 [[ 9.99999451e-01 -7.87596327e-04 6.90573442e-04 1.34578048e+01] [ 7.87594030e-04 9.99999690e-01 3.59828968e-06 1.96809568e-01] [-6.90576062e-04 -3.05439618e-06 9.99999762e-01 -1.15233038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.018639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.49, Y:0.20, Z:-0.12 [[ 9.99998243e-01 -1.74287376e-03 6.90577684e-04 1.34893562e+01] [ 1.74287332e-03 9.99998481e-01 1.24442982e-06 1.96664612e-01] [-6.90578804e-04 -4.08382189e-08 9.99999762e-01 -1.15415811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:13.52, Y:0.20, Z:-0.09 [[ 9.99984652e-01 -5.49719673e-03 6.90577759e-04 1.35182198e+01] [ 5.49719721e-03 9.99984890e-01 1.20083995e-06 1.96951174e-01] [-6.90573926e-04 2.59542062e-06 9.99999762e-01 -9.46923771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07864 meters Centerline goodness : 0.983971 Centerline is valid? [True, True] Translation: X:13.59, Y:0.23, Z:-0.11 [[ 9.98298071e-01 5.83136668e-02 6.90569661e-04 1.35861372e+01] [-5.83136846e-02 9.98298309e-01 5.66291167e-06 2.28454430e-01] [-6.89064299e-04 -4.59229352e-05 9.99999762e-01 -1.08217834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.108639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.57, Y:0.20, Z:-0.12 [[ 9.99926400e-01 -1.21127796e-02 6.89916690e-04 1.35749153e+01] [ 1.21128675e-02 9.99926629e-01 -1.23352396e-04 1.97459964e-01] [-6.88371929e-04 1.31700187e-04 9.99999754e-01 -1.15754112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.20, Z:-0.11 [[ 9.99895463e-01 -1.44425284e-02 6.89674551e-04 1.36083706e+01] [ 1.44425309e-02 9.99895701e-01 1.33930596e-06 1.97406562e-01] [-6.89621962e-04 8.62148010e-06 9.99999762e-01 -1.14861944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:0.20, Z:-0.11 [[ 9.99854173e-01 -1.70633511e-02 6.89675046e-04 1.36402097e+01] [ 1.70633545e-02 9.99854410e-01 9.97045583e-07 1.97280218e-01] [-6.89591650e-04 1.07712696e-05 9.99999762e-01 -1.14990372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.198639999999997 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:13.67, Y:0.20, Z:-0.10 [[ 9.99760229e-01 -2.18862901e-02 6.89675347e-04 1.36686373e+01] [ 2.18862948e-02 9.99760466e-01 7.01030181e-07 1.96860074e-01] [-6.89525490e-04 1.43935759e-05 9.99999762e-01 -9.54336907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.70, Y:0.20, Z:-0.12 [[ 9.99765001e-01 -2.16671942e-02 6.89668362e-04 1.37024728e+01] [ 2.16671945e-02 9.99765239e-01 7.01363730e-06 1.96433703e-01] [-6.89658420e-04 7.93118946e-06 9.99999762e-01 -1.15438554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.73, Y:0.19, Z:-0.12 [[ 9.99693888e-01 -2.47316388e-02 6.89671649e-04 1.37348018e+01] [ 2.47316445e-02 9.99694126e-01 3.39647734e-07 1.92195462e-01] [-6.89469096e-04 1.67171702e-05 9.99999762e-01 -1.15912102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.19, Z:-0.12 [[ 9.99653635e-01 -2.63084398e-02 6.89671670e-04 1.37675944e+01] [ 2.63084460e-02 9.99653873e-01 5.18350807e-08 1.90247242e-01] [-6.89434320e-04 1.80923728e-05 9.99999762e-01 -1.16021866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.80, Y:0.19, Z:-0.10 [[ 9.99625478e-01 -2.73574116e-02 6.89671536e-04 1.37978139e+01] [ 2.73574183e-02 9.99625716e-01 -2.79433939e-07 1.88618394e-01] [-6.89405758e-04 1.91469620e-05 9.99999762e-01 -1.01086285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.83, Y:0.18, Z:-0.12 [[ 9.99546276e-01 -3.01125538e-02 6.89672028e-04 1.38294182e+01] [ 3.01125606e-02 9.99546514e-01 6.24154316e-07 1.84285953e-01] [-6.89378067e-04 2.01439196e-05 9.99999762e-01 -1.16065134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:13.86, Y:0.18, Z:-0.10 [[ 9.99576479e-01 -2.90927458e-02 6.89671116e-04 1.38602070e+01] [ 2.90927531e-02 9.99576716e-01 -5.40459314e-07 1.80778125e-01] [-6.89363466e-04 2.06046619e-05 9.99999762e-01 -9.77699157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:13.89, Y:0.18, Z:-0.10 [[ 9.99553886e-01 -2.98588997e-02 6.89670461e-04 1.38923823e+01] [ 2.98589077e-02 9.99554123e-01 -1.32435617e-06 1.77562209e-01] [-6.89323410e-04 2.19165720e-05 9.99999762e-01 -9.63507759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:13.93, Y:0.17, Z:-0.10 [[ 9.99673757e-01 -2.55324134e-02 6.89673667e-04 1.39260396e+01] [ 2.55324185e-02 9.99673995e-01 1.38364719e-06 1.74979375e-01] [-6.89484157e-04 1.62258409e-05 9.99999762e-01 -9.73953123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.17, Z:-0.12 [[ 9.99692211e-01 -2.47993588e-02 6.89670425e-04 1.39564698e+01] [ 2.47993653e-02 9.99692448e-01 -8.63397428e-07 1.73791203e-01] [-6.89436904e-04 1.79665205e-05 9.99999762e-01 -1.16265554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.498639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.17, Z:-0.12 [[ 9.99800221e-01 -1.99760383e-02 6.89670221e-04 1.39890090e+01] [ 1.99760438e-02 9.99800459e-01 -1.00357278e-06 1.68408674e-01] [-6.89512556e-04 1.47802548e-05 9.99999762e-01 -1.17308207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:14.02, Y:0.16, Z:-0.10 [[ 9.99831676e-01 -1.83342353e-02 6.89669679e-04 1.40188702e+01] [ 1.83342405e-02 9.99831914e-01 -1.29247840e-06 1.64593264e-01] [-6.89530059e-04 1.39368306e-05 9.99999762e-01 -9.76991300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:14.05, Y:0.16, Z:-0.12 [[ 9.99881019e-01 -1.54101496e-02 6.89677262e-04 1.40520547e+01] [ 1.54101514e-02 9.99881257e-01 2.71042214e-06 1.61213195e-01] [-6.89637136e-04 7.91793138e-06 9.99999762e-01 -1.18144759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.588639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.16, Z:-0.12 [[ 9.99899320e-01 -1.41729989e-02 6.89666346e-04 1.40837576e+01] [ 1.41730035e-02 9.99899558e-01 -1.70503877e-06 1.60178980e-01] [-6.89572909e-04 1.14795106e-05 9.99999762e-01 -1.17899855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:0.16, Z:-0.12 [[ 9.99931836e-01 -1.16553464e-02 6.89665921e-04 1.41163250e+01] [ 1.16553505e-02 9.99932074e-01 -1.86256646e-06 1.59515804e-01] [-6.89597366e-04 9.90073753e-06 9.99999762e-01 -1.17106112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:14.15, Y:0.16, Z:-0.10 [[ 9.99978855e-01 -6.46630025e-03 6.89664906e-04 1.41466320e+01] [ 6.46630329e-03 9.99979093e-01 -2.18304608e-06 1.56825867e-01] [-6.89636372e-04 6.64258237e-06 9.99999762e-01 -9.95482832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.678639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.18, Y:0.16, Z:-0.10 [[ 9.99997438e-01 -2.15593802e-03 6.89671434e-04 1.41782473e+01] [ 2.15593863e-03 9.99997676e-01 -1.35135042e-07 1.56347625e-01] [-6.89669540e-04 1.62202398e-06 9.99999762e-01 -1.01409431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.21, Y:0.16, Z:-0.10 [[ 9.99987997e-01 4.85073338e-03 6.89657705e-04 1.42085621e+01] [-4.85073162e-03 9.99988235e-01 -4.22011189e-06 1.57798073e-01] [-6.89670062e-04 8.74716800e-07 9.99999762e-01 -1.00665917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:14.24, Y:0.16, Z:-0.10 [[ 9.99965629e-01 8.26228782e-03 6.89662215e-04 1.42385451e+01] [-8.26228785e-03 9.99965867e-01 -2.80335280e-06 1.58278079e-01] [-6.89661837e-04 -2.89493129e-06 9.99999762e-01 -9.92053460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:14.27, Y:0.16, Z:-0.10 [[ 9.99940467e-01 1.08897645e-02 6.89662635e-04 1.42693140e+01] [-1.08897653e-02 9.99940705e-01 -2.67059328e-06 1.58267485e-01] [-6.89650823e-04 -4.83982993e-06 9.99999762e-01 -9.97059069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:14.30, Y:0.16, Z:-0.10 [[ 9.99911466e-01 1.32885450e-02 6.89663264e-04 1.42989537e+01] [-1.32885464e-02 9.99911703e-01 -2.47300448e-06 1.58119536e-01] [-6.89635231e-04 -6.69183677e-06 9.99999762e-01 -9.89895301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:14.33, Y:0.16, Z:-0.10 [[ 9.99875759e-01 1.57477263e-02 6.89661997e-04 1.43288682e+01] [-1.57477280e-02 9.99875997e-01 -2.89164578e-06 1.58839919e-01] [-6.89622014e-04 -7.96932303e-06 9.99999762e-01 -9.74108384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.858639999999998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:14.36, Y:0.16, Z:-0.10 [[ 9.99866546e-01 1.63221962e-02 6.89658859e-04 1.43583241e+01] [-1.63221973e-02 9.99866784e-01 -4.04659908e-06 1.59329264e-01] [-6.89633035e-04 -7.21068892e-06 9.99999762e-01 -9.78732531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:14.39, Y:0.16, Z:-0.10 [[ 9.99854413e-01 1.70492457e-02 6.89658679e-04 1.43891443e+01] [-1.70492469e-02 9.99854651e-01 -4.11742265e-06 1.60524091e-01] [-6.89628636e-04 -7.64133788e-06 9.99999762e-01 -9.67394155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:14.42, Y:0.16, Z:-0.10 [[ 9.99901115e-01 1.40458321e-02 6.89651445e-04 1.44180625e+01] [-1.40458303e-02 9.99901352e-01 -7.46907174e-06 1.60200668e-01] [-6.89688322e-04 -2.21839402e-06 9.99999762e-01 -9.82119114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.948639999999997 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:14.45, Y:0.16, Z:-0.10 [[ 9.99919981e-01 1.26315265e-02 6.89663857e-04 1.44476150e+01] [-1.26315289e-02 9.99920219e-01 -9.62759797e-07 1.60622349e-01] [-6.89620996e-04 -7.74882617e-06 9.99999762e-01 -9.74045724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:14.48, Y:0.16, Z:-0.10 [[ 9.99931019e-01 1.17252754e-02 6.89661577e-04 1.44770811e+01] [-1.17252765e-02 9.99931257e-01 -2.44039378e-06 1.61033833e-01] [-6.89642782e-04 -5.64624722e-06 9.99999762e-01 -9.75112789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.51, Y:0.16, Z:-0.11 [[ 9.99940358e-01 1.08997717e-02 6.89663213e-04 1.45076751e+01] [-1.08997735e-02 9.99940596e-01 -1.16488267e-06 1.62176806e-01] [-6.89634941e-04 -6.35235964e-06 9.99999762e-01 -1.13830009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.038639999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.16, Z:-0.11 [[ 9.99951009e-01 9.87438133e-03 6.89663617e-04 1.45373589e+01] [-9.87438311e-03 9.99951247e-01 -8.28410027e-07 1.62682290e-01] [-6.89638174e-04 -5.98163333e-06 9.99999762e-01 -1.14168906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:14.57, Y:0.17, Z:-0.10 [[ 9.99966371e-01 8.17193348e-03 6.89663667e-04 1.45672091e+01] [-8.17193488e-03 9.99966609e-01 -7.84060410e-07 1.65051796e-01] [-6.89647046e-04 -4.85185254e-06 9.99999762e-01 -9.53765070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:14.60, Y:0.17, Z:-0.10 [[ 9.99974156e-01 7.15619689e-03 6.89663303e-04 1.45966345e+01] [-7.15619781e-03 9.99974394e-01 -1.13452412e-06 1.65370824e-01] [-6.89653762e-04 -3.80087221e-06 9.99999762e-01 -9.58769209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:14.63, Y:0.17, Z:-0.10 [[ 9.99974006e-01 7.17718811e-03 6.89665164e-04 1.46273206e+01] [-7.17719037e-03 9.99974244e-01 8.06726313e-07 1.65222098e-01] [-6.89641611e-04 -5.75656352e-06 9.99999762e-01 -9.70936446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:14.66, Y:0.16, Z:-0.10 [[ 9.99982576e-01 5.86272936e-03 6.89664741e-04 1.46574697e+01] [-5.86273102e-03 9.99982814e-01 3.85591866e-07 1.63757134e-01] [-6.89650628e-04 -4.42890401e-06 9.99999762e-01 -9.74591614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:14.69, Y:0.16, Z:-0.10 [[ 9.99984030e-01 5.60936661e-03 6.89665967e-04 1.46875706e+01] [-5.60936911e-03 9.99984267e-01 1.69636205e-06 1.62929230e-01] [-6.89645602e-04 -5.56492594e-06 9.99999762e-01 -9.75677042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:14.72, Y:0.16, Z:-0.10 [[ 9.99985556e-01 5.33021623e-03 6.89664944e-04 1.47176456e+01] [-5.33021776e-03 9.99985794e-01 3.84888248e-07 1.63216673e-01] [-6.89653096e-04 -4.06094702e-06 9.99999762e-01 -9.90202115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:14.75, Y:0.16, Z:-0.10 [[ 9.99984769e-01 5.47594125e-03 6.89667248e-04 1.47476604e+01] [-5.47594489e-03 9.99985007e-01 3.39755179e-06 1.63236939e-01] [-6.89638303e-04 -7.17407989e-06 9.99999762e-01 -9.90412746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:14.78, Y:0.16, Z:-0.10 [[ 9.99976377e-01 6.83886608e-03 6.89667178e-04 1.47783126e+01] [-6.83886999e-03 9.99976615e-01 3.32071744e-06 1.63276833e-01] [-6.89628340e-04 -8.03718317e-06 9.99999762e-01 -9.93639339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:14.81, Y:0.16, Z:-0.10 [[ 9.99972120e-01 7.43526085e-03 6.89665915e-04 1.48081081e+01] [-7.43526384e-03 9.99972358e-01 1.77813652e-06 1.63989923e-01] [-6.89633631e-04 -6.90593499e-06 9.99999762e-01 -9.91549349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.338639999999998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:14.84, Y:0.16, Z:-0.10 [[ 9.99964042e-01 8.45214530e-03 6.89667320e-04 1.48382877e+01] [-8.45215014e-03 9.99964280e-01 4.09372915e-06 1.64661040e-01] [-6.89608084e-04 -9.92275369e-06 9.99999762e-01 -1.00137772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:14.87, Y:0.17, Z:-0.10 [[ 9.99969996e-01 7.71560505e-03 6.89666715e-04 1.48681864e+01] [-7.71560899e-03 9.99970234e-01 3.05122812e-06 1.65086782e-01] [-6.89622644e-04 -8.37233528e-06 9.99999762e-01 -9.90271998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:14.90, Y:0.16, Z:-0.12 [[ 9.99932276e-01 1.16175880e-02 6.89667202e-04 1.48992484e+01] [-1.16175936e-02 9.99932513e-01 4.01024588e-06 1.64540151e-01] [-6.89574070e-04 -1.20222475e-05 9.99999762e-01 -1.16994762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:14.93, Y:0.17, Z:-0.10 [[ 9.99866599e-01 1.63189890e-02 6.89664434e-04 1.49334249e+01] [-1.63189926e-02 9.99866836e-01 -4.30004071e-07 1.65589369e-01] [-6.89579613e-04 -1.08246821e-05 9.99999762e-01 -9.98118993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45864 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:14.98, Y:0.18, Z:-0.11 [[ 9.99066762e-01 4.31871436e-02 6.89647306e-04 1.49838919e+01] [-4.31871440e-02 9.99067000e-01 -1.43859813e-05 1.76688941e-01] [-6.89625154e-04 -1.54113418e-05 9.99999762e-01 -1.05741659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:14.98, Y:0.16, Z:-0.12 [[ 9.99997531e-01 2.11255486e-03 6.89632524e-04 1.49846316e+01] [-2.11249510e-03 9.99997765e-01 -8.73719899e-05 1.59151657e-01] [-6.89815561e-04 8.59149288e-05 9.99999758e-01 -1.17590336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.518639999999998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:15.01, Y:0.16, Z:-0.12 [[ 9.99997907e-01 1.92621021e-03 6.89177376e-04 1.50146699e+01] [-1.92621305e-03 9.99998145e-01 3.45365086e-06 1.58566148e-01] [-6.89169445e-04 -4.78114608e-06 9.99999763e-01 -1.17114853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.04, Y:0.15, Z:-0.12 [[ 9.99999648e-01 4.77869964e-04 6.89177376e-04 1.50448134e+01] [-4.77872458e-04 9.99999886e-01 3.45365086e-06 1.54967754e-01] [-6.89175647e-04 -3.78298853e-06 9.99999763e-01 -1.17752228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57864 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:15.07, Y:0.15, Z:-0.10 [[ 9.99996386e-01 -2.59877652e-03 6.89177376e-04 1.50738924e+01] [ 2.59877476e-03 9.99996623e-01 3.45365086e-06 1.53362085e-01] [-6.89184024e-04 -1.66262161e-06 9.99999763e-01 -1.01567725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.608639999999998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:15.11, Y:0.15, Z:-0.10 [[ 9.99999702e-01 -3.48220408e-04 6.89149877e-04 1.51050021e+01] [ 3.48214394e-04 9.99999939e-01 8.84645319e-06 1.53177743e-01] [-6.89152916e-04 -8.60647865e-06 9.99999762e-01 -1.02252589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:15.14, Y:0.15, Z:-0.12 [[ 9.99987937e-01 4.86324832e-03 6.89152461e-04 1.51370447e+01] [-4.86325519e-03 9.99988174e-01 8.30168625e-06 1.51808697e-01] [-6.89103939e-04 -1.16531104e-05 9.99999762e-01 -1.16771125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:15.17, Y:0.15, Z:-0.11 [[ 9.99979317e-01 -6.39457217e-03 6.89176120e-04 1.51653624e+01] [ 6.39457149e-03 9.99979555e-01 3.18930759e-06 1.45546865e-01] [-6.89182424e-04 1.21774435e-06 9.99999763e-01 -1.07135243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.698639999999997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:15.20, Y:0.15, Z:-0.11 [[ 9.99991118e-01 4.15800702e-03 6.89127892e-04 1.51970171e+01] [-4.15801724e-03 9.99991355e-01 1.34040214e-05 1.48884803e-01] [-6.89066201e-04 -1.62693080e-05 9.99999762e-01 -1.05160365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:15.21, Y:0.13, Z:-0.11 [[ 9.98725640e-01 -5.04640668e-02 6.89152973e-04 1.52142963e+01] [ 5.04640733e-02 9.98725877e-01 7.90832161e-06 1.27458673e-01] [-6.88673993e-04 2.68792226e-05 9.99999763e-01 -1.14982439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:15.26, Y:0.15, Z:-0.10 [[ 9.99905525e-01 1.37283444e-02 6.88883522e-04 1.52574391e+01] [-1.37283826e-02 9.99905760e-01 5.07174925e-05 1.54494897e-01] [-6.88122335e-04 -6.01699575e-05 9.99999761e-01 -1.01984951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:15.29, Y:0.16, Z:-0.10 [[ 9.99854284e-01 1.70568740e-02 6.89060499e-04 1.52872749e+01] [-1.70568812e-02 9.99854521e-01 4.61374954e-06 1.56474671e-01] [-6.88881559e-04 -1.63663003e-05 9.99999763e-01 -9.86948395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81864 meters Centerline goodness : 0.948946 Centerline is valid? [True, False] Translation: X:15.31, Y:0.16, Z:-0.10 [[ 9.99994147e-01 3.20106665e-03 -1.20794186e-03 1.53096820e+01] [-3.20524962e-03 9.99988818e-01 -3.47699200e-03 1.58674978e-01] [ 1.19679827e-03 3.48084340e-03 9.99993226e-01 -9.63435037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:15.31, Y:0.16, Z:-0.10 [[ 9.99998764e-01 -9.56293019e-04 -1.24784029e-03 1.53097620e+01] [ 9.45081800e-04 9.99959462e-01 -8.95436763e-03 1.64206880e-01] [ 1.25635271e-03 8.95317726e-03 9.99959130e-01 -9.62678501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:15.34, Y:0.16, Z:-0.10 [[ 9.99995346e-01 2.70002062e-03 -1.42074829e-03 1.53391930e+01] [-2.70015118e-03 9.99996351e-01 -8.99840470e-05 1.63516502e-01] [ 1.42050014e-03 9.38198633e-05 9.99998987e-01 -9.60622607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:15.37, Y:0.17, Z:-0.10 [[ 9.99997972e-01 1.42634765e-03 -1.42192181e-03 1.53683193e+01] [-1.42639119e-03 9.99998982e-01 -2.96085165e-05 1.67909945e-01] [ 1.42187813e-03 3.16366731e-05 9.99998989e-01 -9.57560906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:15.40, Y:0.18, Z:-0.10 [[ 9.99998344e-01 -1.13597615e-03 -1.42188924e-03 1.53979693e+01] [ 1.13593281e-03 9.99999354e-01 -3.12880312e-05 1.76516850e-01] [ 1.42192386e-03 2.96728088e-05 9.99998989e-01 -9.63015922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:15.44, Y:0.19, Z:-0.10 [[ 9.99921397e-01 1.24570327e-02 -1.42185674e-03 1.54395132e+01] [-1.24570921e-02 9.99922407e-01 -3.29888035e-05 1.86070100e-01] [ 1.42133547e-03 5.06984110e-05 9.99998989e-01 -9.91322530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.998639999999998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:15.46, Y:0.18, Z:-0.11 [[ 9.99984999e-01 -5.28923132e-03 -1.42335817e-03 1.54599010e+01] [ 5.28930807e-03 9.99986010e-01 5.01605202e-05 1.84007964e-01] [ 1.42307295e-03 -5.76883476e-05 9.99998986e-01 -1.08407975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:15.49, Y:0.19, Z:-0.09 [[ 9.99926182e-01 -1.20668948e-02 -1.42179362e-03 1.54886802e+01] [ 1.20668667e-02 9.99927192e-01 -2.83378203e-05 1.92032510e-01] [ 1.42203206e-03 1.11791343e-05 9.99998989e-01 -9.45125838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:15.52, Y:0.20, Z:-0.11 [[ 9.99916343e-01 -1.28563597e-02 -1.42158659e-03 1.55203356e+01] [ 1.28563174e-02 9.99917353e-01 -3.88726631e-05 1.96292549e-01] [ 1.42196886e-03 2.05930427e-05 9.99998989e-01 -1.08587895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:15.55, Y:0.20, Z:-0.09 [[ 9.99817841e-01 -1.90332341e-02 -1.42180726e-03 1.55500826e+01] [ 1.90332143e-02 9.99818852e-01 -2.74373168e-05 2.02805037e-01] [ 1.42207193e-03 3.70756447e-07 9.99998989e-01 -9.23233396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:15.58, Y:0.21, Z:-0.11 [[ 9.99810882e-01 -1.93953285e-02 -1.42166940e-03 1.55823093e+01] [ 1.93952988e-02 9.99811893e-01 -3.47060527e-05 2.07409336e-01] [ 1.42207511e-03 7.12578649e-06 9.99998989e-01 -1.09651348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:15.61, Y:0.21, Z:-0.09 [[ 9.99758682e-01 -2.19216111e-02 -1.42182074e-03 1.56122393e+01] [ 2.19215954e-02 9.99759693e-01 -2.66233330e-05 2.12275446e-01] [ 1.42206270e-03 -4.55167072e-06 9.99998989e-01 -9.24401979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.178639999999998 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:15.64, Y:0.22, Z:-0.09 [[ 9.99719175e-01 -2.36548093e-02 -1.42167436e-03 1.56428029e+01] [ 2.36547842e-02 9.99720186e-01 -3.44214066e-05 2.19713927e-01] [ 1.42209079e-03 7.82339939e-07 9.99998989e-01 -9.16091035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:15.67, Y:0.22, Z:-0.10 [[ 9.99723505e-01 -2.34711108e-02 -1.42165436e-03 1.56741596e+01] [ 2.34710840e-02 9.99724516e-01 -3.55120864e-05 2.21707515e-01] [ 1.42209623e-03 2.13449852e-06 9.99998989e-01 -9.55073405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23864 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:15.71, Y:0.24, Z:-0.10 [[ 9.99986632e-01 4.97137927e-03 -1.42170869e-03 1.57106875e+01] [-4.97143047e-03 9.99987642e-01 -3.24865770e-05 2.36892054e-01] [ 1.42152962e-03 3.95540686e-05 9.99998989e-01 -1.01436940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:15.73, Y:0.23, Z:-0.09 [[ 9.99548442e-01 -3.00147962e-02 -1.42257142e-03 1.57329980e+01] [ 3.00148500e-02 9.99549453e-01 1.64684231e-05 2.25722869e-01] [ 1.42143618e-03 -5.91592543e-05 9.99998988e-01 -9.00141681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:15.76, Y:0.23, Z:-0.09 [[ 9.99520986e-01 -3.09156457e-02 -1.42148830e-03 1.57646980e+01] [ 3.09156163e-02 9.99521997e-01 -4.26318800e-05 2.28101065e-01] [ 1.42212681e-03 -1.33472803e-06 9.99998989e-01 -9.23400128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:15.80, Y:0.23, Z:-0.09 [[ 9.99489324e-01 -3.19228955e-02 -1.42152422e-03 1.57955412e+01] [ 3.19228700e-02 9.99490334e-01 -4.06369948e-05 2.29630849e-01] [ 1.42209697e-03 -4.76289051e-06 9.99998989e-01 -9.14023692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.358639999999998 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:15.83, Y:0.23, Z:-0.09 [[ 9.99432836e-01 -3.36449880e-02 -1.42156524e-03 1.58277493e+01] [ 3.36449676e-02 9.99433847e-01 -3.82626093e-05 2.30398408e-01] [ 1.42204776e-03 -9.58760826e-06 9.99998989e-01 -9.12833916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38864 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:15.87, Y:0.24, Z:-0.09 [[ 9.99876619e-01 -1.56437107e-02 -1.42150223e-03 1.58668493e+01] [ 1.56436667e-02 9.99877629e-01 -4.20730428e-05 2.41419465e-01] [ 1.42198645e-03 1.98303447e-05 9.99998989e-01 -8.88757304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:15.89, Y:0.23, Z:-0.09 [[ 9.99413477e-01 -3.42151863e-02 -1.42253109e-03 1.58892132e+01] [ 3.42152573e-02 9.99414486e-01 2.55689433e-05 2.34041965e-01] [ 1.42082333e-03 -7.42262137e-05 9.99998988e-01 -8.96081315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.448639999999997 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:15.92, Y:0.23, Z:-0.09 [[ 9.99456335e-01 -3.29395466e-02 -1.42147642e-03 1.59210317e+01] [ 3.29395252e-02 9.99457346e-01 -3.84857481e-05 2.33967797e-01] [ 1.42197275e-03 -8.35793352e-06 9.99998989e-01 -9.16135065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:15.95, Y:0.23, Z:-0.11 [[ 9.99437150e-01 -3.35165882e-02 -1.42169627e-03 1.59527953e+01] [ 3.35165867e-02 9.99438161e-01 -2.48379958e-05 2.32719828e-01] [ 1.42172999e-03 -2.28263906e-05 9.99998989e-01 -1.08080998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:15.98, Y:0.23, Z:-0.09 [[ 9.99345360e-01 -3.61500945e-02 -1.42173307e-03 1.59814025e+01] [ 3.61500990e-02 9.99346371e-01 -2.25145041e-05 2.32140745e-01] [ 1.42161768e-03 -2.88960259e-05 9.99998989e-01 -8.91374589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.538639999999997 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:16.01, Y:0.23, Z:-0.09 [[ 9.99425783e-01 -3.38538446e-02 -1.42145386e-03 1.60131182e+01] [ 3.38538217e-02 9.99426794e-01 -4.01950706e-05 2.32267023e-01] [ 1.42199983e-03 -7.94965567e-06 9.99998989e-01 -9.23471908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:16.05, Y:0.23, Z:-0.09 [[ 9.99478490e-01 -3.22603082e-02 -1.42157239e-03 1.60463467e+01] [ 3.22602946e-02 9.99479501e-01 -3.24879480e-05 2.31453091e-01] [ 1.42188053e-03 -1.33893389e-05 9.99998989e-01 -9.16099156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:16.08, Y:0.23, Z:-0.09 [[ 9.99469002e-01 -3.25529310e-02 -1.42171184e-03 1.60771365e+01] [ 3.25529312e-02 9.99470013e-01 -2.30199349e-05 2.30524646e-01] [ 1.42170772e-03 -2.32731765e-05 9.99998989e-01 -8.86643540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:16.11, Y:0.23, Z:-0.09 [[ 9.99466136e-01 -3.26408115e-02 -1.42159830e-03 1.61082456e+01] [ 3.26408004e-02 9.99467147e-01 -3.10362522e-05 2.29859659e-01] [ 1.42185385e-03 -1.53824235e-05 9.99998989e-01 -8.94657830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:16.14, Y:0.23, Z:-0.09 [[ 9.99531510e-01 -3.05735089e-02 -1.42151882e-03 1.61403224e+01] [ 3.05734876e-02 9.99532521e-01 -3.67226897e-05 2.29669400e-01] [ 1.42197703e-03 -6.75530231e-06 9.99998989e-01 -8.95564510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:16.17, Y:0.23, Z:-0.09 [[ 9.99569078e-01 -2.93195785e-02 -1.42157525e-03 1.61722491e+01] [ 2.93195618e-02 9.99570089e-01 -3.25866534e-05 2.28871720e-01] [ 1.42191952e-03 -9.10735232e-06 9.99998989e-01 -9.11106674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:16.21, Y:0.23, Z:-0.11 [[ 9.99655881e-01 -2.61934871e-02 -1.42159737e-03 1.62055052e+01] [ 2.61934696e-02 9.99656892e-01 -3.08958375e-05 2.28649993e-01] [ 1.42191888e-03 -6.35136195e-06 9.99998989e-01 -1.06917794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.748639999999998 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:16.24, Y:0.23, Z:-0.11 [[ 9.99705069e-01 -2.42436337e-02 -1.42176015e-03 1.62378045e+01] [ 2.42436325e-02 9.99706080e-01 -1.81335307e-05 2.29114227e-01] [ 1.42178188e-03 -1.63404479e-05 9.99998989e-01 -1.07462175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:16.27, Y:0.23, Z:-0.11 [[ 9.99779712e-01 -2.09405285e-02 -1.42176772e-03 1.62713074e+01] [ 2.09405248e-02 9.99780723e-01 -1.75189753e-05 2.28243567e-01] [ 1.42182281e-03 -1.22574460e-05 9.99998989e-01 -1.07651306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:16.30, Y:0.23, Z:-0.09 [[ 9.99760297e-01 -2.18477951e-02 -1.42177603e-03 1.63015088e+01] [ 2.18477933e-02 9.99761308e-01 -1.68158189e-05 2.27119964e-01] [ 1.42180406e-03 -1.42508808e-05 9.99998989e-01 -9.38609177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.838639999999998 meters Centerline goodness : 0.844941 Centerline is valid? [True, False] Translation: X:16.30, Y:0.24, Z:-0.09 [[ 9.99920588e-01 -1.18964355e-02 -4.15847413e-03 1.63042994e+01] [ 1.18522143e-02 9.99874613e-01 -1.05016129e-02 2.35728357e-01] [ 4.28288447e-03 1.04514919e-02 9.99936210e-01 -9.35455055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86864 meters Centerline goodness : 0.997343 Centerline is valid? [False, True] Translation: X:16.33, Y:0.23, Z:-0.09 [[ 9.99970322e-01 -3.74672183e-03 -6.73179429e-03 1.63266326e+01] [ 3.67398644e-03 9.99935093e-01 -1.07848268e-02 2.33066660e-01] [ 6.77176509e-03 1.07597742e-02 9.99919182e-01 -9.13189206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:16.36, Y:0.22, Z:-0.10 [[ 9.99976493e-01 -1.64123919e-03 -6.65725066e-03 1.63589088e+01] [ 1.64070264e-03 9.99998650e-01 -8.60569040e-05 2.21556164e-01] [ 6.65738291e-03 7.51323123e-05 9.99977837e-01 -9.73316453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.928639999999998 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:16.39, Y:0.22, Z:-0.10 [[ 9.99973889e-01 -2.81348815e-03 -6.65621374e-03 1.63861938e+01] [ 2.81393281e-03 9.99996039e-01 5.74392190e-05 2.16783037e-01] [ 6.65602577e-03 -7.61678575e-05 9.99977846e-01 -9.51046588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:16.42, Y:0.22, Z:-0.11 [[ 9.99975917e-01 -1.96422642e-03 -6.65638219e-03 1.64163556e+01] [ 1.96449314e-03 9.99998070e-01 3.35323379e-05 2.15286131e-01] [ 6.65630347e-03 -4.66079475e-05 9.99977845e-01 -1.10940060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:16.44, Y:0.21, Z:-0.11 [[ 9.99977291e-01 -1.05467892e-03 -6.65628017e-03 1.64448610e+01] [ 1.05502014e-03 9.99999442e-01 4.77529690e-05 2.14050512e-01] [ 6.65622609e-03 -5.47743942e-05 9.99977846e-01 -1.10182058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.018639999999998 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:16.47, Y:0.21, Z:-0.09 [[ 9.99977827e-01 -1.97812011e-04 -6.65629979e-03 1.64732943e+01] [ 1.98114867e-04 9.99999979e-01 4.48397802e-05 2.10322769e-01] [ 6.65629078e-03 -4.61574979e-05 9.99977846e-01 -9.34752505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04864 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:16.50, Y:0.22, Z:-0.10 [[ 9.99505319e-01 3.07377416e-02 -6.65649539e-03 1.65032086e+01] [-3.07383254e-02 9.99527466e-01 1.46011682e-05 2.22274961e-01] [ 6.65379878e-03 1.90015576e-04 9.99977845e-01 -1.04127209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:16.53, Y:0.21, Z:-0.11 [[ 9.99975210e-01 2.29631177e-03 -6.65633811e-03 1.65334587e+01] [-2.29610165e-03 9.99997363e-01 3.92083307e-05 2.09739492e-01] [ 6.65641059e-03 -2.39237298e-05 9.99977846e-01 -1.09778054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.108639999999998 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:16.56, Y:0.21, Z:-0.09 [[ 9.99977405e-01 -9.39622154e-04 -6.65632081e-03 1.65616505e+01] [ 9.39922222e-04 9.99999557e-01 4.19520670e-05 2.08045557e-01] [ 6.65627845e-03 -4.82075430e-05 9.99977846e-01 -9.28975813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:16.59, Y:0.21, Z:-0.09 [[ 9.99977474e-01 -8.60080128e-04 -6.65666126e-03 1.65899883e+01] [ 8.60007702e-04 9.99999630e-01 -1.37426227e-05 2.07966634e-01] [ 6.65667062e-03 8.01753319e-06 9.99977844e-01 -9.27006284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:16.62, Y:0.21, Z:-0.09 [[ 9.99976106e-01 -1.86469237e-03 -6.65665871e-03 1.66191262e+01] [ 1.86464493e-03 9.99998261e-01 -1.33337818e-05 2.05879348e-01] [ 6.65667200e-03 9.21158281e-07 9.99977844e-01 -9.33009051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.198639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.65, Y:0.20, Z:-0.11 [[ 9.99973258e-01 -3.02846409e-03 -6.65669755e-03 1.66502948e+01] [ 3.02840180e-03 9.99995414e-01 -1.94359402e-05 1.99936021e-01] [ 6.65672589e-03 -7.23734452e-07 9.99977844e-01 -1.11442668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:16.68, Y:0.20, Z:-0.09 [[ 9.99951813e-01 -7.21563663e-03 -6.65626925e-03 1.66770678e+01] [ 7.21609304e-03 9.99973963e-01 4.45541916e-05 1.96519184e-01] [ 6.65577445e-03 -9.25843029e-05 9.99977846e-01 -9.14077019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:16.71, Y:0.19, Z:-0.09 [[ 9.99963025e-01 -5.44390293e-03 -6.65675998e-03 1.67071190e+01] [ 5.44382658e-03 9.99985182e-01 -2.95886351e-05 1.92014810e-01] [ 6.65682241e-03 -6.65070581e-06 9.99977843e-01 -9.07583404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.288639999999997 meters Centerline goodness : 0.983197 Centerline is valid? [True, True] Translation: X:16.77, Y:0.22, Z:-0.10 [[ 9.98037663e-01 6.22616475e-02 -6.65662129e-03 1.67743899e+01] [-6.22630834e-02 9.98059772e-01 -8.49039730e-06 2.17734975e-01] [ 6.64317730e-03 4.22935503e-04 9.99977844e-01 -9.86794557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:16.76, Y:0.18, Z:-0.09 [[ 9.99969545e-01 -4.09853628e-03 -6.64164762e-03 1.67619877e+01] [ 4.10674933e-03 9.99990819e-01 1.22343252e-03 1.82150903e-01] [ 6.63657236e-03 -1.25067084e-03 9.99977196e-01 -8.94785666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:16.79, Y:0.18, Z:-0.09 [[ 9.99975361e-01 2.25380552e-03 -6.64820098e-03 1.67916297e+01] [-2.25399017e-03 9.99997460e-01 -2.02811607e-05 1.81781914e-01] [ 6.64813838e-03 3.52656406e-05 9.99977900e-01 -8.94348335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37864 meters Centerline goodness : 0.951193 Centerline is valid? [True, True] Translation: X:16.87, Y:0.22, Z:-0.10 [[ 9.95714945e-01 9.22363794e-02 -6.64825255e-03 1.68722976e+01] [-9.22386219e-02 9.95736931e-01 -3.08349825e-05 2.19804787e-01] [ 6.61706648e-03 6.43928506e-04 9.99977900e-01 -1.03458842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:16.84, Y:0.17, Z:-0.09 [[ 9.99923108e-01 1.04844994e-02 -6.62226219e-03 1.68437114e+01] [-1.04732615e-02 9.99943658e-01 1.72940093e-03 1.72244641e-01] [ 6.64002099e-03 -1.65991127e-03 9.99976577e-01 -9.25269093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43864 meters Centerline goodness : 0.892158 Centerline is valid? [True, False] Translation: X:16.84, Y:0.18, Z:-0.09 [[ 9.99975877e-01 2.17023166e-03 -6.59820771e-03 1.68435248e+01] [-2.22255913e-03 9.99966059e-01 -7.93359499e-03 1.77973751e-01] [ 6.58076602e-03 7.94806851e-03 9.99946759e-01 -9.20527293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:16.84, Y:0.19, Z:-0.09 [[ 9.99916095e-01 7.17282419e-03 -1.07867535e-02 1.68447307e+01] [-7.43317726e-03 9.99677243e-01 -2.42931727e-02 1.92699632e-01] [ 1.06090214e-02 2.43713142e-02 9.99646681e-01 -8.95214717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.498639999999998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:16.87, Y:0.17, Z:-0.09 [[ 9.99910075e-01 7.86649377e-03 -1.08609287e-02 1.68729474e+01] [-7.86730288e-03 9.99969052e-01 -3.17742776e-05 1.73494482e-01] [ 1.08603426e-02 1.17217636e-04 9.99941018e-01 -9.25225214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.17, Z:-0.09 [[ 9.99909506e-01 7.93859175e-03 -1.08609093e-02 1.69022598e+01] [-7.93946614e-03 9.99968481e-01 -3.73940642e-05 1.73773034e-01] [ 1.08602701e-02 1.23620502e-04 9.99941018e-01 -9.30831131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:16.93, Y:0.17, Z:-0.08 [[ 9.99929243e-01 4.85274782e-03 -1.08608993e-02 1.69297429e+01] [-4.85346976e-03 9.99988221e-01 -4.01142031e-05 1.74730334e-01] [ 1.08605767e-02 9.28244109e-05 9.99941018e-01 -7.68245821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.588639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:16.96, Y:0.18, Z:-0.09 [[ 9.99907819e-01 8.14867325e-03 -1.08605719e-02 1.69616007e+01] [-8.15045373e-03 9.99966777e-01 -1.19689193e-04 1.76758910e-01] [ 1.08592357e-02 2.08196749e-04 9.99941015e-01 -9.07835291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:16.99, Y:0.18, Z:-0.07 [[ 9.99924815e-01 5.69266286e-03 -1.08608773e-02 1.69897935e+01] [-5.69347215e-03 9.99983791e-01 -4.35956730e-05 1.78543271e-01] [ 1.08604531e-02 1.05428498e-04 9.99941018e-01 -7.32636766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64864 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:17.02, Y:0.18, Z:-0.07 [[ 9.99916065e-01 7.06484265e-03 -1.08605258e-02 1.70196282e+01] [-7.06661511e-03 9.99975023e-01 -1.24835242e-04 1.82433465e-01] [ 1.08593726e-02 2.01571920e-04 9.99941015e-01 -7.37795363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.678639999999998 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:17.05, Y:0.18, Z:-0.08 [[ 9.99909336e-01 7.96037418e-03 -1.08605357e-02 1.70490241e+01] [-7.96217380e-03 9.99968294e-01 -1.22474069e-04 1.84413235e-01] [ 1.08592164e-02 2.08936438e-04 9.99941015e-01 -7.60764666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:17.08, Y:0.19, Z:-0.08 [[ 9.99884035e-01 1.06756530e-02 -1.08603773e-02 1.70789187e+01] [-1.06780288e-02 9.99942975e-01 -1.60791471e-04 1.87458720e-01] [ 1.08580415e-02 2.76740247e-04 9.99941011e-01 -7.65041342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:17.11, Y:0.19, Z:-0.07 [[ 9.99889738e-01 1.01272459e-02 -1.08605416e-02 1.71069266e+01] [-1.01291521e-02 9.99948692e-01 -1.20526656e-04 1.88909399e-01] [ 1.08587637e-02 2.30521443e-04 9.99941015e-01 -7.47884151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:17.14, Y:0.19, Z:-0.07 [[ 9.99884361e-01 1.06450544e-02 -1.08603197e-02 1.71376402e+01] [-1.06475497e-02 9.99943298e-01 -1.71969770e-04 1.90742983e-01] [ 1.08578733e-02 2.87585678e-04 9.99941010e-01 -7.06670924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79864 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:17.16, Y:0.19, Z:-0.07 [[ 9.99900356e-01 9.01804131e-03 -1.08605946e-02 1.71647888e+01] [-9.01970013e-03 9.99959316e-01 -1.03764804e-04 1.93358442e-01] [ 1.08592170e-02 2.01713771e-04 9.99941017e-01 -7.10361275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:17.20, Y:0.19, Z:-0.09 [[ 9.99861054e-01 1.26461659e-02 -1.08603752e-02 1.71970230e+01] [-1.26486065e-02 9.99919991e-01 -1.56068506e-04 1.94980173e-01] [ 1.08575326e-02 2.93415434e-04 9.99941012e-01 -8.85004202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.858639999999998 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:17.23, Y:0.20, Z:-0.07 [[ 9.99895354e-01 9.55635549e-03 -1.08608285e-02 1.72253971e+01] [-9.55739562e-03 9.99954326e-01 -4.38692344e-05 1.96743370e-01] [ 1.08599132e-02 1.47665878e-04 9.99941019e-01 -7.40434401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88864 meters Centerline goodness : 0.850532 Centerline is valid? [True, False] Translation: X:17.22, Y:0.21, Z:-0.07 [[ 9.99941313e-01 -2.94858366e-03 -1.04247862e-02 1.72241540e+01] [ 2.79466344e-03 9.99887327e-01 -1.47486954e-02 2.06156487e-01] [ 1.04670994e-02 1.47186961e-02 9.99836887e-01 -7.22557027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:17.22, Y:0.20, Z:-0.07 [[ 9.99943462e-01 1.27148102e-03 -1.05572681e-02 1.72244612e+01] [-1.37447685e-03 9.99951480e-01 -9.75439999e-03 2.02753383e-01] [ 1.05443533e-02 9.76835921e-03 9.99896693e-01 -7.29639804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.948639999999997 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:17.25, Y:0.20, Z:-0.06 [[ 9.99942702e-01 -1.34255098e-04 -1.07039266e-02 1.72526972e+01] [ 1.32516641e-04 9.99999978e-01 -1.63122128e-04 1.95623847e-01] [ 1.07039483e-02 1.61694333e-04 9.99942698e-01 -5.69383388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:17.28, Y:0.20, Z:-0.06 [[ 9.99940079e-01 2.30020791e-03 -1.07026707e-02 1.72827332e+01] [-2.30295028e-03 9.99997318e-01 -2.43915718e-04 1.97033866e-01] [ 1.07020810e-02 2.68548821e-04 9.99942695e-01 -6.04048374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00864 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:17.31, Y:0.20, Z:-0.06 [[ 9.99934297e-01 4.10606596e-03 -1.07024463e-02 1.73130335e+01] [-4.10906553e-03 9.99991524e-01 -2.58295317e-04 1.97989642e-01] [ 1.07012950e-02 3.02255399e-04 9.99942694e-01 -5.84416445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.038639999999997 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:17.34, Y:0.20, Z:-0.06 [[ 9.99922980e-01 6.28388546e-03 -1.07026761e-02 1.73437470e+01] [-6.28685106e-03 9.99980208e-01 -2.43467659e-04 1.98623751e-01] [ 1.07009343e-02 3.10735038e-04 9.99942695e-01 -5.75296344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:17.37, Y:0.20, Z:-0.06 [[ 9.99906013e-01 8.56794488e-03 -1.07030568e-02 1.73741084e+01] [-8.57078005e-03 9.99963246e-01 -2.19052521e-04 1.99517363e-01] [ 1.07007866e-02 3.10765479e-04 9.99942697e-01 -5.89620853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:17.40, Y:0.20, Z:-0.06 [[ 9.99909582e-01 8.14076553e-03 -1.07030785e-02 1.74040787e+01] [-8.14356128e-03 9.99966817e-01 -2.17652995e-04 2.01773894e-01] [ 1.07009515e-02 3.04794491e-04 9.99942697e-01 -5.66212462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.128639999999997 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:17.43, Y:0.20, Z:-0.06 [[ 9.99921958e-01 6.44356200e-03 -1.07031746e-02 1.74329614e+01] [-6.44619359e-03 9.99979201e-01 -2.11389469e-04 2.01836626e-01] [ 1.07015899e-02 2.80367707e-04 9.99942697e-01 -5.64113072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15864 meters Centerline goodness : 0.850924 Centerline is valid? [True, False] Translation: X:17.43, Y:0.21, Z:-0.06 [[ 9.99942810e-01 -1.95868824e-03 -1.05138026e-02 1.74324241e+01] [ 1.85354092e-03 9.99948268e-01 -1.00013287e-02 2.07808819e-01] [ 1.05328482e-02 9.98126900e-03 9.99894711e-01 -5.56271595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18864 meters Centerline goodness : 0.997836 Centerline is valid? [False, True] Translation: X:17.43, Y:0.21, Z:-0.05 [[ 9.99945661e-01 -3.95243626e-03 -9.64640989e-03 1.74273382e+01] [ 3.83470740e-03 9.99918315e-01 -1.21925541e-02 2.08657264e-01] [ 9.69381222e-03 1.21549005e-02 9.99879137e-01 -5.12571020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21864 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:17.46, Y:0.20, Z:-0.05 [[ 9.99943036e-01 -3.97592346e-03 -9.90544176e-03 1.74588937e+01] [ 3.97217090e-03 9.99992032e-01 -3.98482832e-04 1.98407016e-01] [ 9.90694717e-03 3.59114025e-04 9.99950861e-01 -5.12578420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.248639999999998 meters Centerline goodness : 0.767546 Centerline is valid? [True, False] Translation: X:17.43, Y:0.21, Z:-0.05 [[ 9.99984122e-01 -4.99495550e-03 -2.60884075e-03 1.74331681e+01] [ 4.96181969e-03 9.99908847e-01 -1.25570312e-02 2.08621496e-01] [ 2.67132476e-03 1.25438872e-02 9.99917754e-01 -5.25148098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27864 meters Centerline goodness : 0.999606 Centerline is valid? [False, True] Translation: X:17.41, Y:0.22, Z:-0.06 [[ 9.99996703e-01 -1.21280569e-03 2.26359101e-03 1.74107965e+01] [ 1.25794549e-03 9.99798228e-01 -2.00479493e-02 2.15270092e-01] [-2.23882002e-03 2.00507307e-02 9.99796457e-01 -5.59643516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30864 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:17.44, Y:0.20, Z:-0.05 [[ 9.99991677e-01 -3.63334465e-03 1.85607617e-03 1.74411807e+01] [ 3.63328095e-03 9.99993399e-01 3.76923057e-05 1.98328253e-01] [-1.85620087e-03 -3.09483458e-05 9.99998277e-01 -4.66054514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.338639999999998 meters Centerline goodness : 0.938346 Centerline is valid? [True, False] Translation: X:17.42, Y:0.20, Z:-0.05 [[ 9.99975208e-01 3.24320483e-04 7.03401982e-03 1.74178529e+01] [-2.73068599e-04 9.99973419e-01 -7.28602347e-03 2.04819638e-01] [-7.03619585e-03 7.28392206e-03 9.99948717e-01 -4.92990128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36864 meters Centerline goodness : 0.997238 Centerline is valid? [False, True] Translation: X:17.42, Y:0.22, Z:-0.04 [[ 9.99998384e-01 1.79279987e-03 1.34519182e-04 1.74162355e+01] [-1.78869960e-03 9.99660812e-01 -2.59819388e-02 2.19517021e-01] [-1.81053971e-04 2.59816562e-02 9.99662403e-01 -4.34933354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39864 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:17.45, Y:0.20, Z:-0.05 [[ 9.99996283e-01 2.71316974e-03 -2.70645525e-04 1.74459275e+01] [-2.71321837e-03 9.99996303e-01 -1.79452361e-04 1.97225932e-01] [ 2.70157640e-04 1.80186014e-04 9.99999947e-01 -4.63350142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.428639999999998 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:17.48, Y:0.20, Z:-0.05 [[ 9.99997312e-01 2.30256200e-03 -2.73386727e-04 1.74761699e+01] [-2.30256353e-03 9.99997349e-01 -5.28572167e-06 1.98019707e-01] [ 2.73373832e-04 5.91519777e-06 9.99999963e-01 -4.52351080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:17.51, Y:0.20, Z:-0.04 [[ 9.99998593e-01 1.65515928e-03 -2.73395304e-04 1.75059361e+01] [-1.65516063e-03 9.99998630e-01 -4.74166646e-06 1.98556534e-01] [ 2.73387081e-04 5.19417293e-06 9.99999963e-01 -4.48817123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48864 meters Centerline goodness : 0.976894 Centerline is valid? [True, True] Translation: X:17.58, Y:0.22, Z:-0.05 [[ 9.98270028e-01 5.87952125e-02 -2.73381097e-04 1.75786372e+01] [-5.87952163e-02 9.98270065e-01 -5.63496241e-06 2.21558421e-01] [ 2.72576857e-04 2.16987148e-05 9.99999963e-01 -5.34057833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.518639999999998 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:17.56, Y:0.19, Z:-0.05 [[ 9.99996438e-01 -2.65495022e-03 -2.74043346e-04 1.75584648e+01] [ 2.65496596e-03 9.99996474e-01 5.70605563e-05 1.90443452e-01] [ 2.73890887e-04 -5.77879288e-05 9.99999961e-01 -4.57218939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54864 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:17.59, Y:0.19, Z:-0.04 [[ 9.99999383e-01 -1.07701037e-03 -2.72827395e-04 1.75888587e+01] [ 1.07700879e-03 9.99999420e-01 -5.93989899e-06 1.92069845e-01] [ 2.72833634e-04 5.64605783e-06 9.99999963e-01 -4.45409124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57864 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:17.62, Y:0.19, Z:-0.04 [[ 9.99999914e-01 3.13716385e-04 -2.72829268e-04 1.76195353e+01] [-3.13717991e-04 9.99999951e-01 -5.84321545e-06 1.94473751e-01] [ 2.72827422e-04 5.92880640e-06 9.99999963e-01 -4.41656668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.608639999999998 meters Centerline goodness : 0.866444 Centerline is valid? [True, False] Translation: X:17.59, Y:0.21, Z:-0.04 [[ 9.99995092e-01 -3.45857008e-04 3.11399577e-03 1.75932734e+01] [ 3.89555962e-04 9.99901310e-01 -1.40434276e-02 2.06188040e-01] [-3.10883143e-03 1.40445718e-02 9.99896537e-01 -4.20207804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63864 meters Centerline goodness : 0.820460 Centerline is valid? [False, False] Translation: X:17.59, Y:0.21, Z:-0.04 [[ 9.99995097e-01 -2.90361870e-04 3.11783838e-03 1.75932910e+01] [ 3.34993291e-04 9.99897352e-01 -1.43238930e-02 2.07588557e-01] [-3.11335922e-03 1.43248673e-02 9.99892547e-01 -4.23021235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66864 meters Centerline goodness : 0.996750 Centerline is valid? [False, True] Translation: X:17.57, Y:0.22, Z:-0.04 [[ 9.99956766e-01 3.60257064e-03 8.57250543e-03 1.75696091e+01] [-3.40354202e-03 9.99726915e-01 -2.31194914e-02 2.20380977e-01] [-8.65345401e-03 2.30893150e-02 9.99695954e-01 -4.47516184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.698639999999997 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:17.60, Y:0.20, Z:-0.05 [[ 9.99962352e-01 3.29340017e-03 8.02789526e-03 1.76016580e+01] [-3.29533065e-03 9.99994545e-01 2.27255994e-04 2.02557197e-01] [-8.02710302e-03 -2.53702008e-04 9.99967750e-01 -4.86874032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72864 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:17.63, Y:0.21, Z:-0.05 [[ 9.99958208e-01 4.37201491e-03 8.02916007e-03 1.76340608e+01] [-4.37354560e-03 9.99990421e-01 1.73093546e-04 2.05125611e-01] [-8.02832639e-03 -2.08202210e-04 9.99967751e-01 -4.95408260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75864 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:17.66, Y:0.21, Z:-0.05 [[ 9.99966158e-01 1.79199736e-03 8.02944822e-03 1.76642855e+01] [-1.79334495e-03 9.99998379e-01 1.60634213e-04 2.09351016e-01] [-8.02914735e-03 -1.75028347e-04 9.99967751e-01 -4.88304670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.788639999999997 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:17.70, Y:0.21, Z:-0.05 [[ 9.99967350e-01 9.17081552e-04 8.02859779e-03 1.76963015e+01] [-9.18697998e-04 9.99999558e-01 1.97650310e-04 2.11969116e-01] [-8.02841298e-03 -2.05019713e-04 9.99967751e-01 -4.79309592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81864 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:17.73, Y:0.21, Z:-0.05 [[ 9.99967763e-01 -1.16470614e-04 8.02867990e-03 1.77283389e+01] [ 1.14916369e-04 9.99999975e-01 1.94047698e-04 2.14828933e-01] [-8.02870230e-03 -1.93118816e-04 9.99967751e-01 -4.87869503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:17.76, Y:0.22, Z:-0.06 [[ 9.99966046e-01 1.85644333e-03 8.02875246e-03 1.77608955e+01] [-1.85803499e-03 9.99998256e-01 1.90789686e-04 2.17025384e-01] [-8.02838427e-03 -2.05700910e-04 9.99967751e-01 -5.89457090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.878639999999997 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:17.79, Y:0.22, Z:-0.05 [[ 9.99967176e-01 -1.08660623e-03 8.02907420e-03 1.77926239e+01] [ 1.08522710e-03 9.99999396e-01 1.76122616e-04 2.18975995e-01] [-8.02926072e-03 -1.67403466e-04 9.99967751e-01 -4.79025382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90864 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:17.83, Y:0.22, Z:-0.05 [[ 9.99967261e-01 -1.00831937e-03 8.02867017e-03 1.78250237e+01] [ 1.00678873e-03 9.99999474e-01 1.94685922e-04 2.21539043e-01] [-8.02886226e-03 -1.86596374e-04 9.99967751e-01 -4.89959712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93864 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:17.86, Y:0.22, Z:-0.05 [[ 9.99967410e-01 -8.48404723e-04 8.02866290e-03 1.78576888e+01] [ 8.46866226e-04 9.99999622e-01 1.95023243e-04 2.22101504e-01] [-8.02882533e-03 -1.88217684e-04 9.99967751e-01 -4.86257483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96864 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:17.89, Y:0.22, Z:-0.05 [[ 9.99963632e-01 -2.87540209e-03 8.02909270e-03 1.78901470e+01] [ 2.87409146e-03 9.99995855e-01 1.74768962e-04 2.22138836e-01] [-8.02956195e-03 -1.51686259e-04 9.99967751e-01 -4.92018652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.998639999999998 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:17.92, Y:0.22, Z:-0.05 [[ 9.99962425e-01 -3.26881259e-03 8.02889225e-03 1.79231106e+01] [ 3.26743753e-03 9.99994645e-01 1.84376149e-04 2.23363976e-01] [-8.02945195e-03 -1.58135317e-04 9.99967751e-01 -4.92153755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02864 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:17.95, Y:0.23, Z:-0.05 [[ 9.99955827e-01 -4.88639947e-03 8.02913479e-03 1.79537945e+01] [ 4.88517192e-03 9.99988053e-01 1.72491483e-04 2.26745478e-01] [-8.02988172e-03 -1.33260159e-04 9.99967751e-01 -5.00800328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05864 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:17.99, Y:0.23, Z:-0.05 [[ 9.99958473e-01 -4.31153421e-03 8.02887222e-03 1.79864052e+01] [ 4.31018278e-03 9.99990694e-01 1.85616892e-04 2.27704422e-01] [-8.02959780e-03 -1.51003277e-04 9.99967751e-01 -5.03444355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:18.02, Y:0.23, Z:-0.06 [[ 9.99956587e-01 -4.72867811e-03 8.02896267e-03 1.80189711e+01] [ 4.72737750e-03 9.99988810e-01 1.80960896e-04 2.28341195e-01] [-8.02972853e-03 -1.42997103e-04 9.99967751e-01 -5.99518735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:18.05, Y:0.23, Z:-0.06 [[ 9.99955160e-01 -5.02051863e-03 8.02951042e-03 1.80523693e+01] [ 5.01945966e-03 9.99987391e-01 1.52031894e-04 2.28504644e-01] [-8.03017246e-03 -1.11721273e-04 9.99967751e-01 -6.06714816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14864 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:18.08, Y:0.23, Z:-0.05 [[ 9.99929445e-01 -8.75386757e-03 8.02958635e-03 1.80839470e+01] [ 8.75296204e-03 9.99961681e-01 1.47910245e-04 2.28779768e-01] [-8.03057345e-03 -7.76171450e-05 9.99967751e-01 -4.93971928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.178639999999998 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:18.12, Y:0.23, Z:-0.05 [[ 9.99940984e-01 -7.31887012e-03 8.02888919e-03 1.81171789e+01] [ 7.31760833e-03 9.99973209e-01 1.86521146e-04 2.32471898e-01] [-8.03003921e-03 -1.27757871e-04 9.99967751e-01 -5.37320556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20864 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:18.15, Y:0.23, Z:-0.05 [[ 9.99919595e-01 -9.81481520e-03 8.02948250e-03 1.81494345e+01] [ 9.81390615e-03 9.99951831e-01 1.52608454e-04 2.33844860e-01] [-8.03059355e-03 -7.37955956e-05 9.99967752e-01 -5.27249163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:18.18, Y:0.23, Z:-0.06 [[ 9.99922761e-01 -9.48703085e-03 8.02922507e-03 1.81821247e+01] [ 9.48598998e-03 9.99954993e-01 1.67709446e-04 2.34566787e-01] [-8.03045476e-03 -9.15313434e-05 9.99967751e-01 -6.43313183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:18.22, Y:0.24, Z:-0.06 [[ 9.99920870e-01 -9.68377792e-03 8.02978212e-03 1.82153647e+01] [ 9.68301055e-03 9.99953110e-01 1.34437609e-04 2.35783042e-01] [-8.03070746e-03 -5.66745056e-05 9.99967752e-01 -6.43435118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:18.25, Y:0.24, Z:-0.07 [[ 9.99919615e-01 -9.81250336e-03 8.02984891e-03 1.82476887e+01] [ 9.81177319e-03 9.99951855e-01 1.30322228e-04 2.37530809e-01] [-8.03074110e-03 -5.15246955e-05 9.99967752e-01 -6.50431906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:18.28, Y:0.24, Z:-0.07 [[ 9.99921045e-01 -9.66567370e-03 8.02990545e-03 1.82803143e+01] [ 9.66496756e-03 9.99953285e-01 1.26739966e-04 2.40741626e-01] [-8.03075536e-03 -4.91211830e-05 9.99967752e-01 -6.53410172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.358639999999998 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:18.31, Y:0.24, Z:-0.07 [[ 9.99928721e-01 -8.83581852e-03 8.02996803e-03 1.83132611e+01] [ 8.83511852e-03 9.99960962e-01 1.22642745e-04 2.41728512e-01] [-8.03073821e-03 -5.16882837e-05 9.99967752e-01 -6.58292315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38864 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:18.34, Y:0.24, Z:-0.06 [[ 9.99935188e-01 -8.07088621e-03 8.03002784e-03 1.83447849e+01] [ 8.07019407e-03 9.99967428e-01 1.18593022e-04 2.41456674e-01] [-8.03072344e-03 -5.37814523e-05 9.99967752e-01 -5.58473278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41864 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:18.38, Y:0.24, Z:-0.07 [[ 9.99940737e-01 -7.35102243e-03 8.03024928e-03 1.83768938e+01] [ 7.35042955e-03 9.99972980e-01 1.03342605e-04 2.41642658e-01] [-8.03079198e-03 -4.43106994e-05 9.99967752e-01 -6.69705775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.448639999999997 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:18.41, Y:0.24, Z:-0.07 [[ 9.99945275e-01 -6.70559948e-03 8.03007207e-03 1.84086778e+01] [ 6.70488698e-03 9.99977515e-01 1.15647255e-04 2.42289102e-01] [-8.03066701e-03 -6.18002005e-05 9.99967752e-01 -6.80536607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47864 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:18.44, Y:0.24, Z:-0.07 [[ 9.99961195e-01 -3.62295028e-03 8.03012162e-03 1.84413057e+01] [ 3.62216689e-03 9.99993434e-01 1.12098027e-04 2.42080367e-01] [-8.03047502e-03 -8.30072362e-05 9.99967752e-01 -6.98268314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50864 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:18.47, Y:0.24, Z:-0.07 [[ 9.99966243e-01 -1.74059836e-03 8.03016980e-03 1.84735692e+01] [ 1.73978291e-03 9.99998481e-01 1.08533004e-04 2.43229710e-01] [-8.03034652e-03 -9.45585883e-05 9.99967752e-01 -6.99786267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.538639999999997 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:18.51, Y:0.24, Z:-0.07 [[ 9.99967360e-01 -8.91132698e-04 8.03018340e-03 1.85060928e+01] [ 8.90298014e-04 9.99999598e-01 1.07517394e-04 2.44518539e-01] [-8.03027599e-03 -1.00364628e-04 9.99967752e-01 -6.99022678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56864 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:18.54, Y:0.24, Z:-0.07 [[ 9.99967736e-01 2.08990045e-04 8.03019694e-03 1.85386578e+01] [-2.09852000e-04 9.99999972e-01 1.06496852e-04 2.44533448e-01] [-8.03017446e-03 -1.08178568e-04 9.99967752e-01 -6.92636344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59864 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:18.57, Y:0.24, Z:-0.07 [[ 9.99967720e-01 2.73639888e-04 8.03021028e-03 1.85714421e+01] [-2.74495772e-04 9.99999957e-01 1.05481032e-04 2.44348955e-01] [-8.03018107e-03 -1.07681886e-04 9.99967752e-01 -7.04976300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:18.60, Y:0.24, Z:-0.06 [[ 9.99967155e-01 -1.09752403e-03 8.03023031e-03 1.86012756e+01] [ 1.09672477e-03 9.99999393e-01 1.03933667e-04 2.44880225e-01] [-8.03033950e-03 -9.51233005e-05 9.99967752e-01 -5.82127508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65864 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:18.63, Y:0.25, Z:-0.07 [[ 9.99967130e-01 1.12528476e-03 8.02949753e-03 1.86344863e+01] [-1.12661651e-03 9.99999352e-01 1.61336566e-04 2.46063515e-01] [-8.02931078e-03 -1.70377428e-04 9.99967750e-01 -7.26358479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68864 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:18.67, Y:0.25, Z:-0.07 [[ 9.99966115e-01 1.81219741e-03 8.03026815e-03 1.86662908e+01] [-1.81304713e-03 9.99998352e-01 9.85355955e-05 2.46184445e-01] [-8.03007634e-03 -1.13091511e-04 9.99967752e-01 -7.38705347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71864 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:18.70, Y:0.25, Z:-0.07 [[ 9.99959873e-01 3.97074303e-03 8.03028042e-03 1.86981532e+01] [-3.97165422e-03 9.99992108e-01 9.75248554e-05 2.48032512e-01] [-8.02982980e-03 -1.29414439e-04 9.99967752e-01 -7.47846888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999998 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:18.73, Y:0.25, Z:-0.07 [[ 9.99952301e-01 5.55968332e-03 8.03029550e-03 1.87298871e+01] [-5.56063563e-03 9.99984535e-01 9.62672624e-05 2.50068924e-01] [-8.02963609e-03 -1.40916218e-04 9.99967752e-01 -7.49882038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77864 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:18.76, Y:0.25, Z:-0.07 [[ 9.99926095e-01 9.12792124e-03 8.03030764e-03 1.87618699e+01] [-9.12898036e-03 9.99958325e-01 9.52440143e-05 2.54457751e-01] [-8.02910360e-03 -1.68545496e-04 9.99967752e-01 -7.49184099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80864 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:18.79, Y:0.26, Z:-0.07 [[ 9.99910147e-01 1.07337251e-02 8.03031954e-03 1.87943716e+01] [-1.07348278e-02 9.99942376e-01 9.42291350e-05 2.56169316e-01] [-8.02884537e-03 -1.80424766e-04 9.99967752e-01 -7.45993814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.838639999999998 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:18.83, Y:0.26, Z:-0.06 [[ 9.99938201e-01 7.68812391e-03 8.03033142e-03 1.88250025e+01] [-7.68912025e-03 9.99970434e-01 9.32060926e-05 2.56961486e-01] [-8.02937741e-03 -1.54946517e-04 9.99967752e-01 -5.90326592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86864 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:18.86, Y:0.26, Z:-0.08 [[ 9.99930439e-01 8.63917812e-03 8.03002761e-03 1.88572497e+01] [-8.64041646e-03 9.99962664e-01 1.19534434e-04 2.60767776e-01] [-8.02869512e-03 -1.88908902e-04 9.99967752e-01 -7.70085219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89864 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:18.89, Y:0.26, Z:-0.08 [[ 9.99943178e-01 7.01097416e-03 8.03034660e-03 1.88890226e+01] [-7.01193544e-03 9.99975412e-01 9.15572836e-05 2.62802503e-01] [-8.02950724e-03 -1.47860353e-04 9.99967752e-01 -7.68512000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:18.92, Y:0.26, Z:-0.08 [[ 9.99962245e-01 3.32003784e-03 8.03035803e-03 1.89211522e+01] [-3.32087200e-03 9.99994482e-01 9.05431470e-05 2.63847071e-01] [-8.03001311e-03 -1.17207520e-04 9.99967752e-01 -7.79921329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95864 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:18.95, Y:0.26, Z:-0.08 [[ 9.99967656e-01 4.45974381e-04 8.03039613e-03 1.89536488e+01] [-4.46687650e-04 9.99999896e-01 8.70277131e-05 2.63892879e-01] [-8.03035649e-03 -9.06119771e-05 9.99967752e-01 -7.90189977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98864 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:18.98, Y:0.26, Z:-0.06 [[ 9.99948019e-01 -6.28261981e-03 8.03043298e-03 1.89815641e+01] [ 6.28215196e-03 9.99980264e-01 8.34825948e-05 2.63286085e-01] [-8.03079898e-03 -3.30298550e-05 9.99967752e-01 -5.99975894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.018639999999998 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:19.02, Y:0.26, Z:-0.08 [[ 9.99958242e-01 -4.36437989e-03 8.02904266e-03 1.90173916e+01] [ 4.36271652e-03 9.99990458e-01 2.24672582e-04 2.63457465e-01] [-8.02994660e-03 -1.89634763e-04 9.99967741e-01 -8.04250734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04864 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:19.05, Y:0.26, Z:-0.07 [[ 9.99932922e-01 -8.34650768e-03 8.03040946e-03 1.90456815e+01] [ 8.34620031e-03 9.99965167e-01 7.17869631e-05 2.61524695e-01] [-8.03072891e-03 -4.75874183e-06 9.99967753e-01 -6.63439887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07864 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:19.08, Y:0.26, Z:-0.06 [[ 9.99929118e-01 -8.79116480e-03 8.02958180e-03 1.90765444e+01] [ 8.79010934e-03 9.99961352e-01 1.66728645e-04 2.59208587e-01] [-8.03073721e-03 -9.61359251e-05 9.99967748e-01 -6.34508532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:19.11, Y:0.26, Z:-0.08 [[ 9.99958743e-01 -4.24713892e-03 8.02957731e-03 1.91101168e+01] [ 4.24593273e-03 9.99990972e-01 1.67258204e-04 2.57122083e-01] [-8.03021518e-03 -1.33158258e-04 9.99967748e-01 -8.00221616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13864 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:19.14, Y:0.26, Z:-0.08 [[ 9.99963819e-01 -2.80592946e-03 8.03039250e-03 1.91430476e+01] [ 2.80551829e-03 9.99996063e-01 6.24669004e-05 2.58032972e-01] [-8.03053616e-03 -3.99352273e-05 9.99967754e-01 -7.91254571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16864 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:19.18, Y:0.26, Z:-0.08 [[ 9.99967601e-01 5.56711077e-04 8.03040585e-03 1.91761879e+01] [-5.57216497e-04 9.99999843e-01 6.07011392e-05 2.58734910e-01] [-8.03037080e-03 -6.51738471e-05 9.99967754e-01 -8.02320848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.198639999999997 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:19.21, Y:0.26, Z:-0.08 [[ 9.99964850e-01 2.41078909e-03 8.03041716e-03 1.92084055e+01] [-2.41134197e-03 9.99997091e-01 5.91661721e-05 2.58958935e-01] [-8.03025116e-03 -7.85281743e-05 9.99967754e-01 -8.10769280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22864 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:19.24, Y:0.26, Z:-0.06 [[ 9.99965206e-01 -2.25827966e-03 8.03042450e-03 1.92351278e+01] [ 2.25788547e-03 9.99997449e-01 5.81527739e-05 2.59103768e-01] [-8.03053534e-03 -4.00189717e-05 9.99967754e-01 -6.28044312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25864 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:19.27, Y:0.26, Z:-0.08 [[ 9.99931865e-01 8.47331153e-03 8.02924845e-03 1.92698099e+01] [-8.47532696e-03 9.99964060e-01 2.17018362e-04 2.61869012e-01] [-8.02712102e-03 -2.85054081e-04 9.99967742e-01 -8.06758250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.288639999999997 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:19.30, Y:0.26, Z:-0.07 [[ 9.99951184e-01 5.75703480e-03 8.03034311e-03 1.92986646e+01] [-5.75765308e-03 9.99983423e-01 5.38771604e-05 2.62062534e-01] [-8.02989982e-03 -1.00110460e-04 9.99967755e-01 -6.50488563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31864 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:19.33, Y:0.26, Z:-0.08 [[ 9.99900121e-01 1.16306757e-02 8.02968151e-03 1.93337110e+01] [-1.16323000e-02 9.99932330e-01 1.55611862e-04 2.61413465e-01] [-8.02732828e-03 -2.48999984e-04 9.99967749e-01 -8.22706149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34864 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:19.37, Y:0.26, Z:-0.08 [[ 9.99880267e-01 1.32274532e-02 8.03033208e-03 1.93660288e+01] [-1.32282732e-02 9.99912501e-01 4.89981689e-05 2.61157306e-01] [-8.02898131e-03 -1.55219729e-04 9.99967755e-01 -8.23608711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.378639999999997 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:19.39, Y:0.26, Z:-0.07 [[ 9.99916662e-01 1.01085048e-02 8.03033819e-03 1.93945301e+01] [-1.01092160e-02 9.99948899e-01 4.79751256e-05 2.63025142e-01] [-8.02944288e-03 -1.29151551e-04 9.99967755e-01 -6.63433854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40864 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:19.43, Y:0.27, Z:-0.07 [[ 9.99853727e-01 1.51012240e-02 8.02979871e-03 1.94266855e+01] [-1.51028112e-02 9.99885937e-01 1.37061165e-04 2.68742963e-01] [-8.02681301e-03 -2.58313651e-04 9.99967751e-01 -6.51463017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43864 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:19.46, Y:0.27, Z:-0.06 [[ 9.99826471e-01 1.68091735e-02 8.02995112e-03 1.94584029e+01] [-1.68106041e-02 9.99858686e-01 1.10689243e-04 2.70959007e-01] [-8.02695578e-03 -2.45658364e-04 9.99967753e-01 -6.45796854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46864 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:19.49, Y:0.27, Z:-0.07 [[ 9.99806186e-01 1.79752729e-02 8.02993672e-03 1.94895939e+01] [-1.79767620e-02 9.99838399e-01 1.13299403e-04 2.72968342e-01] [-8.02660248e-03 -2.57629705e-04 9.99967753e-01 -6.60531335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.498639999999998 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:19.52, Y:0.28, Z:-0.07 [[ 9.99749040e-01 2.09135808e-02 8.02990393e-03 1.95224547e+01] [-2.09152146e-02 9.99781246e-01 1.19541037e-04 2.75613339e-01] [-8.02564733e-03 -2.87458201e-04 9.99967753e-01 -6.65059092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52864 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:19.55, Y:0.28, Z:-0.06 [[ 9.99758740e-01 2.04445764e-02 8.03006483e-03 1.95541113e+01] [-2.04459316e-02 9.99790956e-01 8.66969466e-05 2.82377293e-01] [-8.02661371e-03 -2.50858186e-04 9.99967755e-01 -6.48753447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55864 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:19.59, Y:0.29, Z:-0.07 [[ 9.99755414e-01 2.06065359e-02 8.03008464e-03 1.95861481e+01] [-2.06078624e-02 9.99787632e-01 8.24796462e-05 2.85849206e-01] [-8.02667968e-03 -2.47942352e-04 9.99967755e-01 -6.72995937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.588639999999998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:19.62, Y:0.29, Z:-0.08 [[ 9.99775907e-01 1.95870657e-02 8.03015937e-03 1.96181806e+01] [-1.95882185e-02 9.99808130e-01 6.49191525e-05 2.91344102e-01] [-8.02734705e-03 -2.22201121e-04 9.99967756e-01 -8.33956820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:19.65, Y:0.29, Z:-0.08 [[ 9.99806199e-01 1.79743804e-02 8.03029051e-03 1.96505804e+01] [-1.79752267e-02 9.99838432e-01 3.32136392e-05 2.94744305e-01] [-8.02839608e-03 -1.77553494e-04 9.99967756e-01 -8.36970179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:19.68, Y:0.30, Z:-0.08 [[ 9.99846947e-01 1.55433604e-02 8.03029457e-03 1.96828757e+01] [-1.55441201e-02 9.99879182e-01 3.22019507e-05 2.97592384e-01] [-8.02882384e-03 -1.57020886e-04 9.99967756e-01 -8.38947802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.678639999999998 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:19.71, Y:0.30, Z:-0.06 [[ 9.99939582e-01 7.50647149e-03 8.03029856e-03 1.97123775e+01] [-7.50696386e-03 9.99971822e-01 3.11739100e-05 3.01828441e-01] [-8.02983827e-03 -9.14551876e-05 9.99967756e-01 -6.28082393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70864 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:19.75, Y:0.30, Z:-0.07 [[ 9.99941949e-01 7.18437778e-03 8.03009020e-03 1.97454158e+01] [-7.18532477e-03 9.99974181e-01 8.90868135e-05 3.02806549e-01] [-8.02924284e-03 -1.46780448e-04 9.99967754e-01 -6.53823856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73864 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:19.77, Y:0.30, Z:-0.07 [[ 9.99956726e-01 4.69691671e-03 8.03031908e-03 1.97746964e+01] [-4.69721422e-03 9.99988968e-01 1.81875829e-05 3.03152359e-01] [-8.03014507e-03 -5.59069248e-05 9.99967756e-01 -7.00897332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.768639999999998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:19.81, Y:0.31, Z:-0.09 [[ 9.99952878e-01 5.45526816e-03 8.03010368e-03 1.98085455e+01] [-5.45615240e-03 9.99985111e-01 8.82131225e-05 3.06714313e-01] [-8.02950289e-03 -1.32022435e-04 9.99967754e-01 -8.79410164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:19.84, Y:0.31, Z:-0.09 [[ 9.99960581e-01 3.78825381e-03 8.03027889e-03 1.98420322e+01] [-3.78854381e-03 9.99992823e-01 2.09009395e-05 3.08501368e-01] [-8.03014208e-03 -5.13231790e-05 9.99967757e-01 -8.86318978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82864 meters Centerline goodness : 0.976350 Centerline is valid? [True, True] Translation: X:19.91, Y:0.34, Z:-0.08 [[ 9.97439799e-01 7.10588594e-02 8.03028257e-03 1.99054293e+01] [-7.10613058e-02 9.97471950e-01 1.93767824e-05 3.43551268e-01] [-8.00860472e-03 -5.89969540e-04 9.99967757e-01 -8.21899538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.858639999999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:19.90, Y:0.31, Z:-0.09 [[ 9.99960010e-01 -3.93856669e-03 8.02908901e-03 1.98974936e+01] [ 3.94909748e-03 9.99991362e-01 -1.29614769e-03 3.07786618e-01] [-8.02391470e-03 1.32780351e-03 9.99966926e-01 -8.92782487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:19.93, Y:0.31, Z:-0.07 [[ 9.99919907e-01 -9.78937429e-03 8.02164697e-03 1.99265994e+01] [ 9.78933174e-03 9.99952082e-01 4.45696337e-05 3.06022719e-01] [-8.02169890e-03 3.39604993e-05 9.99967825e-01 -7.39863157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:19.96, Y:0.31, Z:-0.09 [[ 9.99936011e-01 -7.97710031e-03 8.02123662e-03 1.99597433e+01] [ 7.97641487e-03 9.99968181e-01 1.17441557e-04 3.06040088e-01] [-8.02191824e-03 -5.34533314e-05 9.99967822e-01 -9.29991671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.948639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:19.99, Y:0.31, Z:-0.09 [[ 9.99939822e-01 -7.48375098e-03 8.02162365e-03 1.99933597e+01] [ 7.48366945e-03 9.99971996e-01 4.01806955e-05 3.06595850e-01] [-8.02169971e-03 1.98529023e-05 9.99967825e-01 -9.32505718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:20.02, Y:0.31, Z:-0.07 [[ 9.99923390e-01 -9.42700227e-03 8.02164150e-03 2.00225517e+01] [ 9.42701497e-03 9.99955564e-01 3.62278226e-05 3.05791296e-01] [-8.02162657e-03 3.93950873e-05 9.99967825e-01 -7.42657015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:0.31, Z:-0.09 [[ 9.99932581e-01 -8.39580027e-03 8.02141290e-03 2.00551056e+01] [ 8.39537657e-03 9.99964754e-01 8.64917738e-05 3.06438220e-01] [-8.02185634e-03 -1.91431607e-05 9.99967824e-01 -9.29103034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.038639999999997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:20.09, Y:0.31, Z:-0.08 [[ 9.99918696e-01 -9.91230721e-03 8.02163108e-03 2.00850432e+01] [ 9.91236716e-03 9.99950871e-01 3.22852164e-05 3.07857603e-01] [-8.02155700e-03 4.72307609e-05 9.99967826e-01 -7.84873126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:20.12, Y:0.31, Z:-0.09 [[ 9.99945101e-01 -6.74177984e-03 8.02140746e-03 2.01185196e+01] [ 6.74128277e-03 9.99977273e-01 8.90043454e-05 3.10858496e-01] [-8.02182520e-03 -3.49248832e-05 9.99967824e-01 -9.26547172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.15, Y:0.31, Z:-0.09 [[ 9.99956839e-01 -4.68760653e-03 8.02161983e-03 2.01521132e+01] [ 4.68753386e-03 9.99989013e-01 2.78599164e-05 3.12531811e-01] [-8.02166230e-03 9.74290066e-06 9.99967826e-01 -9.31514323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:20.18, Y:0.31, Z:-0.09 [[ 9.99965243e-01 -2.27279587e-03 8.02163169e-03 2.01843969e+01] [ 2.27267747e-03 9.99997417e-01 2.38754992e-05 3.14080873e-01] [-8.02166524e-03 -5.64408776e-06 9.99967826e-01 -9.36290246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:20.22, Y:0.31, Z:-0.09 [[ 9.99967145e-01 -1.16680731e-03 8.02163455e-03 2.02161341e+01] [ 1.16666137e-03 9.99999319e-01 2.28736071e-05 3.14301736e-01] [-8.02165578e-03 -1.35143245e-05 9.99967826e-01 -9.42045885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:20.25, Y:0.31, Z:-0.08 [[ 9.99960410e-01 -3.85128176e-03 8.02163727e-03 2.02455216e+01] [ 3.85123019e-03 9.99992584e-01 2.18750228e-05 3.14072498e-01] [-8.02166203e-03 9.01901487e-06 9.99967826e-01 -8.14701999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:20.28, Y:0.32, Z:-0.10 [[ 9.99963349e-01 -2.99260959e-03 8.02152407e-03 2.02773880e+01] [ 2.99221052e-03 9.99995521e-01 6.17508657e-05 3.16413750e-01] [-8.02167294e-03 -3.77465138e-05 9.99967825e-01 -9.50139747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999998 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:20.31, Y:0.32, Z:-0.08 [[ 9.99945128e-01 -6.73748275e-03 8.02162911e-03 2.03054295e+01] [ 6.73753629e-03 9.99977302e-01 2.03490763e-05 3.17725085e-01] [-8.02158414e-03 3.36980575e-05 9.99967826e-01 -7.50701597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:20.34, Y:0.32, Z:-0.10 [[ 9.99967418e-01 -9.06589756e-04 8.02132568e-03 2.03395209e+01] [ 9.05571732e-04 9.99999581e-01 1.30545759e-04 3.21126655e-01] [-8.02144068e-03 -1.23277620e-04 9.99967820e-01 -9.56675559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:20.37, Y:0.32, Z:-0.08 [[ 9.99963941e-01 -2.78759825e-03 8.02157277e-03 2.03683965e+01] [ 2.78754728e-03 9.99996115e-01 1.75350893e-05 3.22046153e-01] [-8.02159049e-03 4.82605631e-06 9.99967827e-01 -7.80738335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.338639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:20.40, Y:0.32, Z:-0.10 [[ 9.99966841e-01 1.40496358e-03 8.02140721e-03 2.04014957e+01] [-1.40578064e-03 9.99999007e-01 9.62220137e-05 3.23851250e-01] [-8.02126406e-03 -1.07495162e-04 9.99967823e-01 -9.53674565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36864 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:20.43, Y:0.33, Z:-0.08 [[ 9.99967280e-01 -1.04578862e-03 8.02153841e-03 2.04304449e+01] [ 1.04572135e-03 9.99999453e-01 1.25799180e-05 3.25365070e-01] [-8.02154718e-03 -4.19121242e-06 9.99967827e-01 -7.70703995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:20.46, Y:0.33, Z:-0.08 [[ 9.99967733e-01 -4.37423750e-04 8.02138306e-03 2.04616548e+01] [ 4.36544327e-04 9.99999899e-01 1.11385371e-04 3.27264638e-01] [-8.02143097e-03 -1.07880088e-04 9.99967822e-01 -7.93691203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999998 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:20.49, Y:0.33, Z:-0.08 [[ 9.99966729e-01 1.48294128e-03 8.02137819e-03 2.04929719e+01] [-1.48392041e-03 9.99998892e-01 1.16114790e-04 3.28346919e-01] [-8.02119711e-03 -1.28014014e-04 9.99967821e-01 -8.17761026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45864 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:20.53, Y:0.33, Z:-0.07 [[ 9.99966511e-01 1.62298465e-03 8.02138092e-03 2.05262863e+01] [-1.62385897e-03 9.99998676e-01 1.02487506e-04 3.30992836e-01] [-8.02120396e-03 -1.15509665e-04 9.99967823e-01 -7.11672150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:20.55, Y:0.33, Z:-0.08 [[ 9.99966314e-01 -1.74055392e-03 8.02135053e-03 2.05534936e+01] [ 1.74061169e-03 9.99998485e-01 -2.20535477e-07 3.31035016e-01] [-8.02133800e-03 1.41825845e-05 9.99967828e-01 -7.82546831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.518639999999998 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:20.59, Y:0.33, Z:-0.08 [[ 9.99966505e-01 -1.62664290e-03 8.02142536e-03 2.05870767e+01] [ 1.62576870e-03 9.99998672e-01 1.15502379e-04 3.32368824e-01] [-8.02160259e-03 -1.02457528e-04 9.99967821e-01 -7.97808235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54864 meters Centerline goodness : 0.991862 Centerline is valid? [True, True] Translation: X:20.62, Y:0.34, Z:-0.07 [[ 9.99966272e-01 1.76407958e-03 8.02137983e-03 2.06234638e+01] [-1.76475758e-03 9.99998440e-01 7.74476005e-05 3.39096912e-01] [-8.02123069e-03 -9.16007793e-05 9.99967825e-01 -6.86244462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:20.65, Y:0.34, Z:-0.08 [[ 9.99964377e-01 -2.62809906e-03 8.02106418e-03 2.06499372e+01] [ 2.62906888e-03 9.99996538e-01 -1.10366998e-04 3.38212460e-01] [-8.02074635e-03 1.31450997e-04 9.99967825e-01 -7.93042286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.608639999999998 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:20.68, Y:0.34, Z:-0.08 [[ 9.99964572e-01 -2.55219861e-03 8.02134437e-03 2.06820068e+01] [ 2.55167050e-03 9.99996742e-01 7.60713347e-05 3.39725362e-01] [-8.02151238e-03 -5.56008118e-05 9.99967826e-01 -7.92928933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:20.71, Y:0.34, Z:-0.08 [[ 9.99961710e-01 -3.49793627e-03 8.02135790e-03 2.07147041e+01] [ 3.49738857e-03 9.99993881e-01 8.23073155e-05 3.41538363e-01] [-8.02159672e-03 -5.42503586e-05 9.99967825e-01 -8.01898944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:20.75, Y:0.34, Z:-0.10 [[ 9.99967116e-01 -1.19398324e-03 8.02132562e-03 2.07491286e+01] [ 1.19345360e-03 9.99999285e-01 7.08155290e-05 3.43136449e-01] [-8.02140444e-03 -6.12401204e-05 9.99967826e-01 -9.72249923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.698639999999997 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:20.78, Y:0.34, Z:-0.08 [[ 9.99943982e-01 -6.90635763e-03 8.02097245e-03 2.07786573e+01] [ 6.90680857e-03 9.99976147e-01 -2.85202629e-05 3.43863472e-01] [-8.02058416e-03 8.39179865e-05 9.99967831e-01 -8.42674432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:20.81, Y:0.34, Z:-0.10 [[ 9.99953392e-01 -5.37337345e-03 8.02120746e-03 2.08108456e+01] [ 5.37319855e-03 9.99985563e-01 4.33548788e-05 3.43161364e-01] [-8.02132462e-03 -2.53317887e-07 9.99967829e-01 -9.95628514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:20.84, Y:0.34, Z:-0.10 [[ 9.99947819e-01 -6.32646178e-03 8.02091674e-03 2.08438696e+01] [ 6.32691599e-03 9.99979984e-01 -3.12555601e-05 3.42822721e-01] [-8.02055846e-03 8.20015956e-05 9.99967831e-01 -1.00241261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:20.87, Y:0.34, Z:-0.08 [[ 9.99916519e-01 -1.01301401e-02 8.02089983e-03 2.08729616e+01] [ 1.01307476e-02 9.99948682e-01 -3.51172081e-05 3.41771217e-01] [-8.02013247e-03 1.16371988e-04 9.99967831e-01 -8.35153038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:20.91, Y:0.34, Z:-0.08 [[ 9.99903767e-01 -1.13188090e-02 8.02131935e-03 2.09052332e+01] [ 1.13187078e-02 9.99935940e-01 5.80170606e-05 3.40934786e-01] [-8.02146219e-03 3.27794923e-05 9.99967827e-01 -8.38690176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:20.94, Y:0.34, Z:-0.08 [[ 9.99893008e-01 -1.22323987e-02 8.02133639e-03 2.09384594e+01] [ 1.22322995e-02 9.99925181e-01 6.14359280e-05 3.39092321e-01] [-8.02148775e-03 3.66900341e-05 9.99967827e-01 -8.37196248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.878639999999997 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:20.97, Y:0.33, Z:-0.09 [[ 9.99846288e-01 -1.55904055e-02 8.02125371e-03 2.09702265e+01] [ 1.55905316e-02 9.99878459e-01 4.68107409e-05 3.34035557e-01] [-8.02100860e-03 7.82520638e-05 9.99967828e-01 -8.58385062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:21.00, Y:0.33, Z:-0.08 [[ 9.99839123e-01 -1.60433173e-02 8.02124711e-03 2.10023210e+01] [ 1.60434668e-02 9.99871294e-01 4.57182205e-05 3.31667966e-01] [-8.02094820e-03 8.29777460e-05 9.99967828e-01 -8.49296879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:21.03, Y:0.33, Z:-0.09 [[ 9.99780287e-01 -1.93658672e-02 8.02124575e-03 2.10339386e+01] [ 1.93661251e-02 9.99812458e-01 4.55311329e-05 3.25475414e-01] [-8.02062318e-03 1.09819319e-04 9.99967828e-01 -8.57117063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96864 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:21.07, Y:0.32, Z:-0.09 [[ 9.99791377e-01 -1.87845205e-02 8.02148835e-03 2.10650995e+01] [ 1.87845149e-02 9.99823553e-01 7.60453218e-05 3.21837155e-01] [-8.02150145e-03 7.46503103e-05 9.99967824e-01 -8.53917589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.998639999999998 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:21.10, Y:0.32, Z:-0.09 [[ 9.99836810e-01 -1.61866524e-02 8.02161271e-03 2.10970580e+01] [ 1.61864449e-02 9.99868987e-01 9.07944348e-05 3.18665581e-01] [-8.02203143e-03 3.90617738e-05 9.99967822e-01 -8.59120728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:21.13, Y:0.32, Z:-0.09 [[ 9.99939116e-01 -7.57773732e-03 8.02133490e-03 2.11309871e+01] [ 7.57750024e-03 9.99971289e-01 5.99481737e-05 3.16021195e-01] [-8.02155887e-03 8.37143286e-07 9.99967827e-01 -8.51006243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:21.16, Y:0.32, Z:-0.10 [[ 9.99967797e-01 -2.72441513e-04 8.02068585e-03 2.11646282e+01] [ 2.72507136e-04 9.99999963e-01 -7.08891505e-06 3.15931086e-01] [-8.02068362e-03 9.27438089e-06 9.99967834e-01 -1.04213300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.20, Y:0.31, Z:-0.10 [[ 9.99944689e-01 6.80437184e-03 8.01990752e-03 2.11968058e+01] [-6.80392795e-03 9.99976850e-01 -8.26321747e-05 3.13532542e-01] [-8.02028411e-03 2.80607314e-05 9.99967837e-01 -1.04208161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11864 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:21.23, Y:0.31, Z:-0.09 [[ 9.99952840e-01 5.47713064e-03 8.01989723e-03 2.12258796e+01] [-5.47663614e-03 9.99985000e-01 -8.36188138e-05 3.11202708e-01] [-8.02023492e-03 3.96928113e-05 9.99967837e-01 -8.66867863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14864 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:21.26, Y:0.31, Z:-0.09 [[ 9.99928368e-01 8.88391425e-03 8.02089195e-03 2.12582529e+01] [-8.88429532e-03 9.99960534e-01 1.18794593e-05 3.09841633e-01] [-8.02046986e-03 -8.31385811e-05 9.99967832e-01 -8.74927717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.178639999999998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:21.29, Y:0.31, Z:-0.09 [[ 9.99895442e-01 1.20322153e-02 8.02060723e-03 2.12908969e+01] [-1.20324875e-02 9.99927607e-01 -1.43150324e-05 3.09153951e-01] [-8.02019883e-03 -8.21943208e-05 9.99967834e-01 -9.35779752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:21.32, Y:0.31, Z:-0.11 [[ 9.99879133e-01 1.33191645e-02 8.01995607e-03 2.13228926e+01] [-1.33190054e-02 9.99911295e-01 -7.32464496e-05 3.07796500e-01] [-8.02022024e-03 -3.35802417e-05 9.99967837e-01 -1.05127264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23864 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:21.37, Y:0.31, Z:-0.09 [[ 9.99408523e-01 3.34408189e-02 8.01975971e-03 2.13679143e+01] [-3.34411678e-02 9.99440684e-01 -9.06237408e-05 3.14116246e-01] [-8.01830466e-03 -1.77619991e-04 9.99967837e-01 -8.80407233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999998 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:21.39, Y:0.31, Z:-0.09 [[ 9.99744777e-01 2.11230669e-02 8.01229080e-03 2.13900258e+01] [-2.11183999e-02 9.99776759e-01 -6.66642109e-04 3.08293151e-01] [-8.02458366e-03 4.97265205e-04 9.99967679e-01 -8.65857470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:21.42, Y:0.30, Z:-0.11 [[ 9.99909972e-01 1.07606626e-02 8.01597895e-03 2.14151723e+01] [-1.07585907e-02 9.99942079e-01 -3.01557824e-04 3.01995552e-01] [-8.01875962e-03 2.15290039e-04 9.99967826e-01 -1.05296558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32864 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:21.44, Y:0.30, Z:-0.09 [[ 9.99950443e-01 5.90104023e-03 8.01807295e-03 2.14435849e+01] [-5.90063923e-03 9.99982588e-01 -7.36674786e-05 2.98154874e-01] [-8.01836805e-03 2.63520721e-05 9.99967852e-01 -8.54741101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.358639999999998 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:21.48, Y:0.30, Z:-0.09 [[ 9.99925251e-01 9.22966090e-03 8.01909597e-03 2.14766999e+01] [-9.23026981e-03 9.99957399e-01 3.89250348e-05 2.98083798e-01] [-8.01839509e-03 -1.12940545e-04 9.99967846e-01 -8.83973894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:21.51, Y:0.30, Z:-0.09 [[ 9.99919156e-01 9.86849419e-03 8.01835916e-03 2.15094540e+01] [-9.86849419e-03 9.99951304e-01 -3.95649823e-05 2.96317945e-01] [-8.01835915e-03 -3.95673472e-05 9.99967852e-01 -9.06784947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:21.54, Y:0.29, Z:-0.11 [[ 9.99927386e-01 8.99651824e-03 8.01786249e-03 2.15397370e+01] [-8.99607414e-03 9.99959530e-01 -9.14536092e-05 2.92597947e-01] [-8.01836078e-03 1.93176829e-05 9.99967852e-01 -1.07369635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:21.57, Y:0.29, Z:-0.09 [[ 9.99911410e-01 1.06247087e-02 8.01801307e-03 2.15719183e+01] [-1.06244452e-02 9.99943556e-01 -7.54527056e-05 2.91575439e-01] [-8.01836216e-03 -9.74091946e-06 9.99967852e-01 -9.21221559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:21.60, Y:0.29, Z:-0.11 [[ 9.99911942e-01 1.05747058e-02 8.01765838e-03 2.16022785e+01] [-1.05741419e-02 9.99944086e-01 -1.12718562e-04 2.92365120e-01] [-8.01840204e-03 2.79287786e-05 9.99967852e-01 -1.06242747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50864 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:21.63, Y:0.29, Z:-0.09 [[ 9.99901741e-01 1.14987283e-02 8.01800014e-03 2.16336372e+01] [-1.14984786e-02 9.99933887e-01 -7.72431417e-05 2.93451651e-01] [-8.01835825e-03 -1.49592514e-05 9.99967852e-01 -8.99179124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.538639999999997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.66, Y:0.29, Z:-0.11 [[ 9.99883256e-01 1.30071362e-02 8.01798775e-03 2.16649469e+01] [-1.30069247e-02 9.99915403e-01 -7.85252324e-05 2.93483985e-01] [-8.01833085e-03 -2.57732981e-05 9.99967852e-01 -1.08142259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:21.70, Y:0.29, Z:-0.11 [[ 9.99873950e-01 1.37038743e-02 8.01799083e-03 2.16976172e+01] [-1.37036877e-02 9.99906097e-01 -7.82097360e-05 2.94010809e-01] [-8.01830969e-03 -3.16761648e-05 9.99967852e-01 -1.07107791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.73, Y:0.30, Z:-0.11 [[ 9.99878031e-01 1.34027816e-02 8.01798089e-03 2.17303358e+01] [-1.34025773e-02 9.99910178e-01 -7.92159723e-05 2.97055991e-01] [-8.01832242e-03 -2.82552980e-05 9.99967852e-01 -1.07176184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.628639999999997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:21.76, Y:0.30, Z:-0.11 [[ 9.99895929e-01 1.19934809e-02 8.01796827e-03 2.17621724e+01] [-1.19932212e-02 9.99928075e-01 -8.04734775e-05 2.97896871e-01] [-8.01835674e-03 -1.56961646e-05 9.99967852e-01 -1.08117854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.80, Y:0.30, Z:-0.11 [[ 9.99912689e-01 1.05036943e-02 8.01795808e-03 2.17955315e+01] [-1.05033787e-02 9.99944835e-01 -8.14763725e-05 2.97482607e-01] [-8.01837157e-03 -2.74639112e-06 9.99967852e-01 -1.08806389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.83, Y:0.30, Z:-0.10 [[ 9.99941772e-01 7.22256395e-03 8.01794248e-03 2.18261037e+01] [-7.22213074e-03 9.99973917e-01 -8.29833144e-05 2.96567102e-01] [-8.01833270e-03 2.50718536e-05 9.99967852e-01 -9.82240615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.718639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.86, Y:0.30, Z:-0.11 [[ 9.99964395e-01 2.63034066e-03 8.01805551e-03 2.18579168e+01] [-2.62984582e-03 9.99996539e-01 -7.22583184e-05 2.96338625e-01] [-8.01821783e-03 5.11694959e-05 9.99967852e-01 -1.10714610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.748639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:0.30, Z:-0.11 [[ 9.99967748e-01 -4.65642481e-04 8.01789987e-03 2.18902775e+01] [ 4.66352293e-04 9.99999888e-01 -8.66590092e-05 2.95130741e-01] [-8.01785861e-03 9.03953802e-05 9.99967852e-01 -1.10377613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:0.29, Z:-0.11 [[ 9.99955102e-01 -5.05050033e-03 8.01786138e-03 2.19227202e+01] [ 5.05138495e-03 9.99987238e-01 -9.00844172e-05 2.89687172e-01] [-8.01730408e-03 1.30581677e-04 9.99967852e-01 -1.10635173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.29, Z:-0.11 [[ 9.99947337e-01 -6.40612598e-03 8.01782159e-03 2.19558217e+01] [ 6.40708152e-03 9.99979470e-01 -9.34965335e-05 2.86273207e-01] [-8.01705804e-03 1.44862446e-04 9.99967852e-01 -1.12185642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.838639999999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.99, Y:0.28, Z:-0.10 [[ 9.99935906e-01 -7.99367067e-03 8.01777457e-03 2.19864043e+01] [ 7.99470826e-03 9.99968037e-01 -9.73688308e-05 2.83325223e-01] [-8.01673996e-03 1.61462359e-04 9.99967852e-01 -9.76423229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:22.02, Y:0.28, Z:-0.10 [[ 9.99938030e-01 -7.72339483e-03 8.01785979e-03 2.20181404e+01] [ 7.72436808e-03 9.99970163e-01 -9.04243022e-05 2.83072692e-01] [-8.01692217e-03 1.52351599e-04 9.99967852e-01 -9.78982992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.05, Y:0.28, Z:-0.11 [[ 9.99927937e-01 -8.93507440e-03 8.01783503e-03 2.20488688e+01] [ 8.93610242e-03 9.99960068e-01 -9.24003475e-05 2.78910692e-01] [-8.01668926e-03 1.64041884e-04 9.99967852e-01 -1.12327222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.28, Z:-0.11 [[ 9.99919370e-01 -9.84727995e-03 8.01770589e-03 2.20811266e+01] [ 9.84841824e-03 9.99951498e-01 -1.02501611e-04 2.75464498e-01] [-8.01630765e-03 1.81455067e-04 9.99967852e-01 -1.13898750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:22.11, Y:0.27, Z:-0.10 [[ 9.99902936e-01 -1.13945145e-02 8.01766147e-03 2.21114959e+01] [ 1.13957295e-02 9.99935061e-01 -1.05865494e-04 2.65556822e-01] [-8.01593453e-03 1.97222319e-04 9.99967852e-01 -9.76892619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:22.14, Y:0.26, Z:-0.10 [[ 9.99900485e-01 -1.16074635e-02 8.01787424e-03 2.21439597e+01] [ 1.16085557e-02 9.99932614e-01 -8.96822097e-05 2.60834678e-01] [-8.01629297e-03 1.82749224e-04 9.99967852e-01 -9.62903289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.018639999999998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:22.18, Y:0.26, Z:-0.10 [[ 9.99888957e-01 -1.25612996e-02 8.01799125e-03 2.21756763e+01] [ 1.25623536e-02 9.99921087e-01 -8.11044068e-05 2.57813284e-01] [-8.01633975e-03 1.81820242e-04 9.99967852e-01 -9.56278133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04864 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:22.21, Y:0.25, Z:-0.10 [[ 9.99916240e-01 -1.01597342e-02 8.01828223e-03 2.22073556e+01] [ 1.01605432e-02 9.99948379e-01 -6.01691058e-05 2.53662266e-01] [-8.01725701e-03 1.41634169e-04 9.99967851e-01 -9.68087694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:22.24, Y:0.25, Z:-0.10 [[ 9.99903291e-01 -1.13631532e-02 8.01796507e-03 2.22388657e+01] [ 1.13641811e-02 9.99935422e-01 -8.26546399e-05 2.50009636e-01] [-8.01650807e-03 1.73764254e-04 9.99967852e-01 -9.85407855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:22.27, Y:0.24, Z:-0.10 [[ 9.99916269e-01 -1.01566135e-02 8.01858051e-03 2.22702414e+01] [ 1.01572663e-02 9.99948413e-01 -4.06958517e-05 2.43571711e-01] [-8.01775352e-03 1.22139302e-04 9.99967850e-01 -9.93094460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.30, Y:0.24, Z:-0.12 [[ 9.99944682e-01 -6.80667995e-03 8.01886874e-03 2.23032975e+01] [ 6.80707302e-03 9.99976831e-01 -2.17259102e-05 2.40318036e-01] [-8.01853507e-03 7.63097334e-05 9.99967848e-01 -1.15172060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.34, Y:0.23, Z:-0.12 [[ 9.99955778e-01 -4.91590844e-03 8.01721618e-03 2.23365207e+01] [ 4.91708044e-03 9.99987903e-01 -1.26479920e-04 2.34486617e-01] [-8.01649743e-03 1.65895624e-04 9.99967854e-01 -1.15142457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.198639999999997 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:22.37, Y:0.23, Z:-0.10 [[ 9.99950901e-01 -5.82414882e-03 8.01715355e-03 2.23652476e+01] [ 5.82538086e-03 9.99983024e-01 -1.30332526e-04 2.30348312e-01] [-8.01625837e-03 1.77029100e-04 9.99967854e-01 -9.75938359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22864 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:22.40, Y:0.23, Z:-0.09 [[ 9.99967604e-01 -7.02355848e-04 8.01856064e-03 2.23987071e+01] [ 7.02714566e-04 9.99999752e-01 -4.19185453e-05 2.28668210e-01] [-8.01852921e-03 4.75519467e-05 9.99967850e-01 -9.20787212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.43, Y:0.23, Z:-0.11 [[ 9.99958367e-01 4.35912901e-03 8.01634569e-03 2.24290221e+01] [-4.35786030e-03 9.99990489e-01 -1.75726271e-04 2.25344248e-01] [-8.01703546e-03 1.40784840e-04 9.99967853e-01 -1.14043171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.288639999999997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.46, Y:0.22, Z:-0.11 [[ 9.99938992e-01 7.59861171e-03 8.01707117e-03 2.24621124e+01] [-7.59780164e-03 9.99971128e-01 -1.31495197e-04 2.24377570e-01] [-8.01783888e-03 7.05750582e-05 9.99967854e-01 -1.14048046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:22.49, Y:0.22, Z:-0.10 [[ 9.99921226e-01 9.65760430e-03 8.01704615e-03 2.24925874e+01] [-9.65684832e-03 9.99953363e-01 -1.33003034e-04 2.22395534e-01] [-8.01795675e-03 5.55731585e-05 9.99967854e-01 -1.00636580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.52, Y:0.22, Z:-0.12 [[ 9.99846827e-01 1.55575934e-02 8.01766333e-03 2.25246428e+01] [-1.55573282e-02 9.99878973e-01 -9.54392116e-05 2.18850303e-01] [-8.01817778e-03 -2.93088272e-05 9.99967853e-01 -1.15411613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.378639999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:0.22, Z:-0.12 [[ 9.99830210e-01 1.65915201e-02 8.01700544e-03 2.25563201e+01] [-1.65909740e-02 9.99862351e-01 -1.34618939e-04 2.17407163e-01] [-8.01813545e-03 1.58615349e-06 9.99967854e-01 -1.15507422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.59, Y:0.22, Z:-0.11 [[ 9.99800465e-01 1.82963698e-02 8.01698829e-03 2.25890119e+01] [-1.82958704e-02 9.99832607e-01 -1.35633086e-04 2.17725276e-01] [-8.01812790e-03 -1.10717563e-05 9.99967854e-01 -1.14824100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:22.62, Y:0.22, Z:-0.10 [[ 9.99817779e-01 1.73244613e-02 8.01696666e-03 2.26190709e+01] [-1.73239205e-02 9.99849920e-01 -1.36899539e-04 2.16005076e-01] [-8.01813519e-03 -2.01070055e-06 9.99967854e-01 -9.86735772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:22.65, Y:0.21, Z:-0.10 [[ 9.99801421e-01 1.82438339e-02 8.01759865e-03 2.26509437e+01] [-1.82436234e-02 9.99833566e-01 -9.93883702e-05 2.14634765e-01] [-8.01807747e-03 -4.69014168e-05 9.99967854e-01 -9.98618384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.498639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.68, Y:0.21, Z:-0.12 [[ 9.99747495e-01 2.09921633e-02 8.01723607e-03 2.26827342e+01] [-2.09918713e-02 9.99779639e-01 -1.20569296e-04 2.13639944e-01] [-8.01800040e-03 -4.77579369e-05 9.99967854e-01 -1.16257543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52864 meters Centerline goodness : 0.877257 Centerline is valid? [True, False] Translation: X:22.71, Y:0.21, Z:-0.11 [[ 9.99972906e-01 6.12014217e-03 4.09028326e-03 2.27095933e+01] [-6.10805689e-03 9.99976963e-01 -2.96062025e-03 2.13033909e-01] [-4.10830845e-03 2.93555635e-03 9.99987252e-01 -1.13812596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55864 meters Centerline goodness : 0.997984 Centerline is valid? [False, True] Translation: X:22.73, Y:0.23, Z:-0.11 [[ 9.99997278e-01 -8.90249078e-04 -2.15658988e-03 2.27313876e+01] [ 8.46909763e-04 9.99799332e-01 -2.00144571e-02 2.25674444e-01] [ 2.17397497e-03 2.00125762e-02 9.99797365e-01 -1.08405875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999998 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:22.76, Y:0.21, Z:-0.11 [[ 9.99994928e-01 2.23944046e-03 -2.26460190e-03 2.27609235e+01] [-2.23953300e-03 9.99997492e-01 -3.83269765e-05 2.06904412e-01] [ 2.26451038e-03 4.33984328e-05 9.99997435e-01 -1.12019230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:22.79, Y:0.21, Z:-0.11 [[ 9.99992711e-01 3.07385858e-03 -2.26471336e-03 2.27913719e+01] [-3.07390821e-03 9.99995275e-01 -1.84356945e-05 2.05590154e-01] [ 2.26464599e-03 2.53970812e-05 9.99997435e-01 -1.10355467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:22.82, Y:0.21, Z:-0.11 [[ 9.99987982e-01 4.34811818e-03 -2.26472394e-03 2.28200482e+01] [-4.34816684e-03 9.99990547e-01 -1.65656759e-05 2.06076975e-01] [ 2.26463050e-03 2.64128743e-05 9.99997435e-01 -1.10700435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.678639999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.85, Y:0.21, Z:-0.13 [[ 9.99963016e-01 8.29678760e-03 -2.26471969e-03 2.28503013e+01] [-8.29684797e-03 9.99965580e-01 -1.72624984e-05 2.07692165e-01] [ 2.26449851e-03 3.60518949e-05 9.99997435e-01 -1.25307942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:22.88, Y:0.21, Z:-0.11 [[ 9.99954861e-01 9.22746436e-03 -2.26473888e-03 2.28797029e+01] [-9.22752019e-03 9.99957425e-01 -1.42019214e-05 2.08493438e-01] [ 2.26451141e-03 3.50992040e-05 9.99997435e-01 -1.10889215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:22.91, Y:0.21, Z:-0.11 [[ 9.99953323e-01 9.39269364e-03 -2.26475187e-03 2.29079675e+01] [-9.39274532e-03 9.99955887e-01 -1.21857880e-05 2.08817319e-01] [ 2.26453751e-03 3.34574567e-05 9.99997435e-01 -1.11297735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.768639999999998 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:22.94, Y:0.21, Z:-0.11 [[ 9.99916973e-01 1.26853190e-02 -2.26470070e-03 2.29363030e+01] [-1.26853956e-02 9.99919537e-01 -1.94506575e-05 2.12607950e-01] [ 2.26427174e-03 4.81776669e-05 9.99997435e-01 -1.10178574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79864 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:22.97, Y:0.22, Z:-0.11 [[ 9.99905012e-01 1.35954930e-02 -2.26473810e-03 2.29652946e+01] [-1.35955606e-02 9.99907576e-01 -1.44533428e-05 2.15428755e-01] [ 2.26433228e-03 4.52423539e-05 9.99997435e-01 -1.09692176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:22.99, Y:0.22, Z:-0.11 [[ 9.99915872e-01 1.27718108e-02 -2.26475091e-03 2.29926786e+01] [-1.27718726e-02 9.99918436e-01 -1.28030342e-05 2.17600755e-01] [ 2.26440267e-03 4.17270671e-05 9.99997435e-01 -1.09819603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.858639999999998 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:23.02, Y:0.22, Z:-0.11 [[ 9.99911460e-01 1.31126999e-02 -2.26466267e-03 2.30216648e+01] [-1.31127871e-02 9.99914023e-01 -2.36245301e-05 2.19340609e-01] [ 2.26415818e-03 5.33184777e-05 9.99997435e-01 -1.09734031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88864 meters Centerline goodness : 0.795876 Centerline is valid? [True, False] Translation: X:23.02, Y:0.23, Z:-0.11 [[ 9.99990152e-01 4.43573066e-03 -1.42933569e-04 2.30154429e+01] [-4.43701477e-03 9.99931936e-01 -1.07905214e-02 2.27762283e-01] [ 9.50599933e-05 1.07910494e-02 9.99941770e-01 -1.05529189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91864 meters Centerline goodness : 0.997936 Centerline is valid? [False, True] Translation: X:23.02, Y:0.23, Z:-0.11 [[ 9.99999957e-01 2.81953674e-04 -8.22157335e-05 2.30153300e+01] [-2.83221703e-04 9.99874274e-01 -1.58542102e-02 2.31500157e-01] [ 7.77352440e-05 1.58542328e-02 9.99874311e-01 -1.05213756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.948639999999997 meters Centerline goodness : 0.919275 Centerline is valid? [True, False] Translation: X:23.01, Y:0.24, Z:-0.10 [[ 9.99992682e-01 -3.82231341e-03 1.63838559e-04 2.30146787e+01] [ 3.82493231e-03 9.99766772e-01 -2.12549113e-02 2.36654203e-01] [-8.25574151e-05 2.12553824e-02 9.99774075e-01 -1.04411015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97864 meters Centerline goodness : 0.997295 Centerline is valid? [False, True] Translation: X:23.02, Y:0.24, Z:-0.11 [[ 9.99997494e-01 -2.05413166e-03 -8.90659836e-04 2.30200628e+01] [ 2.03649881e-03 9.99810389e-01 -1.93659373e-02 2.35752239e-01] [ 9.30271142e-04 1.93640749e-02 9.99812066e-01 -1.08899445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:23.05, Y:0.22, Z:-0.11 [[ 9.99994698e-01 -3.03000752e-03 -1.19268967e-03 2.30504643e+01] [ 3.02972678e-03 9.99995382e-01 -2.37125280e-04 2.19191947e-01] [ 1.19340265e-03 2.33510499e-04 9.99999261e-01 -1.12183246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.038639999999997 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:23.08, Y:0.22, Z:-0.11 [[ 9.99995359e-01 -2.80208062e-03 -1.19590399e-03 2.30814063e+01] [ 2.80204512e-03 9.99996074e-01 -3.13588184e-05 2.21715489e-01] [ 1.19598716e-03 2.80076959e-05 9.99999284e-01 -1.09460238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:23.11, Y:0.22, Z:-0.11 [[ 9.99992727e-01 -3.62156808e-03 -1.19609296e-03 2.31113394e+01] [ 3.62154789e-03 9.99993442e-01 -1.90419414e-05 2.22508125e-01] [ 1.19615407e-03 1.47100950e-05 9.99999284e-01 -1.13246880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:23.14, Y:0.22, Z:-0.13 [[ 9.99999164e-01 4.91396573e-04 -1.19597878e-03 2.31420970e+01] [-4.91428685e-04 9.99999879e-01 -2.65565564e-05 2.23997151e-01] [ 1.19596558e-03 2.71442725e-05 9.99999284e-01 -1.28856207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.128639999999997 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:23.17, Y:0.23, Z:-0.12 [[ 9.99998470e-01 -1.27615727e-03 -1.19610643e-03 2.31702250e+01] [ 1.27613649e-03 9.99999186e-01 -1.81394945e-05 2.26208932e-01] [ 1.19612860e-03 1.66130717e-05 9.99999284e-01 -1.15131643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.20, Y:0.23, Z:-0.13 [[ 9.99995245e-01 2.84238509e-03 -1.19590361e-03 2.32019218e+01] [-2.84242453e-03 9.99995960e-01 -3.12807734e-05 2.28265634e-01] [ 1.19580986e-03 3.46798904e-05 9.99999284e-01 -1.29869894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18864 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:23.23, Y:0.23, Z:-0.11 [[ 9.99999000e-01 -7.54034680e-04 -1.19610199e-03 2.32313967e+01] [ 7.54013271e-04 9.99999716e-01 -1.83494255e-05 2.32033002e-01] [ 1.19611548e-03 1.74475304e-05 9.99999285e-01 -1.12147085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.218639999999997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:23.26, Y:0.23, Z:-0.12 [[ 9.99998995e-01 -7.61225112e-04 -1.19605172e-03 2.32618877e+01] [ 7.61199819e-04 9.99999710e-01 -2.16025499e-05 2.33454037e-01] [ 1.19606781e-03 2.06920939e-05 9.99999284e-01 -1.16522258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.248639999999998 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:23.29, Y:0.23, Z:-0.11 [[ 9.99996924e-01 -2.17292087e-03 -1.19599779e-03 2.32906562e+01] [ 2.17289235e-03 9.99997639e-01 -2.51489743e-05 2.34894861e-01] [ 1.19604962e-03 2.25501225e-05 9.99999284e-01 -1.11686023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:23.32, Y:0.24, Z:-0.12 [[ 9.99999184e-01 -4.50241274e-04 -1.19583822e-03 2.33214994e+01] [ 4.50198456e-04 9.99999898e-01 -3.60745022e-05 2.36642334e-01] [ 1.19585434e-03 3.55361082e-05 9.99999284e-01 -1.15867159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30864 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:23.35, Y:0.24, Z:-0.11 [[ 9.99999067e-01 -6.60494528e-04 -1.19589100e-03 2.33514868e+01] [ 6.60456283e-04 9.99999781e-01 -3.23749567e-05 2.38960270e-01] [ 1.19591212e-03 3.15850928e-05 9.99999284e-01 -1.10680609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.338639999999998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:23.38, Y:0.24, Z:-0.12 [[ 9.99992275e-01 -3.74437619e-03 -1.19600296e-03 2.33807270e+01] [ 3.74434974e-03 9.99992990e-01 -2.43565626e-05 2.39188685e-01] [ 1.19608577e-03 1.98781211e-05 9.99999284e-01 -1.17201786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.41, Y:0.24, Z:-0.14 [[ 9.99998604e-01 1.16677961e-03 -1.19582885e-03 2.34145764e+01] [-1.16682470e-03 9.99999319e-01 -3.70054503e-05 2.39868828e-01] [ 1.19578485e-03 3.84007213e-05 9.99999284e-01 -1.35461440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39864 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:23.44, Y:0.24, Z:-0.12 [[ 9.99985803e-01 -5.19258365e-03 -1.19610898e-03 2.34428958e+01] [ 5.19256846e-03 9.99986518e-01 -1.58056672e-05 2.39323221e-01] [ 1.19617493e-03 9.59456507e-06 9.99999285e-01 -1.16798910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999998 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:23.47, Y:0.24, Z:-0.12 [[ 9.99977811e-01 -6.55344132e-03 -1.19588684e-03 2.34733209e+01] [ 6.55340688e-03 9.99978526e-01 -3.27166716e-05 2.39480313e-01] [ 1.19607557e-03 2.48788126e-05 9.99999284e-01 -1.19122855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.51, Y:0.24, Z:-0.14 [[ 9.99999272e-01 1.62971916e-04 -1.19579738e-03 2.35083808e+01] [-1.63019930e-04 9.99999986e-01 -4.00549674e-05 2.40737456e-01] [ 1.19579084e-03 4.02498770e-05 9.99999284e-01 -1.36671404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:23.54, Y:0.24, Z:-0.12 [[ 9.99969447e-01 -7.72497210e-03 -1.19609975e-03 2.35350160e+01] [ 7.72496119e-03 9.99970162e-01 -1.37473969e-05 2.40919821e-01] [ 1.19617026e-03 4.50715276e-06 9.99999285e-01 -1.19954580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.518639999999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:23.57, Y:0.24, Z:-0.12 [[ 9.99948102e-01 -1.01174564e-02 -1.19581142e-03 2.35657682e+01] [ 1.01174151e-02 9.99948817e-01 -4.05984733e-05 2.40073598e-01] [ 1.19616097e-03 2.84978459e-05 9.99999284e-01 -1.24196979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:23.60, Y:0.24, Z:-0.14 [[ 9.99998328e-01 -1.38328358e-03 -1.19585455e-03 2.36001839e+01] [ 1.38324089e-03 9.99999043e-01 -3.65321194e-05 2.41872688e-01] [ 1.19590394e-03 3.48779034e-05 9.99999284e-01 -1.38324849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:23.63, Y:0.24, Z:-0.14 [[ 9.99991027e-01 -4.06394776e-03 -1.19609934e-03 2.36298181e+01] [ 4.06393647e-03 9.99991742e-01 -1.18733078e-05 2.40587962e-01] [ 1.19613771e-03 7.01232951e-06 9.99999285e-01 -1.39363495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999998 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:23.66, Y:0.24, Z:-0.12 [[ 9.99934758e-01 -1.13599948e-02 -1.19609858e-03 2.36571513e+01] [ 1.13599886e-02 9.99935473e-01 -1.19486858e-05 2.39233510e-01] [ 1.19615714e-03 -1.63976005e-06 9.99999285e-01 -1.20451306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:23.69, Y:0.24, Z:-0.13 [[ 9.99932614e-01 -1.15472134e-02 -1.19589920e-03 2.36888871e+01] [ 1.15471827e-02 9.99933329e-01 -3.25609240e-05 2.38453934e-01] [ 1.19619545e-03 1.87494633e-05 9.99999284e-01 -1.27657930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66864 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:23.72, Y:0.24, Z:-0.13 [[ 9.99909264e-01 -1.34176864e-02 -1.19589525e-03 2.37200281e+01] [ 1.34176566e-02 9.99909979e-01 -3.29796989e-05 2.36142664e-01] [ 1.19623010e-03 1.69305947e-05 9.99999284e-01 -1.25327671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.698639999999997 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:23.75, Y:0.24, Z:-0.12 [[ 9.99920562e-01 -1.25474624e-02 -1.19595553e-03 2.37521310e+01] [ 1.25474399e-02 9.99921277e-01 -2.62950753e-05 2.35041597e-01] [ 1.19619132e-03 1.12868064e-05 9.99999284e-01 -1.18194796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:23.78, Y:0.23, Z:-0.13 [[ 9.99857298e-01 -1.68509152e-02 -1.19608031e-03 2.37824119e+01] [ 1.68509131e-02 9.99858013e-01 -1.18415550e-05 2.28982227e-01] [ 1.19611002e-03 -8.31518023e-06 9.99999285e-01 -1.26811747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:23.81, Y:0.23, Z:-0.13 [[ 9.99869643e-01 -1.61017838e-02 -1.19599356e-03 2.38142147e+01] [ 1.61017685e-02 9.99870358e-01 -2.24680703e-05 2.29659776e-01] [ 1.19620029e-03 3.20752991e-06 9.99999285e-01 -1.26771944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999997 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:23.85, Y:0.23, Z:-0.12 [[ 9.99873921e-01 -1.58339016e-02 -1.19600026e-03 2.38461356e+01] [ 1.58338871e-02 9.99874636e-01 -2.15580249e-05 2.27206270e-01] [ 1.19619167e-03 2.61797392e-06 9.99999285e-01 -1.22037170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:23.88, Y:0.22, Z:-0.14 [[ 9.99932025e-01 -1.15980702e-02 -1.19601834e-03 2.38784067e+01] [ 1.15980558e-02 9.99932740e-01 -1.89781886e-05 2.24959617e-01] [ 1.19615801e-03 5.10541111e-06 9.99999285e-01 -1.44272766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84864 meters Centerline goodness : 0.985086 Centerline is valid? [True, True] Translation: X:23.93, Y:0.24, Z:-0.13 [[ 9.99474697e-01 3.23867153e-02 -1.19609192e-03 2.39326551e+01] [-3.23867481e-02 9.99475412e-01 -8.06247980e-06 2.41927571e-01] [ 1.19520335e-03 4.67957723e-05 9.99999285e-01 -1.28021117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.878639999999997 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:23.93, Y:0.22, Z:-0.12 [[ 9.99937822e-01 -1.10869206e-02 -1.19650778e-03 2.39335229e+01] [ 1.10870905e-02 9.99938527e-01 1.35395060e-04 2.19089533e-01] [ 1.19493312e-03 -1.48652431e-04 9.99999275e-01 -1.22086502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:23.97, Y:0.22, Z:-0.14 [[ 9.99990452e-01 -4.20315786e-03 -1.19530580e-03 2.39663507e+01] [ 4.20313334e-03 9.99991167e-01 -2.30316203e-05 2.19985751e-01] [ 1.19539204e-03 1.80073708e-05 9.99999285e-01 -1.42440207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93864 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:23.99, Y:0.22, Z:-0.12 [[ 9.99977448e-01 -6.60873436e-03 -1.19541059e-03 2.39945909e+01] [ 6.60872855e-03 9.99978162e-01 -8.80664187e-06 2.19849628e-01] [ 1.19544269e-03 9.06299140e-07 9.99999285e-01 -1.20852336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:24.02, Y:0.22, Z:-0.12 [[ 9.99995778e-01 -2.64871461e-03 -1.19530795e-03 2.40249450e+01] [ 2.64868936e-03 9.99996492e-01 -2.27039491e-05 2.20163611e-01] [ 1.19536389e-03 1.95378538e-05 9.99999285e-01 -1.24697729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.998639999999998 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:24.05, Y:0.22, Z:-0.12 [[ 9.99997235e-01 -2.02501931e-03 -1.19528453e-03 2.40544152e+01] [ 2.02498973e-03 9.99997949e-01 -2.59501147e-05 2.21519449e-01] [ 1.19533463e-03 2.35296040e-05 9.99999285e-01 -1.17092945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02864 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:24.08, Y:0.22, Z:-0.12 [[ 9.99995534e-01 -2.73912677e-03 -1.19530989e-03 2.40847256e+01] [ 2.73910220e-03 9.99996248e-01 -2.21981665e-05 2.22858144e-01] [ 1.19536621e-03 1.89239914e-05 9.99999285e-01 -1.21098980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05864 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:24.11, Y:0.22, Z:-0.13 [[ 9.99992945e-01 -3.56109039e-03 -1.19532628e-03 2.41147964e+01] [ 3.56106949e-03 9.99993659e-01 -1.96112059e-05 2.23487036e-01] [ 1.19538854e-03 1.53544276e-05 9.99999285e-01 -1.26368390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999998 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:24.15, Y:0.22, Z:-0.12 [[ 9.99985294e-01 -5.28986933e-03 -1.19534251e-03 2.41453182e+01] [ 5.28985275e-03 9.99986008e-01 -1.70308555e-05 2.23063729e-01] [ 1.19541588e-03 1.07074192e-05 9.99999285e-01 -1.21405634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:24.18, Y:0.22, Z:-0.14 [[ 9.99987645e-01 -4.82502346e-03 -1.19534706e-03 2.41768393e+01] [ 4.82500742e-03 9.99988359e-01 -1.62954038e-05 2.24300496e-01] [ 1.19541177e-03 1.05276440e-05 9.99999285e-01 -1.44550697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:24.21, Y:0.22, Z:-0.14 [[ 9.99972915e-01 -7.26218504e-03 -1.19540176e-03 2.42074762e+01] [ 7.26218169e-03 9.99973630e-01 -7.14715699e-06 2.24874965e-01] [ 1.19542214e-03 -1.53426134e-06 9.99999285e-01 -1.43713107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.178639999999998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:24.24, Y:0.22, Z:-0.12 [[ 9.99935657e-01 -1.12806579e-02 -1.19540176e-03 2.42368598e+01] [ 1.12806574e-02 9.99936371e-01 -7.14715699e-06 2.24920309e-01] [ 1.19540632e-03 -6.33822062e-06 9.99999285e-01 -1.22849861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20864 meters Centerline goodness : 0.949128 Centerline is valid? [True, False] Translation: X:24.26, Y:0.23, Z:-0.12 [[ 9.99942092e-01 -9.06352638e-03 -5.80212318e-03 2.42581542e+01] [ 9.01893107e-03 9.99929939e-01 -7.66660326e-03 2.32748805e-01] [ 5.87120314e-03 7.61383036e-03 9.99953778e-01 -1.18171140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23864 meters Centerline goodness : 0.997540 Centerline is valid? [False, True] Translation: X:24.28, Y:0.24, Z:-0.11 [[ 9.99935332e-01 -6.20226261e-03 -9.53221118e-03 2.42795331e+01] [ 6.05733696e-03 9.99866760e-01 -1.51581806e-02 2.40395206e-01] [ 9.62495613e-03 1.50994605e-02 9.99839670e-01 -1.13416553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999998 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:24.31, Y:0.23, Z:-0.10 [[ 9.99921811e-01 -8.04285812e-03 -9.57517799e-03 2.43111820e+01] [ 8.04297314e-03 9.99967654e-01 -2.64952455e-05 2.26304268e-01] [ 9.57508137e-03 -5.05197254e-05 9.99954157e-01 -1.04868505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29864 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:24.34, Y:0.22, Z:-0.10 [[ 9.99879772e-01 -1.21965496e-02 -9.57529563e-03 2.43389205e+01] [ 1.21972529e-02 9.99925611e-01 1.50534636e-05 2.24547485e-01] [ 9.57439973e-03 -1.31843956e-04 9.99954156e-01 -9.84056953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:24.37, Y:0.22, Z:-0.12 [[ 9.99836474e-01 -1.53409139e-02 -9.57509941e-03 2.43684544e+01] [ 1.53411536e-02 9.99882316e-01 -4.84132523e-05 2.21815762e-01] [ 9.57471528e-03 -9.84877355e-05 9.99954157e-01 -1.17508772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.358639999999998 meters Centerline goodness : 0.942303 Centerline is valid? [True, False] Translation: X:24.36, Y:0.23, Z:-0.12 [[ 9.99990697e-01 -4.23307339e-03 -8.28481769e-04 2.43617476e+01] [ 4.22670310e-03 9.99962600e-01 -7.54547073e-03 2.29897341e-01] [ 8.60391315e-04 7.54189879e-03 9.99971189e-01 -1.16013737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38864 meters Centerline goodness : 0.997543 Centerline is valid? [False, True] Translation: X:24.38, Y:0.23, Z:-0.11 [[ 9.99994245e-01 -4.32592821e-04 -3.36500019e-03 2.43834852e+01] [ 3.85830927e-04 9.99903527e-01 -1.38848080e-02 2.34751414e-01] [ 3.37068202e-03 1.38834297e-02 9.99897939e-01 -1.12846055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41864 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:24.41, Y:0.22, Z:-0.10 [[ 9.99992893e-01 -2.06577966e-03 -3.15384096e-03 2.44128531e+01] [ 2.06594090e-03 9.99997865e-01 4.78679436e-05 2.16347931e-01] [ 3.15373534e-03 -5.43832524e-05 9.99995025e-01 -9.84085903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999997 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:24.44, Y:0.21, Z:-0.12 [[ 9.99992190e-01 -2.38199213e-03 -3.15387822e-03 2.44419128e+01] [ 2.38214705e-03 9.99997162e-01 4.53635134e-05 2.13817116e-01] [ 3.15376121e-03 -5.28761608e-05 9.99995025e-01 -1.16834086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47864 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:24.47, Y:0.21, Z:-0.10 [[ 9.99994513e-01 -1.01341934e-03 -3.15386104e-03 2.44711018e+01] [ 1.01357112e-03 9.99999485e-01 4.65279908e-05 2.10470074e-01] [ 3.15381227e-03 -4.97243980e-05 9.99995025e-01 -1.00546214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50864 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:24.50, Y:0.21, Z:-0.10 [[ 9.99994950e-01 3.90197192e-04 -3.15392600e-03 2.44983606e+01] [-3.90066505e-04 9.99999923e-01 4.20513753e-05 2.08620993e-01] [ 3.15394216e-03 -4.08209221e-05 9.99995025e-01 -9.88867423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.538639999999997 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:24.53, Y:0.21, Z:-0.10 [[ 9.99992831e-01 2.09555249e-03 -3.15397248e-03 2.45276272e+01] [-2.09544050e-03 9.99997804e-01 3.88119354e-05 2.05883662e-01] [ 3.15404688e-03 -3.22026955e-05 9.99995025e-01 -1.04178523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56864 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:24.56, Y:0.20, Z:-0.10 [[ 9.99988373e-01 3.64789159e-03 -3.15391877e-03 2.45566268e+01] [-3.64777549e-03 9.99993346e-01 4.25638293e-05 2.02658354e-01] [ 3.15405305e-03 -3.10585468e-05 9.99995025e-01 -1.02379546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59864 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:24.59, Y:0.20, Z:-0.12 [[ 9.99971026e-01 6.92822250e-03 -3.15388854e-03 2.45850328e+01] [-6.92811595e-03 9.99975999e-01 4.47081131e-05 2.00129536e-01] [ 3.15412259e-03 -2.28563122e-05 9.99995025e-01 -1.15333656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.628639999999997 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:24.61, Y:0.20, Z:-0.12 [[ 9.99963381e-01 7.95546070e-03 -3.15389537e-03 2.46129372e+01] [-7.95536080e-03 9.99968355e-01 4.42204975e-05 1.99824773e-01] [ 3.15414736e-03 -1.91285026e-05 9.99995025e-01 -1.15440987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65864 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:24.64, Y:0.20, Z:-0.10 [[ 9.99946969e-01 9.80371612e-03 -3.15391683e-03 2.46419577e+01] [-9.80363042e-03 9.99951942e-01 4.26332160e-05 2.00282030e-01] [ 3.15418322e-03 -1.17111201e-05 9.99995025e-01 -1.01275960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68864 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:24.67, Y:0.20, Z:-0.12 [[ 9.99932788e-01 1.11566629e-02 -3.15400463e-03 2.46714819e+01] [-1.11566048e-02 9.99937762e-01 3.60203477e-05 2.00486933e-01] [ 3.15421020e-03 -8.29943653e-07 9.99995025e-01 -1.17172587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.718639999999997 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:24.70, Y:0.20, Z:-0.12 [[ 9.99930365e-01 1.13718428e-02 -3.15393840e-03 2.46997428e+01] [-1.13717698e-02 9.99935338e-01 4.11024501e-05 2.00746794e-01] [ 3.15420187e-03 -5.23372660e-06 9.99995025e-01 -1.17208619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999998 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:24.73, Y:0.20, Z:-0.10 [[ 9.99923403e-01 1.19682925e-02 -3.15395859e-03 2.47313366e+01] [-1.19682274e-02 9.99928377e-01 3.94894315e-05 2.01009084e-01] [ 3.15420532e-03 -1.73911297e-06 9.99995025e-01 -9.57414967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77864 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:24.76, Y:0.20, Z:-0.12 [[ 9.99950208e-01 9.46768860e-03 -3.15359597e-03 2.47602899e+01] [-9.46752129e-03 9.99955180e-01 6.79793605e-05 1.99065204e-01] [ 3.15409823e-03 -3.81192387e-05 9.99995025e-01 -1.16570974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:24.79, Y:0.20, Z:-0.10 [[ 9.99985118e-01 4.45162003e-03 -3.15395425e-03 2.47893892e+01] [-4.45151909e-03 9.99990091e-01 3.90221329e-05 1.99726535e-01] [ 3.15409671e-03 -2.49816646e-05 9.99995026e-01 -9.75452780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.838639999999998 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:24.82, Y:0.20, Z:-0.10 [[ 9.99984188e-01 4.65582170e-03 -3.15404073e-03 2.48188120e+01] [-4.65574420e-03 9.99989161e-01 3.19118180e-05 2.01591399e-01] [ 3.15415512e-03 -1.72269066e-05 9.99995025e-01 -1.03739953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86864 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:24.85, Y:0.20, Z:-0.10 [[ 9.99986904e-01 4.03035130e-03 -3.15407152e-03 2.48475947e+01] [-4.03027869e-03 9.99991878e-01 2.93772152e-05 2.03352616e-01] [ 3.15416430e-03 -1.66650433e-05 9.99995025e-01 -9.83370936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:24.88, Y:0.20, Z:-0.12 [[ 9.99982738e-01 4.95727909e-03 -3.15406525e-03 2.48789574e+01] [-4.95720944e-03 9.99987713e-01 2.98984180e-05 2.03377577e-01] [ 3.15417471e-03 -1.42625398e-05 9.99995025e-01 -1.19034218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:24.91, Y:0.20, Z:-0.10 [[ 9.99982906e-01 4.92351448e-03 -3.15396619e-03 2.49082796e+01] [-4.92341880e-03 9.99987879e-01 3.80990408e-05 2.02247275e-01] [ 3.15411554e-03 -2.25700931e-05 9.99995026e-01 -1.03024569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:24.94, Y:0.20, Z:-0.10 [[ 9.99985810e-01 4.29310584e-03 -3.15410246e-03 2.49359386e+01] [-4.29304365e-03 9.99990784e-01 2.64872108e-05 2.02250688e-01] [ 3.15418710e-03 -1.29461354e-05 9.99995025e-01 -1.02295061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98864 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:24.97, Y:0.20, Z:-0.10 [[ 9.99985835e-01 4.28737978e-03 -3.15413897e-03 2.49658661e+01] [-4.28732761e-03 9.99990809e-01 2.33016547e-05 2.02686598e-01] [ 3.15420989e-03 -9.77849752e-06 9.99995025e-01 -9.50543515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.018639999999998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:25.00, Y:0.20, Z:-0.10 [[ 9.99984156e-01 4.66255004e-03 -3.15398640e-03 2.49956562e+01] [-4.66245737e-03 9.99989130e-01 3.67328902e-05 2.02059998e-01] [ 3.15412338e-03 -2.20269811e-05 9.99995025e-01 -1.00635801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:25.02, Y:0.20, Z:-0.10 [[ 9.99979085e-01 5.64633482e-03 -3.15402430e-03 2.50245434e+01] [-5.64625765e-03 9.99984059e-01 3.33714470e-05 2.01742776e-01] [ 3.15416245e-03 -1.55623152e-05 9.99995025e-01 -1.01821004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:0.20, Z:-0.12 [[ 9.99959562e-01 8.42168499e-03 -3.15414970e-03 2.50550778e+01] [-8.42165782e-03 9.99964537e-01 2.18957437e-05 2.02661359e-01] [ 3.15422224e-03 4.66831117e-06 9.99995025e-01 -1.19626672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:25.08, Y:0.20, Z:-0.10 [[ 9.99955233e-01 8.92096879e-03 -3.15401410e-03 2.50845939e+01] [-8.92090483e-03 9.99960207e-01 3.43473625e-05 2.03655231e-01] [ 3.15419501e-03 -6.20916530e-06 9.99995025e-01 -1.01962512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:0.21, Z:-0.12 [[ 9.99930497e-01 1.13601587e-02 -3.15417356e-03 2.51159714e+01] [-1.13601535e-02 9.99935471e-01 1.95670737e-05 2.05300334e-01] [ 3.15419231e-03 1.62661822e-05 9.99995025e-01 -1.19674754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16864 meters Centerline goodness : 0.901789 Centerline is valid? [True, False] Translation: X:25.14, Y:0.22, Z:-0.11 [[ 9.99949689e-01 5.06568648e-03 -8.65789993e-03 2.51383396e+01] [-5.21728163e-03 9.99831892e-01 -1.75775004e-02 2.19435740e-01] [ 8.56740236e-03 1.76217867e-02 9.99808018e-01 -1.13550531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.198639999999997 meters Centerline goodness : 0.999312 Centerline is valid? [False, True] Translation: X:25.16, Y:0.22, Z:-0.11 [[ 9.99949512e-01 -4.61507915e-03 -8.92602110e-03 2.51583656e+01] [ 4.46858393e-03 9.99856131e-01 -1.63630430e-02 2.17057498e-01] [ 9.00025366e-03 1.63223302e-02 9.99826273e-01 -1.11762308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22864 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:25.19, Y:0.20, Z:-0.11 [[ 9.99937769e-01 -6.63991043e-03 -8.96487769e-03 2.51888022e+01] [ 6.63847073e-03 9.99977947e-01 -1.90341388e-04 2.03639679e-01] [ 8.96594383e-03 1.30816465e-04 9.99959797e-01 -1.06438460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25864 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:25.22, Y:0.20, Z:-0.11 [[ 9.99928324e-01 -7.93545829e-03 -8.96521219e-03 2.52189213e+01] [ 7.93539462e-03 9.99968513e-01 -4.26736130e-05 2.03246708e-01] [ 8.96526854e-03 -2.84719423e-05 9.99959811e-01 -1.11448353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.288639999999997 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:25.25, Y:0.20, Z:-0.10 [[ 9.99893211e-01 -1.15408721e-02 -8.96515258e-03 2.52486700e+01] [ 1.15406853e-02 9.99933401e-01 -7.25690011e-05 2.02327512e-01] [ 8.96539303e-03 -3.09027530e-05 9.99959810e-01 -1.04974835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:25.28, Y:0.20, Z:-0.11 [[ 9.99871488e-01 -1.32903248e-02 -8.96518426e-03 2.52778289e+01] [ 1.32903738e-02 9.99911678e-01 -5.41142225e-05 2.00998422e-01] [ 8.96511163e-03 -6.50433815e-05 9.99959810e-01 -1.11245290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34864 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:25.31, Y:0.20, Z:-0.11 [[ 9.99842890e-01 -1.52912305e-02 -8.96514996e-03 2.53065104e+01] [ 1.52911884e-02 9.99883080e-01 -7.32457496e-05 2.00917049e-01] [ 8.96522178e-03 -6.38535554e-05 9.99959810e-01 -1.11619997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.378639999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:0.20, Z:-0.13 [[ 9.99856842e-01 -1.43499851e-02 -8.96511584e-03 2.53375952e+01] [ 1.43497480e-02 9.99897033e-01 -9.07731827e-05 2.00110665e-01] [ 8.96549532e-03 -3.78869653e-05 9.99959808e-01 -1.30668105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:25.37, Y:0.20, Z:-0.12 [[ 9.99827950e-01 -1.62386757e-02 -8.96524237e-03 2.53652746e+01] [ 1.62391943e-02 9.99868135e-01 -1.49601936e-05 1.99290167e-01] [ 8.96430311e-03 -1.30630693e-04 9.99959811e-01 -1.15378870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:25.39, Y:0.20, Z:-0.11 [[ 9.99834800e-01 -1.58113680e-02 -8.96510173e-03 2.53942693e+01] [ 1.58111427e-02 9.99874991e-01 -9.60137057e-05 1.98721830e-01] [ 8.96549913e-03 -4.57506587e-05 9.99959808e-01 -1.10778477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999997 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:25.42, Y:0.20, Z:-0.11 [[ 9.99879453e-01 -1.26770457e-02 -8.96508773e-03 2.54238407e+01] [ 1.26766072e-02 9.99919643e-01 -1.05741269e-04 1.96833237e-01] [ 8.96570781e-03 -7.91837348e-06 9.99959807e-01 -1.14555681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.498639999999998 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:25.45, Y:0.20, Z:-0.11 [[ 9.99891241e-01 -1.17104225e-02 -8.96510221e-03 2.54536003e+01] [ 1.17100576e-02 9.99931431e-01 -9.31948782e-05 1.95578107e-01] [ 8.96557883e-03 -1.17971214e-05 9.99959808e-01 -1.11210357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:25.48, Y:0.20, Z:-0.11 [[ 9.99931701e-01 -7.49808423e-03 -8.96508488e-03 2.54849877e+01] [ 7.49742969e-03 9.99971888e-01 -1.06616915e-04 1.96894501e-01] [ 8.96563228e-03 3.93945397e-05 9.99959807e-01 -1.07212749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.558639999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.52, Y:0.20, Z:-0.13 [[ 9.99949065e-01 -4.63597694e-03 -8.96519984e-03 2.55155288e+01] [ 4.63606292e-03 9.99989253e-01 -1.11916968e-05 1.97315568e-01] [ 8.96515538e-03 -3.03721038e-05 9.99959812e-01 -1.29733944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:25.54, Y:0.20, Z:-0.11 [[ 9.99933885e-01 -7.20076119e-03 -8.96519997e-03 2.55431642e+01] [ 7.20095117e-03 9.99974073e-01 -1.10890270e-05 1.97781063e-01] [ 8.96504738e-03 -5.34696734e-05 9.99959812e-01 -1.11070737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61864 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:25.58, Y:0.20, Z:-0.11 [[ 9.99958218e-01 -1.78612769e-03 -8.96505841e-03 2.55753975e+01] [ 1.78508507e-03 9.99998399e-01 -1.24298782e-04 2.01421556e-01] [ 8.96526607e-03 1.08290196e-04 9.99959805e-01 -1.10064393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:25.60, Y:0.20, Z:-0.11 [[ 9.99948629e-01 -4.72911441e-03 -8.96516357e-03 2.56029943e+01] [ 4.72916862e-03 9.99988817e-01 -1.51532240e-05 2.01922370e-01] [ 8.96513498e-03 -2.72453246e-05 9.99959812e-01 -1.10573012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.678639999999998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:25.63, Y:0.20, Z:-0.11 [[ 9.99949115e-01 -4.62542372e-03 -8.96508157e-03 2.56313332e+01] [ 4.62479357e-03 9.99989301e-01 -9.10190619e-05 2.02079600e-01] [ 8.96540666e-03 4.95527787e-05 9.99959809e-01 -1.10307551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70864 meters Centerline goodness : 0.854719 Centerline is valid? [True, False] Translation: X:25.65, Y:0.21, Z:-0.10 [[ 9.99881246e-01 -6.52536596e-03 -1.39611332e-02 2.56534548e+01] [ 6.34581441e-03 9.99897084e-01 -1.28666902e-02 2.14153482e-01] [ 1.40436563e-02 1.27765674e-02 9.99819751e-01 -1.04767712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:25.67, Y:0.22, Z:-0.10 [[ 9.99860834e-01 -2.90484293e-03 -1.64278570e-02 2.56747426e+01] [ 2.57248511e-03 9.99792318e-01 -2.02164249e-02 2.22688405e-01] [ 1.64831708e-02 2.01713511e-02 9.99660653e-01 -1.00818898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.768639999999998 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:25.70, Y:0.21, Z:-0.09 [[ 9.99843897e-01 6.37689504e-03 -1.64777485e-02 2.57036328e+01] [-6.37838718e-03 9.99979657e-01 -3.80018277e-05 2.10378745e-01] [ 1.64771710e-02 1.43097355e-04 9.99864232e-01 -9.36427402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.73, Y:0.21, Z:-0.10 [[ 9.99842247e-01 -6.63096326e-03 -1.64775781e-02 2.57347556e+01] [ 6.63017616e-03 9.99978015e-01 -1.02396446e-04 2.08803964e-01] [ 1.64778948e-02 -6.86895257e-06 9.99864230e-01 -1.04586708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:25.76, Y:0.21, Z:-0.09 [[ 9.99814755e-01 -9.94681545e-03 -1.64777335e-02 2.57628702e+01] [ 9.94745130e-03 9.99950522e-01 -4.33746635e-05 2.10646288e-01] [ 1.64773496e-02 -1.20544823e-04 9.99864232e-01 -8.99114857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.858639999999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:25.79, Y:0.21, Z:-0.09 [[ 9.99801150e-01 -1.12319235e-02 -1.64773623e-02 2.57910982e+01] [ 1.12305849e-02 9.99936920e-01 -1.73770270e-04 2.12782422e-01] [ 1.64782746e-02 -1.13146988e-05 9.99864224e-01 -8.68134943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88864 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:25.82, Y:0.22, Z:-0.08 [[ 9.99806026e-01 -1.07892972e-02 -1.64772750e-02 2.58218486e+01] [ 1.07873587e-02 9.99941793e-01 -2.06525706e-04 2.15944522e-01] [ 1.64785442e-02 2.87393702e-05 9.99864219e-01 -7.81088893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:25.85, Y:0.22, Z:-0.08 [[ 9.99779587e-01 -1.30103421e-02 -1.64774983e-02 2.58502122e+01] [ 1.30101271e-02 9.99915357e-01 -1.20249478e-04 2.18326709e-01] [ 1.64776681e-02 -9.41513734e-05 9.99864230e-01 -8.16196848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.948639999999997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:25.88, Y:0.22, Z:-0.08 [[ 9.99769732e-01 -1.37471151e-02 -1.64772422e-02 2.58804431e+01] [ 1.37454882e-02 9.99905504e-01 -2.11985299e-04 2.19727194e-01] [ 1.64785993e-02 -1.45512528e-05 9.99864219e-01 -8.49579219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97864 meters Centerline goodness : 0.982383 Centerline is valid? [True, True] Translation: X:25.91, Y:0.25, Z:-0.10 [[ 9.98952048e-01 4.27001678e-02 -1.64773139e-02 2.59120063e+01] [-4.27090256e-02 9.99087536e-01 -1.85902825e-04 2.49411834e-01] [ 1.64543408e-02 8.89438028e-04 9.99864223e-01 -9.61041532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:25.94, Y:0.22, Z:-0.09 [[ 9.99688443e-01 -1.87484277e-02 -1.64776614e-02 2.59400056e+01] [ 1.87502210e-02 9.99824198e-01 -4.56673271e-05 2.18065354e-01] [ 1.64756207e-02 -2.63306693e-04 9.99864233e-01 -8.67230029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.038639999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:0.22, Z:-0.10 [[ 9.99675028e-01 -1.94508498e-02 -1.64773454e-02 2.59709370e+01] [ 1.94510347e-02 9.99810800e-01 -1.49055157e-04 2.16807861e-01] [ 1.64771271e-02 -1.71494698e-04 9.99864228e-01 -1.03141667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:26.00, Y:0.21, Z:-0.09 [[ 9.99534305e-01 -2.56838445e-02 -1.64776412e-02 2.59992561e+01] [ 2.56865343e-02 9.99670045e-01 -4.84114276e-05 2.13388152e-01] [ 1.64734477e-02 -3.74864613e-04 9.99864233e-01 -8.58206249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:26.03, Y:0.21, Z:-0.09 [[ 9.99473031e-01 -2.79670025e-02 -1.64774864e-02 2.60285300e+01] [ 2.79691212e-02 9.99608782e-01 -1.01895153e-04 2.12443232e-01] [ 1.64738899e-02 -3.59019358e-04 9.99864232e-01 -8.51878410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.128639999999997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:26.06, Y:0.21, Z:-0.08 [[ 9.99369904e-01 -3.14370509e-02 -1.64774938e-02 2.60550779e+01] [ 3.14396827e-02 9.99505646e-01 -9.93579100e-05 2.09015129e-01] [ 1.64724716e-02 -4.18751872e-04 9.99864232e-01 -8.32840887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:26.08, Y:0.21, Z:-0.08 [[ 9.99366029e-01 -3.15601582e-02 -1.64771542e-02 2.60840631e+01] [ 3.15608362e-02 9.99501809e-01 -2.18951788e-04 2.06612900e-01] [ 1.64758556e-02 -3.01219786e-04 9.99864219e-01 -8.44311523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.12, Y:0.21, Z:-0.10 [[ 9.99498141e-01 -2.70549307e-02 -1.64771511e-02 2.61156957e+01] [ 2.70549796e-02 9.99633923e-01 -2.19981799e-04 2.05644916e-01] [ 1.64770708e-02 -2.25917589e-04 9.99864218e-01 -9.96829497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.218639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.14, Y:0.20, Z:-0.10 [[ 9.99529719e-01 -2.58617228e-02 -1.64776147e-02 2.61445085e+01] [ 2.58645231e-02 9.99665456e-01 -4.31767267e-05 2.03591237e-01] [ 1.64732188e-02 -3.83029223e-04 9.99864234e-01 -9.87495455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:0.20, Z:-0.10 [[ 9.99517934e-01 -2.63132817e-02 -1.64776093e-02 2.61728547e+01] [ 2.63161108e-02 9.99653670e-01 -4.51460609e-05 2.01560720e-01] [ 1.64730905e-02 -3.88502294e-04 9.99864234e-01 -9.91011552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27864 meters Centerline goodness : 0.941945 Centerline is valid? [True, False] Translation: X:26.17, Y:0.21, Z:-0.10 [[ 9.99856021e-01 -1.40831787e-02 -9.46578076e-03 2.61684310e+01] [ 1.40211218e-02 9.99879979e-01 -6.59061692e-03 2.06481678e-01] [ 9.55746150e-03 6.45694714e-03 9.99933479e-01 -9.93954285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999997 meters Centerline goodness : 0.999508 Centerline is valid? [False, True] Translation: X:26.19, Y:0.20, Z:-0.10 [[ 9.99912721e-01 -5.90003685e-03 -1.18212043e-02 2.61906534e+01] [ 5.81943976e-03 9.99959668e-01 -6.84084703e-03 2.03278279e-01] [ 1.18610887e-02 6.77145718e-03 9.99906727e-01 -9.75402774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.338639999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:26.22, Y:0.20, Z:-0.10 [[ 9.99918615e-01 -5.16538689e-03 -1.16653985e-02 2.62202756e+01] [ 5.16460782e-03 9.99986659e-01 -9.69088014e-05 1.95955658e-01] [ 1.16657435e-02 3.66537062e-05 9.99931952e-01 -9.67618654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36864 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:26.24, Y:0.19, Z:-0.09 [[ 9.99890166e-01 -9.14736211e-03 -1.16611035e-02 2.62434053e+01] [ 9.14898120e-03 9.99958144e-01 8.55066272e-05 1.89950367e-01] [ 1.16598332e-02 -1.92184452e-04 9.99932003e-01 -8.66321756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.28, Y:0.19, Z:-0.11 [[ 9.99929906e-01 2.00471462e-03 -1.16689504e-02 2.62820021e+01] [-2.00793368e-03 9.99997949e-01 -2.64156848e-04 1.91060716e-01] [ 1.16683969e-02 2.87568811e-04 9.99931881e-01 -1.12543532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:26.31, Y:0.19, Z:-0.10 [[ 9.99929323e-01 -2.34302806e-03 -1.16558241e-02 2.63067905e+01] [ 2.34646022e-03 9.99997208e-01 2.80792186e-04 1.87822678e-01] [ 1.16551337e-02 -3.08122268e-04 9.99932029e-01 -1.01038299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45864 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:26.33, Y:0.18, Z:-0.09 [[ 9.99918981e-01 -5.10313479e-03 -1.16614748e-02 2.63326760e+01] [ 5.10394334e-03 9.99986974e-01 3.95758644e-05 1.81521782e-01] [ 1.16611209e-02 -9.90921644e-05 9.99932002e-01 -8.89682802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:26.36, Y:0.18, Z:-0.10 [[ 9.99930748e-01 1.55314014e-03 -1.16656155e-02 2.63649368e+01] [-1.55483967e-03 9.99998782e-01 -1.36618695e-04 1.81368338e-01] [ 1.16653891e-02 1.54747395e-04 9.99931945e-01 -9.95055600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.518639999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.40, Y:0.17, Z:-0.10 [[ 9.99926976e-01 3.17172899e-03 -1.16611269e-02 2.63954485e+01] [-3.17136344e-03 9.99994970e-01 4.98394373e-05 1.74784366e-01] [ 1.16612264e-02 -1.28541262e-05 9.99932006e-01 -1.00334654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:0.17, Z:-0.11 [[ 9.99900903e-01 7.89118209e-03 -1.16581867e-02 2.64273514e+01] [-7.88971438e-03 9.99968861e-01 1.71881962e-04 1.71552036e-01] [ 1.16591800e-02 -7.98851657e-05 9.99932026e-01 -1.11963700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.46, Y:0.17, Z:-0.11 [[ 9.99897395e-01 8.32765547e-03 -1.16554793e-02 2.64553455e+01] [-8.32491900e-03 9.99965307e-01 2.83278378e-04 1.67834200e-01] [ 1.16574340e-02 -1.86218390e-04 9.99932032e-01 -1.11374081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.48, Y:0.16, Z:-0.10 [[ 9.99891734e-01 8.98149784e-03 -1.16556172e-02 2.64827597e+01] [-8.97887327e-03 9.99959651e-01 2.77486726e-04 1.63007651e-01] [ 1.16576392e-02 -1.72802374e-04 9.99932032e-01 -9.82036888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:26.51, Y:0.16, Z:-0.10 [[ 9.99858954e-01 1.20901619e-02 -1.16576380e-02 2.65116116e+01] [-1.20887567e-02 9.99926910e-01 1.90996612e-04 1.61023416e-01] [ 1.16590951e-02 -5.00433231e-05 9.99932029e-01 -9.82021986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.54, Y:0.16, Z:-0.10 [[ 9.99788458e-01 1.69448541e-02 -1.16580610e-02 2.65409367e+01] [-1.69439903e-02 9.99856425e-01 1.72872706e-04 1.58920942e-01] [ 1.16593165e-02 2.46979359e-05 9.99932028e-01 -9.76530228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.698639999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.57, Y:0.16, Z:-0.11 [[ 9.99604465e-01 2.55932860e-02 -1.16574676e-02 2.65724867e+01] [-2.55927108e-02 9.99672433e-01 1.98544571e-04 1.58077782e-01] [ 1.16587304e-02 9.98801571e-05 9.99932030e-01 -1.06843477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:26.60, Y:0.16, Z:-0.09 [[ 9.99560841e-01 2.72446067e-02 -1.16557786e-02 2.66003864e+01] [-2.72432970e-02 9.99628796e-01 2.71149694e-04 1.57755285e-01] [ 1.16588393e-02 4.65112231e-05 9.99932032e-01 -9.49581177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:26.63, Y:0.16, Z:-0.09 [[ 9.99434217e-01 3.15493785e-02 -1.16568662e-02 2.66295623e+01] [-3.15489159e-02 9.99502184e-01 2.23612662e-04 1.57095212e-01] [ 1.16581181e-02 1.44275346e-04 9.99932031e-01 -9.47313338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:26.66, Y:0.16, Z:-0.10 [[ 9.99414443e-01 3.21697690e-02 -1.16566153e-02 2.66584695e+01] [-3.21692198e-02 9.99482409e-01 2.34654145e-04 1.56217970e-01] [ 1.16581307e-02 1.40467478e-04 9.99932032e-01 -9.57681323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81864 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:26.69, Y:0.16, Z:-0.10 [[ 9.99337633e-01 3.44729365e-02 -1.16581588e-02 2.66902137e+01] [-3.44733350e-02 9.99405604e-01 1.66831431e-04 1.56136392e-01] [ 1.16569804e-02 2.35174685e-04 9.99932027e-01 -9.55800159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84864 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:26.72, Y:0.16, Z:-0.09 [[ 9.99374904e-01 3.33755595e-02 -1.16564536e-02 2.67186635e+01] [-3.33750174e-02 9.99442870e-01 2.41080146e-04 1.57433039e-01] [ 1.16580056e-02 1.48104895e-04 9.99932032e-01 -9.23002782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.878639999999997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:26.75, Y:0.16, Z:-0.09 [[ 9.99380318e-01 3.32129651e-02 -1.16566735e-02 2.67471927e+01] [-3.32125251e-02 9.99448285e-01 2.31381270e-04 1.59213584e-01] [ 1.16579272e-02 1.55909675e-04 9.99932032e-01 -9.27477933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:0.16, Z:-0.10 [[ 9.99341866e-01 3.43503308e-02 -1.16571508e-02 2.67777400e+01] [-3.43502159e-02 9.99409835e-01 2.10143075e-04 1.60074411e-01] [ 1.16574896e-02 1.90420873e-04 9.99932031e-01 -1.02738226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93864 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:26.81, Y:0.16, Z:-0.09 [[ 9.99440357e-01 3.13545788e-02 -1.16560045e-02 2.68060520e+01] [-3.13536637e-02 9.99508319e-01 2.61278630e-04 1.60080980e-01] [ 1.16584658e-02 1.04326039e-04 9.99932032e-01 -9.30557065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.968639999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.84, Y:0.16, Z:-0.09 [[ 9.99543837e-01 2.78608316e-02 -1.16572774e-02 2.68361268e+01] [-2.78603487e-02 9.99611804e-01 2.03849324e-04 1.60646151e-01] [ 1.16584315e-02 1.21019477e-04 9.99932031e-01 -9.11306780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.998639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:0.16, Z:-0.10 [[ 9.99529191e-01 2.83813617e-02 -1.16573842e-02 2.68668105e+01] [-2.83809707e-02 9.99597159e-01 1.99006049e-04 1.61316976e-01] [ 1.16583362e-02 1.31935525e-04 9.99932031e-01 -1.03108516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02864 meters Centerline goodness : 0.921513 Centerline is valid? [True, False] Translation: X:26.86, Y:0.16, Z:-0.11 [[ 9.99903289e-01 1.34316938e-02 -3.60585742e-03 2.68625219e+01] [-1.34209294e-02 9.99905456e-01 2.99302335e-03 1.59272706e-01] [ 3.64571788e-03 -2.94433994e-03 9.99989020e-01 -1.05125473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.058639999999997 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:26.89, Y:0.16, Z:-0.10 [[ 9.99966708e-01 2.78659583e-03 -7.66928583e-03 2.68896549e+01] [-2.75161351e-03 9.99985780e-01 4.56813078e-03 1.57491572e-01] [ 7.68190631e-03 -4.54687579e-03 9.99960156e-01 -1.02402496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:26.93, Y:0.17, Z:-0.11 [[ 9.99669295e-01 2.45442470e-02 -7.67342634e-03 2.69334073e+01] [-2.45449787e-02 9.99698727e-01 -1.18216197e-06 1.70506686e-01] [ 7.67108553e-03 1.89525857e-04 9.99970559e-01 -1.05024588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.95, Y:0.16, Z:-0.10 [[ 9.99970473e-01 4.27493581e-04 -7.67273383e-03 2.69480030e+01] [-4.23210952e-04 9.99999754e-01 5.59776957e-04 1.61827735e-01] [ 7.67297124e-03 -5.56513243e-04 9.99970407e-01 -1.01033916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:26.98, Y:0.16, Z:-0.10 [[ 9.99970344e-01 6.73994901e-04 -7.67186115e-03 2.69766795e+01] [-6.74260725e-04 9.99999772e-01 -3.20627733e-05 1.62890608e-01] [ 7.67183780e-03 3.72346571e-05 9.99970570e-01 -9.91235443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.178639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.01, Y:0.16, Z:-0.10 [[ 9.99970503e-01 3.70117079e-04 -7.67182683e-03 2.70059668e+01] [-3.70562445e-04 9.99999930e-01 -5.66307000e-05 1.63029416e-01] [ 7.67180533e-03 5.94719204e-05 9.99970569e-01 -1.02479005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.04, Y:0.16, Z:-0.10 [[ 9.99970128e-01 9.41927637e-04 -7.67181887e-03 2.70359570e+01] [-9.42425041e-04 9.99999554e-01 -6.12202626e-05 1.63566544e-01] [ 7.67175778e-03 6.84485480e-05 9.99970569e-01 -1.02716175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:0.16, Z:-0.11 [[ 9.99963409e-01 3.78454560e-03 -7.67184988e-03 2.70669415e+01] [-3.78500077e-03 9.99992836e-01 -4.48116131e-05 1.64420549e-01] [ 7.67162532e-03 7.38479310e-05 9.99970570e-01 -1.14003439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.10, Y:0.16, Z:-0.10 [[ 9.99964211e-01 3.56627566e-03 -7.67190688e-03 2.70957720e+01] [-3.56649080e-03 9.99993640e-01 -1.43612673e-05 1.64133452e-01] [ 7.67180687e-03 4.17225386e-05 9.99970570e-01 -1.00225306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.12, Y:0.16, Z:-0.10 [[ 9.99954560e-01 5.65864068e-03 -7.67184967e-03 2.71244687e+01] [-5.65912547e-03 9.99983986e-01 -4.14835713e-05 1.63826368e-01] [ 7.67149207e-03 8.48976461e-05 9.99970570e-01 -9.99573096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:27.15, Y:0.16, Z:-0.10 [[ 9.99936427e-01 8.26348524e-03 -7.67185980e-03 2.71532236e+01] [-8.26401228e-03 9.99965852e-01 -3.69994228e-05 1.64241023e-01] [ 7.67129208e-03 1.00397414e-04 9.99970570e-01 -9.90080986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.358639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.18, Y:0.17, Z:-0.10 [[ 9.99882358e-01 1.32820737e-02 -7.67186819e-03 2.71830300e+01] [-1.32827218e-02 9.99911780e-01 -3.35225351e-05 1.67410366e-01] [ 7.67074613e-03 1.35421882e-04 9.99970570e-01 -1.00253056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.21, Y:0.17, Z:-0.10 [[ 9.99868947e-01 1.42559317e-02 -7.67184235e-03 2.72130919e+01] [-1.42566843e-02 9.99898367e-01 -4.34162689e-05 1.69138325e-01] [ 7.67044370e-03 1.52785614e-04 9.99970570e-01 -9.67751128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:27.24, Y:0.17, Z:-0.10 [[ 9.99804004e-01 1.82509116e-02 -7.67184886e-03 2.72447443e+01] [-1.82517629e-02 9.99833422e-01 -4.09688051e-05 1.71277889e-01] [ 7.66982318e-03 1.80985542e-04 9.99970570e-01 -9.81766541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.448639999999997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:27.27, Y:0.17, Z:-0.10 [[ 9.99721539e-01 2.23155555e-02 -7.67199407e-03 2.72741251e+01] [-2.23161038e-02 9.99750965e-01 1.41416070e-05 1.74685396e-01] [ 7.67039905e-03 1.57071347e-04 9.99970570e-01 -9.71033737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:27.30, Y:0.18, Z:-0.09 [[ 9.99708147e-01 2.29076677e-02 -7.67200777e-03 2.73027767e+01] [-2.29081974e-02 9.99737573e-01 1.88406289e-05 1.77039095e-01] [ 7.67042602e-03 1.56916738e-04 9.99970570e-01 -9.48787732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:27.33, Y:0.18, Z:-0.10 [[ 9.99627096e-01 2.62070730e-02 -7.67189950e-03 2.73329438e+01] [-2.62079432e-02 9.99656513e-01 -1.28907646e-05 1.83089260e-01] [ 7.66892647e-03 2.13950664e-04 9.99970570e-01 -9.66255755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.538639999999997 meters Centerline goodness : 0.970412 Centerline is valid? [True, True] Translation: X:27.31, Y:0.20, Z:-0.14 [[ 9.98224736e-01 5.90636702e-02 -7.67198965e-03 2.73125195e+01] [-5.90653221e-02 9.98254120e-01 1.12781214e-05 2.01062642e-01] [ 7.65926140e-03 4.41890440e-04 9.99970570e-01 -1.38600782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56864 meters Centerline goodness : 0.970412 Centerline is valid? [True, True] Translation: X:27.34, Y:0.21, Z:-0.14 [[ 9.97769814e-01 6.63063608e-02 -7.67238593e-03 2.73438767e+01] [-6.63182420e-02 9.97797670e-01 -1.30437757e-03 2.05155250e-01] [ 7.56900027e-03 1.81028771e-03 9.99969716e-01 -1.38132594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:27.42, Y:0.19, Z:-0.09 [[ 9.99032438e-01 4.33048404e-02 -7.67325303e-03 2.74158341e+01] [-4.33189679e-02 9.99059873e-01 -1.68453241e-03 1.93413572e-01] [ 7.59309079e-03 2.01529992e-03 9.99969141e-01 -9.18596726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999997 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:27.45, Y:0.20, Z:-0.09 [[ 9.98972013e-01 4.46804891e-02 -7.65317590e-03 2.74460118e+01] [-4.46810046e-02 9.99001300e-01 1.03683006e-04 1.98378356e-01] [ 7.65016528e-03 2.38375167e-04 9.99970709e-01 -9.39083517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65864 meters Centerline goodness : 0.850541 Centerline is valid? [True, False] Translation: X:27.43, Y:0.20, Z:-0.10 [[ 9.99523299e-01 3.02154434e-02 6.34051153e-03 2.74304651e+01] [-3.02049142e-02 9.99542196e-01 -1.74988104e-03 2.02521154e-01] [-6.39048224e-03 1.55753226e-03 9.99978368e-01 -9.53514685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68864 meters Centerline goodness : 0.998081 Centerline is valid? [False, True] Translation: X:27.44, Y:0.20, Z:-0.10 [[ 9.99842251e-01 1.60301498e-02 7.64898231e-03 2.74358290e+01] [-1.60641056e-02 9.99861289e-01 4.39865796e-03 2.04622584e-01] [-7.57741017e-03 -4.52083814e-03 9.99961072e-01 -9.82204911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.718639999999997 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:27.47, Y:0.21, Z:-0.11 [[ 9.99813704e-01 1.76905888e-02 7.72014764e-03 2.74665084e+01] [-1.76918619e-02 9.99843482e-01 9.66349048e-05 2.12252997e-01] [-7.71722977e-03 -2.33200688e-04 9.99970195e-01 -1.09505617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999998 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:27.50, Y:0.22, Z:-0.10 [[ 9.99858408e-01 1.49523137e-02 7.71962396e-03 2.74974574e+01] [-1.49537485e-02 9.99888178e-01 1.28175069e-04 2.15861969e-01] [-7.71684422e-03 -2.43594236e-04 9.99970195e-01 -9.84888680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:27.53, Y:0.23, Z:-0.10 [[ 9.99858053e-01 1.49758869e-02 7.71982371e-03 2.75286230e+01] [-1.49772303e-02 9.99887828e-01 1.16233791e-04 2.25300610e-01] [-7.71721706e-03 -2.31838870e-04 9.99970195e-01 -9.66783119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999997 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:27.56, Y:0.23, Z:-0.10 [[ 9.99854084e-01 1.52388045e-02 7.71946506e-03 2.75592685e+01] [-1.52403215e-02 9.99883850e-01 1.37728902e-04 2.31335003e-01] [-7.71646962e-03 -2.55355935e-04 9.99970195e-01 -9.76625296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.838639999999998 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:27.59, Y:0.24, Z:-0.10 [[ 9.99867257e-01 1.43484754e-02 7.71947026e-03 2.75916209e+01] [-1.43499635e-02 9.99897025e-01 1.37415917e-04 2.37080574e-01] [-7.71670363e-03 -2.48171792e-04 9.99970195e-01 -9.76804703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86864 meters Centerline goodness : 0.799478 Centerline is valid? [True, False] Translation: X:27.57, Y:0.26, Z:-0.09 [[ 9.99880137e-01 1.36733697e-02 7.26295505e-03 2.75684589e+01] [-1.35521621e-02 9.99772292e-01 -1.64834298e-02 2.58113517e-01] [-7.48668524e-03 1.63830253e-02 9.99837760e-01 -9.35147165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89864 meters Centerline goodness : 0.998526 Centerline is valid? [False, True] Translation: X:27.55, Y:0.26, Z:-0.10 [[ 9.99933363e-01 2.94250668e-03 1.11629814e-02 2.75469980e+01] [-2.71999994e-03 9.99798362e-01 -1.98956410e-02 2.62604549e-01] [-1.12192735e-02 1.98639519e-02 9.99739742e-01 -9.70190316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.928639999999998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:27.59, Y:0.28, Z:-0.09 [[ 9.98279086e-01 5.74597405e-02 1.17151238e-02 2.75861484e+01] [-5.74543884e-02 9.98347817e-01 -7.93175311e-04 2.75918619e-01] [-1.17413440e-02 1.18725049e-04 9.99931061e-01 -9.16934600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95864 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:27.61, Y:0.29, Z:-0.10 [[ 9.96390351e-01 8.40753991e-02 1.17301546e-02 2.76127250e+01] [-8.40777061e-02 9.96459157e-01 -2.97201499e-04 2.88898343e-01] [-1.17136073e-02 -6.90115789e-04 9.99931155e-01 -1.01731133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:27.65, Y:0.28, Z:-0.09 [[ 9.98412282e-01 5.50919820e-02 1.17383051e-02 2.76478887e+01] [-5.50954107e-02 9.98481094e-01 -3.13191642e-05 2.79787502e-01] [-1.17222011e-02 -6.15457302e-04 9.99931103e-01 -9.14195577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:27.68, Y:0.29, Z:-0.09 [[ 9.98634633e-01 5.09048213e-02 1.17289677e-02 2.76772033e+01] [-5.09044651e-02 9.98703473e-01 -3.29103960e-04 2.85825906e-01] [-1.17305138e-02 -2.68402215e-04 9.99931159e-01 -8.97041721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:27.71, Y:0.29, Z:-0.09 [[ 9.98549072e-01 5.25558425e-02 1.17317379e-02 2.77088486e+01] [-5.25566266e-02 9.98617916e-01 -2.41667031e-04 2.88337407e-01] [-1.17282247e-02 -3.75264179e-04 9.99931152e-01 -9.46006866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:27.74, Y:0.29, Z:-0.10 [[ 9.98361109e-01 5.60137379e-02 1.17284975e-02 2.77388639e+01] [-5.60135722e-02 9.98429949e-01 -3.42878233e-04 2.94103173e-01] [-1.17292891e-02 -3.14638750e-04 9.99931160e-01 -1.04437373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:27.77, Y:0.30, Z:-0.09 [[ 9.98607188e-01 5.14407146e-02 1.17275774e-02 2.77667380e+01] [-5.14398929e-02 9.98676023e-01 -3.71893579e-04 2.96444202e-01] [-1.17311808e-02 -2.31889725e-04 9.99931160e-01 -8.99980843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.138639999999995 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:27.80, Y:0.30, Z:-0.09 [[ 9.98543167e-01 5.26680708e-02 1.17310365e-02 2.77958352e+01] [-5.26686311e-02 9.98612010e-01 -2.61384152e-04 2.99507649e-01] [-1.17285206e-02 -3.56854276e-04 9.99931155e-01 -9.06826090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:27.83, Y:0.31, Z:-0.09 [[ 9.98410936e-01 5.51180466e-02 1.17304588e-02 2.78262372e+01] [-5.51185576e-02 9.98479778e-01 -2.79972151e-04 3.07538393e-01] [-1.17280574e-02 -3.67038709e-04 9.99931157e-01 -9.03058768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:27.85, Y:0.31, Z:-0.10 [[ 9.98468521e-01 5.40649523e-02 1.17300107e-02 2.78545908e+01] [-5.40652216e-02 9.98537363e-01 -2.94373442e-04 3.09814290e-01] [-1.17287693e-02 -3.40263016e-04 9.99931158e-01 -9.61353470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:27.88, Y:0.31, Z:-0.09 [[ 9.98460537e-01 5.42121257e-02 1.17303308e-02 2.78835478e+01] [-5.42125270e-02 9.98529379e-01 -2.84004863e-04 3.13418024e-01] [-1.17284764e-02 -3.52363226e-04 9.99931157e-01 -9.10404528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:27.91, Y:0.32, Z:-0.09 [[ 9.98562277e-01 5.23044673e-02 1.17312459e-02 2.79129693e+01] [-5.23050830e-02 9.98631120e-01 -2.54531110e-04 3.19624716e-01] [-1.17285004e-02 -3.59438628e-04 9.99931154e-01 -9.24746438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:27.94, Y:0.32, Z:-0.09 [[ 9.98629126e-01 5.10120418e-02 1.17320029e-02 2.79436486e+01] [-5.10128540e-02 9.98697970e-01 -2.30201205e-04 3.22252100e-01] [-1.17284705e-02 -3.68597323e-04 9.99931151e-01 -9.19501246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:27.98, Y:0.33, Z:-0.10 [[ 9.98568858e-01 5.21785681e-02 1.17316911e-02 2.79760721e+01] [-5.21793456e-02 9.98637701e-01 -2.40014816e-04 3.25102626e-01] [-1.17282327e-02 -3.72480645e-04 9.99931153e-01 -1.04594888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.348639999999996 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:28.00, Y:0.33, Z:-0.09 [[ 9.98854088e-01 4.64002379e-02 1.17272956e-02 2.80036193e+01] [-4.63990111e-02 9.98922915e-01 -3.76815126e-04 3.25388861e-01] [-1.17321486e-02 -1.67751591e-04 9.99931162e-01 -9.29216675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37864 meters Centerline goodness : 0.823137 Centerline is valid? [True, False] Translation: X:28.00, Y:0.32, Z:-0.10 [[ 9.99224794e-01 3.23914688e-02 2.23741858e-02 2.79959197e+01] [-3.24444934e-02 9.99471516e-01 2.01087847e-03 3.23255035e-01] [-2.22972261e-02 -2.73523875e-03 9.99747644e-01 -9.54456866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40864 meters Centerline goodness : 0.998920 Centerline is valid? [False, True] Translation: X:28.02, Y:0.32, Z:-0.09 [[ 9.99679495e-01 1.69524849e-02 1.88021583e-02 2.80223545e+01] [-1.69363700e-02 9.99856053e-01 -1.01599160e-03 3.23907553e-01] [-1.88166753e-02 6.97225664e-04 9.99822708e-01 -9.30867233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:28.06, Y:0.32, Z:-0.10 [[ 9.99674634e-01 1.72258623e-02 1.88121163e-02 2.80551424e+01] [-1.72293360e-02 9.99851564e-01 2.25794939e-05 3.20925370e-01] [-1.88089349e-02 -3.46692420e-04 9.99823036e-01 -1.04238791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:28.08, Y:0.32, Z:-0.09 [[ 9.99736007e-01 1.31947518e-02 1.88099898e-02 2.80846018e+01] [-1.31935301e-02 9.99912944e-01 -1.89044757e-04 3.19205388e-01] [-1.88108467e-02 -5.91753173e-05 9.99823059e-01 -9.30205176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:28.12, Y:0.32, Z:-0.10 [[ 9.99692534e-01 1.61542317e-02 1.88116460e-02 2.81173513e+01] [-1.61566451e-02 9.99869473e-01 -2.36944509e-05 3.16871741e-01] [-1.88095733e-02 -2.80245921e-04 9.99823045e-01 -1.04434290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.528639999999996 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:28.15, Y:0.32, Z:-0.09 [[ 9.99712377e-01 1.48780774e-02 1.88097588e-02 2.81468501e+01] [-1.48769355e-02 9.99889312e-01 -2.00641130e-04 3.15661817e-01] [-1.88106619e-02 -7.92481478e-05 9.99823061e-01 -9.26731757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:28.18, Y:0.31, Z:-0.09 [[ 9.99691004e-01 1.62488390e-02 1.88114662e-02 2.81770995e+01] [-1.62509735e-02 9.99867943e-01 -3.94014630e-05 3.14291956e-01] [-1.88096222e-02 -2.66315350e-04 9.99823048e-01 -9.17497207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:28.21, Y:0.31, Z:-0.09 [[ 9.99623292e-01 1.99846375e-02 1.88118951e-02 2.82083757e+01] [-1.99881562e-02 9.99800217e-01 -9.82168189e-07 3.13635909e-01] [-1.88081564e-02 -3.75033299e-04 9.99823041e-01 -9.30516991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:28.24, Y:0.31, Z:-0.09 [[ 9.99575761e-01 2.22355387e-02 1.88116472e-02 2.82411995e+01] [-2.22390477e-02 9.99752682e-01 -2.26665692e-05 3.13395707e-01] [-1.88074987e-02 -3.95696165e-04 9.99823045e-01 -9.14387183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:28.27, Y:0.31, Z:-0.09 [[ 9.99582246e-01 2.19424489e-02 1.88112250e-02 2.82724192e+01] [-2.19452481e-02 9.99759172e-01 -5.76330926e-05 3.12090431e-01] [-1.88079594e-02 -3.55207985e-04 9.99823052e-01 -9.36977491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:28.31, Y:0.31, Z:-0.11 [[ 9.99456512e-01 2.70701003e-02 1.88119621e-02 2.83059816e+01] [-2.70749046e-02 9.99633408e-01 6.95668286e-07 3.10058686e-01] [-1.88050470e-02 -5.10027370e-04 9.99823039e-01 -1.06660618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:28.33, Y:0.31, Z:-0.09 [[ 9.99517742e-01 2.47086890e-02 1.88086361e-02 2.83343853e+01] [-2.47083622e-02 9.99694671e-01 -2.49792537e-04 3.10105807e-01] [-1.88090653e-02 -2.15058521e-04 9.99823071e-01 -9.38884593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:28.37, Y:0.31, Z:-0.11 [[ 9.99313689e-01 3.19105387e-02 1.88113776e-02 2.83683248e+01] [-3.19154040e-02 9.99490573e-01 -4.15934929e-05 3.14082029e-01] [-1.88031219e-02 -5.58807771e-04 9.99823050e-01 -1.06605598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:28.40, Y:0.32, Z:-0.09 [[ 9.99336249e-01 3.11978259e-02 1.88084283e-02 2.83987153e+01] [-3.11985075e-02 9.99513175e-01 -2.57255769e-04 3.17335714e-01] [-1.88072977e-02 -3.29709877e-04 9.99823073e-01 -8.86232115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:28.43, Y:0.32, Z:-0.11 [[ 9.99270099e-01 3.32485478e-02 1.88096387e-02 2.84300242e+01] [-3.32512758e-02 9.99447009e-01 -1.67787293e-04 3.17506965e-01] [-1.88048158e-02 -4.57779658e-04 9.99823069e-01 -1.09015002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:28.46, Y:0.32, Z:-0.09 [[ 9.99391467e-01 2.93758605e-02 1.88083890e-02 2.84595719e+01] [-2.93761930e-02 9.99568393e-01 -2.58664095e-04 3.19661792e-01] [-1.88078696e-02 -2.94012176e-04 9.99823073e-01 -8.99376111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:28.49, Y:0.32, Z:-0.09 [[ 9.99402572e-01 2.89943005e-02 1.88103509e-02 2.84913434e+01] [-2.89972589e-02 9.99579484e-01 -1.15511308e-04 3.19841414e-01] [-1.88057900e-02 -4.30006316e-04 9.99823063e-01 -9.38853806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:28.52, Y:0.32, Z:-0.09 [[ 9.99500279e-01 2.54040557e-02 1.88102713e-02 2.85212504e+01] [-2.54062715e-02 9.99677201e-01 -1.21202170e-04 3.19742547e-01] [-1.88072784e-02 -3.56757257e-04 9.99823064e-01 -9.10571012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.918639999999996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:28.55, Y:0.32, Z:-0.09 [[ 9.99642981e-01 1.89740807e-02 1.88121031e-02 2.85517712e+01] [-1.89775056e-02 9.99819911e-01 3.53891031e-06 3.19049408e-01] [-1.88086481e-02 -3.60544440e-04 9.99823037e-01 -9.19640198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:28.58, Y:0.32, Z:-0.09 [[ 9.99644902e-01 1.88714634e-02 1.88132263e-02 2.85848672e+01] [-1.88762193e-02 9.99821825e-01 7.52366574e-05 3.17110740e-01] [-1.88084545e-02 -4.30332527e-04 9.99823013e-01 -9.35319957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.62, Y:0.31, Z:-0.11 [[ 9.99700707e-01 1.56423294e-02 1.88099484e-02 2.86184431e+01] [-1.56428263e-02 9.99877636e-01 -1.20725469e-04 3.13253525e-01] [-1.88095352e-02 -1.73551418e-04 9.99823070e-01 -1.11796342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.65, Y:0.31, Z:-0.11 [[ 9.99721119e-01 1.42829401e-02 1.88064250e-02 2.86518453e+01] [-1.42793575e-02 9.99897992e-01 -3.24773880e-04 3.11771687e-01] [-1.88091453e-02 5.61396401e-05 9.99823091e-01 -1.11875647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.68, Y:0.31, Z:-0.09 [[ 9.99792052e-01 7.88527897e-03 1.88062601e-02 2.86797237e+01] [-7.88039001e-03 9.99968893e-01 -3.34058458e-04 3.09115833e-01] [-1.88083092e-02 1.85788327e-04 9.99823091e-01 -9.44458604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.71, Y:0.30, Z:-0.09 [[ 9.99799934e-01 6.79876892e-03 1.88114084e-02 2.87116310e+01] [-6.79909346e-03 9.99976885e-01 -4.67044615e-05 3.03513624e-01] [-1.88112911e-02 -8.12054063e-05 9.99823049e-01 -9.48956401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.098639999999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:28.74, Y:0.30, Z:-0.10 [[ 9.99800705e-01 6.68561026e-03 1.88109897e-02 2.87436085e+01] [-6.68549551e-03 9.99977649e-01 -6.89864880e-05 2.99432406e-01] [-1.88110304e-02 -5.67880476e-05 9.99823055e-01 -9.70575144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:28.78, Y:0.31, Z:-0.11 [[ 9.98917681e-01 4.25394275e-02 1.88112607e-02 2.87807307e+01] [-4.25459205e-02 9.99094511e-01 -5.50880145e-05 3.10933240e-01] [-1.87965707e-02 -7.45314011e-04 9.99823051e-01 -1.05574515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.81, Y:0.29, Z:-0.10 [[ 9.99774519e-01 9.86928583e-03 1.88017939e-02 2.88075402e+01] [-9.86127439e-03 9.99951242e-01 -5.18767210e-04 2.91134016e-01] [-1.88059970e-02 3.33240590e-04 9.99823096e-01 -9.71833984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:28.84, Y:0.29, Z:-0.10 [[ 9.99760408e-01 1.11928186e-02 1.88108094e-02 2.88389325e+01] [-1.11932611e-02 9.99937350e-01 -8.17673978e-05 2.87976999e-01] [-1.88105462e-02 -1.28806495e-04 9.99823058e-01 -9.68752427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.87, Y:0.28, Z:-0.12 [[ 9.99685199e-01 1.66022727e-02 1.88113499e-02 2.88735577e+01] [-1.66041576e-02 9.99862140e-01 -5.59899550e-05 2.81064215e-01] [-1.88096862e-02 -2.56374290e-04 9.99823049e-01 -1.15962538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:28.90, Y:0.28, Z:-0.10 [[ 9.99765673e-01 1.07246654e-02 1.88037521e-02 2.89007387e+01] [-1.07189063e-02 9.99942468e-01 -4.07036908e-04 2.77378465e-01] [-1.88070356e-02 2.05385872e-04 9.99823111e-01 -1.00690812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.278639999999996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:28.93, Y:0.27, Z:-0.10 [[ 9.99708143e-01 1.51569994e-02 1.88120623e-02 2.89349708e+01] [-1.51591914e-02 9.99885093e-01 -2.60775634e-05 2.73314077e-01] [-1.88102960e-02 -2.59105702e-04 9.99823037e-01 -1.02913772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:0.27, Z:-0.12 [[ 9.99593782e-01 2.14140783e-02 1.88071582e-02 2.89670479e+01] [-2.14132602e-02 9.99770680e-01 -2.44899866e-04 2.65120972e-01] [-1.88080896e-02 -1.57922189e-04 9.99823100e-01 -1.19036827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.99, Y:0.26, Z:-0.10 [[ 9.99672497e-01 1.73594452e-02 1.88028607e-02 2.89943467e+01] [-1.73543905e-02 9.99849308e-01 -4.31974513e-04 2.59459825e-01] [-1.88075261e-02 1.05520853e-04 9.99823117e-01 -1.02476599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.03, Y:0.25, Z:-0.11 [[ 9.99573136e-01 2.23546192e-02 1.88100144e-02 2.90276170e+01] [-2.23563814e-02 9.99750058e-01 -1.16618372e-04 2.52326305e-01] [-1.88079199e-02 -3.03955264e-04 9.99823069e-01 -1.05126199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.06, Y:0.25, Z:-0.12 [[ 9.99472858e-01 2.64638720e-02 1.88061245e-02 2.90607201e+01] [-2.64632344e-02 9.99649747e-01 -2.82804685e-04 2.50619293e-01] [-1.88070217e-02 -2.15015274e-04 9.99823109e-01 -1.19615768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:29.09, Y:0.25, Z:-0.11 [[ 9.99587619e-01 2.17041459e-02 1.88021910e-02 2.90880180e+01] [-2.16995597e-02 9.99764436e-01 -4.47927428e-04 2.47242427e-01] [-1.88074838e-02 3.97434447e-05 9.99823123e-01 -1.05253573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.458639999999995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:29.12, Y:0.24, Z:-0.10 [[ 9.99506607e-01 2.51543928e-02 1.88095646e-02 2.91208256e+01] [-2.51562335e-02 9.99683522e-01 -1.38780343e-04 2.43288912e-01] [-1.88071027e-02 -3.34465929e-04 9.99823075e-01 -1.02709128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:29.15, Y:0.24, Z:-0.10 [[ 9.99496338e-01 2.55616217e-02 1.88062150e-02 2.91525702e+01] [-2.55609617e-02 9.99673227e-01 -2.75505460e-04 2.42781518e-01] [-1.88071120e-02 -2.05338245e-04 9.99823110e-01 -1.03276110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:29.19, Y:0.24, Z:-0.10 [[ 9.99345762e-01 3.08930710e-02 1.88060315e-02 2.91860345e+01] [-3.08932157e-02 9.99522651e-01 -2.82888285e-04 2.39023416e-01] [-1.88057937e-02 -2.98275579e-04 9.99823111e-01 -1.04397428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:29.22, Y:0.24, Z:-0.10 [[ 9.99298881e-01 3.23752917e-02 1.88039120e-02 2.92176500e+01] [-3.23741324e-02 9.99475753e-01 -3.66136291e-04 2.38219678e-01] [-1.88059079e-02 -2.42880751e-04 9.99823124e-01 -1.03422178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57864 meters Centerline goodness : 0.753707 Centerline is valid? [True, False] Translation: X:29.24, Y:0.24, Z:-0.10 [[ 9.99718860e-01 1.76407773e-02 1.58431092e-02 2.92426682e+01] [-1.75902286e-02 9.99839754e-01 -3.32429771e-03 2.37830728e-01] [-1.58992136e-02 3.04467920e-03 9.99868964e-01 -1.01607771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:29.24, Y:0.24, Z:-0.10 [[ 9.99827826e-01 9.58989890e-03 1.58855773e-02 2.92423627e+01] [-9.38220651e-03 9.99870205e-01 -1.30976062e-02 2.43848639e-01] [-1.60091201e-02 1.29463094e-02 9.99788028e-01 -1.00238970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.638639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:0.23, Z:-0.10 [[ 9.99810466e-01 1.13814051e-02 1.57954247e-02 2.92743999e+01] [-1.13845543e-02 9.99935188e-01 1.09468584e-04 2.32051682e-01] [-1.57931551e-02 -2.89271708e-04 9.99875239e-01 -1.04030534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:29.30, Y:0.23, Z:-0.09 [[ 9.99813043e-01 1.11526962e-02 1.57954383e-02 2.93036963e+01] [-1.11557855e-02 9.99937767e-01 1.07480290e-04 2.34410753e-01] [-1.57932566e-02 -2.83670717e-04 9.99875239e-01 -9.34916213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:29.34, Y:0.24, Z:-0.09 [[ 9.99777230e-01 1.40008841e-02 1.57944628e-02 2.93359450e+01] [-1.40065908e-02 9.99901871e-01 2.50743662e-04 2.36557113e-01] [-1.57894023e-02 -4.71914382e-04 9.99875228e-01 -8.94545577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:0.24, Z:-0.10 [[ 9.99704839e-01 1.84596001e-02 1.57948576e-02 2.93677252e+01] [-1.84648634e-02 9.99829492e-01 1.87444929e-04 2.40003292e-01] [-1.57887043e-02 -4.79039489e-04 9.99875236e-01 -1.02747083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.40, Y:0.24, Z:-0.10 [[ 9.99705936e-01 1.83996372e-02 1.57954137e-02 2.94006921e+01] [-1.84034270e-02 9.99830638e-01 9.45969464e-05 2.42518409e-01] [-1.57909980e-02 -3.85258871e-04 9.99875240e-01 -1.03244328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:29.43, Y:0.24, Z:-0.09 [[ 9.99776804e-01 1.40301998e-02 1.57954312e-02 2.94301302e+01] [-1.40333969e-02 9.99901523e-01 9.15796838e-05 2.44153021e-01] [-1.57925908e-02 -3.13222798e-04 9.99875240e-01 -9.16313170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:29.46, Y:0.25, Z:-0.09 [[ 9.99799470e-01 1.23102713e-02 1.57948394e-02 2.94622989e+01] [-1.23148481e-02 9.99924151e-01 1.92528397e-04 2.46337255e-01] [-1.57912713e-02 -3.87000836e-04 9.99875235e-01 -9.19850150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.848639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:0.25, Z:-0.10 [[ 9.99779270e-01 1.38542168e-02 1.57947088e-02 2.94948682e+01] [-1.38593724e-02 9.99903931e-01 2.16998603e-04 2.47559658e-01] [-1.57901851e-02 -4.35855457e-04 9.99875232e-01 -1.04371714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:29.52, Y:0.25, Z:-0.09 [[ 9.99858027e-01 5.86780360e-03 1.57953953e-02 2.95240193e+01] [-5.86976779e-03 9.99982770e-01 7.79939127e-05 2.49869694e-01] [-1.57946655e-02 -1.70698143e-04 9.99875242e-01 -9.10714894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90864 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:29.55, Y:0.25, Z:-0.09 [[ 9.99871249e-01 2.82973630e-03 1.57949028e-02 2.95549432e+01] [-2.83290322e-03 9.99995971e-01 1.78132171e-04 2.49781409e-01] [-1.57943351e-02 -2.22854667e-04 9.99875237e-01 -8.82039336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:29.59, Y:0.25, Z:-0.09 [[ 9.99875195e-01 3.39075034e-04 1.57949153e-02 2.95866198e+01] [-3.41887770e-04 9.99999926e-01 1.75378686e-04 2.48736853e-01] [-1.57948546e-02 -1.80756886e-04 9.99875237e-01 -9.13735514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:29.62, Y:0.24, Z:-0.09 [[ 9.99850171e-01 -7.08220002e-03 1.57948665e-02 2.96185594e+01] [ 7.08011183e-03 9.99974918e-01 1.88121438e-04 2.44276701e-01] [-1.57958026e-02 -7.62638307e-05 9.99875236e-01 -9.25205427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:29.65, Y:0.24, Z:-0.09 [[ 9.99814760e-01 -1.09984185e-02 1.57949285e-02 2.96487491e+01] [ 1.09971285e-02 9.99939516e-01 1.68525663e-04 2.41766431e-01] [-1.57958267e-02 5.20441379e-06 9.99875238e-01 -9.02186179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:29.68, Y:0.24, Z:-0.09 [[ 9.99776689e-01 -1.40392776e-02 1.57946238e-02 2.96802428e+01] [ 1.40367880e-02 9.99901443e-01 2.68475702e-04 2.37208850e-01] [-1.57968363e-02 -4.67099627e-05 9.99875221e-01 -9.21004396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:29.71, Y:0.23, Z:-0.09 [[ 9.99787423e-01 -1.32527105e-02 1.57947335e-02 2.97127508e+01] [ 1.32508331e-02 9.99912179e-01 2.23514865e-04 2.34222988e-01] [-1.57963086e-02 -1.41739736e-05 9.99875230e-01 -9.21646129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:29.74, Y:0.23, Z:-0.09 [[ 9.99781162e-01 -1.37168527e-02 1.57948280e-02 2.97444820e+01] [ 1.37158139e-02 9.99905919e-01 1.74099750e-04 2.30901591e-01] [-1.57957301e-02 4.25772714e-05 9.99875239e-01 -9.16961052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11864 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:29.78, Y:0.23, Z:-0.09 [[ 9.99783680e-01 -1.35321076e-02 1.57947994e-02 2.97762729e+01] [ 1.35306948e-02 9.99908437e-01 1.96308678e-04 2.27112296e-01] [-1.57960097e-02 1.74483986e-05 9.99875235e-01 -9.19354738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:29.81, Y:0.22, Z:-0.09 [[ 9.99743131e-01 -1.62540980e-02 1.57948389e-02 2.98068319e+01] [ 1.62539210e-02 9.99867887e-01 1.39582153e-04 2.17345352e-01] [-1.57950210e-02 1.17181766e-04 9.99875244e-01 -9.35683088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:29.84, Y:0.21, Z:-0.09 [[ 9.99727170e-01 -1.72077818e-02 1.57948367e-02 2.98391187e+01] [ 1.72068313e-02 9.99851932e-01 1.96082303e-04 2.11221268e-01] [-1.57958721e-02 7.57502853e-05 9.99875235e-01 -9.49428575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:29.87, Y:0.20, Z:-0.10 [[ 9.99691683e-01 -1.91588510e-02 1.57948466e-02 2.98716249e+01] [ 1.91579228e-02 9.99816448e-01 2.10087359e-04 1.99958516e-01] [-1.57959725e-02 9.25738657e-05 9.99875232e-01 -9.69674281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:29.91, Y:0.20, Z:-0.10 [[ 9.99734310e-01 -1.67878606e-02 1.57948152e-02 2.99051141e+01] [ 1.67869705e-02 9.99859071e-01 1.88943903e-04 1.96258755e-01] [-1.57957612e-02 7.62533948e-05 9.99875236e-01 -9.59133722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.94, Y:0.19, Z:-0.11 [[ 9.99805394e-01 -1.18195919e-02 1.57946575e-02 2.99376912e+01] [ 1.18192886e-02 9.99930143e-01 1.12546758e-04 1.89997877e-01] [-1.57948844e-02 7.41567605e-05 9.99875250e-01 -1.11891032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29864 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:29.97, Y:0.19, Z:-0.10 [[ 9.99824023e-01 -1.01224536e-02 1.57942475e-02 2.99678565e+01] [ 1.01243789e-02 9.99948746e-01 -4.19432041e-05 1.87090213e-01] [-1.57930134e-02 2.01842769e-04 9.99875262e-01 -9.71351990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:30.00, Y:0.18, Z:-0.10 [[ 9.99854761e-01 -6.40236782e-03 1.57944922e-02 2.99991245e+01] [ 6.40234204e-03 9.99979503e-01 5.21964392e-05 1.84607019e-01] [-1.57945026e-02 4.89328832e-05 9.99875258e-01 -9.75903370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:30.03, Y:0.18, Z:-0.10 [[ 9.99874869e-01 -8.85046023e-04 1.57943868e-02 3.00313244e+01] [ 8.84905933e-04 9.99999608e-01 1.58582701e-05 1.78002800e-01] [-1.57943946e-02 -1.87973914e-06 9.99875261e-01 -9.79316337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:30.06, Y:0.17, Z:-0.10 [[ 9.99871376e-01 -2.78844172e-03 1.57941657e-02 3.00591961e+01] [ 2.78959231e-03 9.99996108e-01 -5.08186779e-05 1.73623950e-01] [-1.57939625e-02 9.48714245e-05 9.99875263e-01 -1.00085235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.418639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.09, Y:0.16, Z:-0.11 [[ 9.99874909e-01 8.31480477e-04 1.57947693e-02 3.00924147e+01] [-8.33707572e-04 9.99999643e-01 1.34418037e-04 1.64659918e-01] [-1.57946519e-02 -1.47569441e-04 9.99875246e-01 -1.13685213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:30.12, Y:0.16, Z:-0.10 [[ 9.99873608e-01 -1.82101122e-03 1.57940597e-02 3.01203669e+01] [ 1.82215789e-03 9.99998338e-01 -5.82114571e-05 1.59900504e-01] [-1.57939274e-02 8.69833701e-05 9.99875264e-01 -1.00129853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:30.15, Y:0.16, Z:-0.11 [[ 9.99871265e-01 2.82476616e-03 1.57947772e-02 3.01542594e+01] [-2.82741609e-03 9.99995992e-01 1.45444419e-04 1.56725407e-01] [-1.57943031e-02 -1.90084103e-04 9.99875244e-01 -1.14605138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:30.18, Y:0.15, Z:-0.10 [[ 9.99864134e-01 4.71878858e-03 1.57938832e-02 3.01849096e+01] [-4.71832501e-03 9.99988866e-01 -6.66140830e-05 1.53945249e-01] [-1.57940217e-02 -7.91564153e-06 9.99875267e-01 -1.00790422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53864 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:30.22, Y:0.15, Z:-0.10 [[ 9.99825110e-01 1.00148304e-02 1.57940687e-02 3.02166037e+01] [-1.00157276e-02 9.99949841e-01 -2.22957405e-05 1.52410513e-01] [-1.57934997e-02 -1.35897249e-04 9.99875266e-01 -1.00005940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:30.25, Y:0.15, Z:-0.10 [[ 9.99761701e-01 1.50694608e-02 1.57940472e-02 3.02481377e+01] [-1.50709100e-02 9.99886427e-01 -2.72678552e-05 1.52296426e-01] [-1.57926644e-02 -2.10769307e-04 9.99875266e-01 -9.87548510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.598639999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:30.28, Y:0.15, Z:-0.12 [[ 9.99586326e-01 2.40360869e-02 1.57937564e-02 3.02786750e+01] [-2.40376790e-02 9.99711049e-01 -8.90507327e-05 1.51330190e-01] [-1.57913332e-02 -2.90631351e-04 9.99875267e-01 -1.15365431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62864 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:30.31, Y:0.15, Z:-0.10 [[ 9.99541376e-01 2.58378333e-02 1.57938187e-02 3.03096949e+01] [-2.58398543e-02 9.99666092e-01 -7.61239693e-05 1.50976114e-01] [-1.57905119e-02 -3.32020917e-04 9.99875267e-01 -1.03056628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.34, Y:0.15, Z:-0.12 [[ 9.99416512e-01 3.02851944e-02 1.57937752e-02 3.03406369e+01] [-3.02876305e-02 9.99541221e-01 -8.49778512e-05 1.51756583e-01] [-1.57891029e-02 -3.93427760e-04 9.99875267e-01 -1.16151544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68864 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:30.37, Y:0.15, Z:-0.10 [[ 9.99350215e-01 3.23991269e-02 1.57938006e-02 3.03708595e+01] [-3.24019061e-02 9.99474917e-01 -7.99553680e-05 1.53430281e-01] [-1.57880981e-02 -4.31845831e-04 9.99875267e-01 -1.03208597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71864 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:30.40, Y:0.15, Z:-0.11 [[ 9.99268297e-01 3.48342257e-02 1.57939027e-02 3.04012691e+01] [-3.48376172e-02 9.99392984e-01 -6.04216106e-05 1.54398210e-01] [-1.57864203e-02 -4.89844536e-04 9.99875267e-01 -1.05431805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74864 meters Centerline goodness : 0.787682 Centerline is valid? [True, False] Translation: X:30.39, Y:0.16, Z:-0.11 [[ 9.99240382e-01 2.45374537e-02 3.02749571e-02 3.03859263e+01] [-2.46320305e-02 9.99692790e-01 2.75488557e-03 1.55695530e-01] [-3.01980584e-02 -3.49852658e-03 9.99537812e-01 -1.06121262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.778639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:30.38, Y:0.16, Z:-0.11 [[ 9.99312165e-01 2.08823247e-02 3.06451511e-02 3.03848523e+01] [-2.07977192e-02 9.99778969e-01 -3.07700683e-03 1.62579254e-01] [-3.07026326e-02 2.43754111e-03 9.99525591e-01 -1.06123196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters Centerline goodness : 0.791152 Centerline is valid? [True, False] Translation: X:30.41, Y:0.16, Z:-0.11 [[ 9.99796503e-01 1.69773034e-02 1.08960877e-02 3.04118034e+01] [-1.70224055e-02 9.99846865e-01 4.05997105e-03 1.58832995e-01] [-1.08254918e-02 -4.24462248e-03 9.99932394e-01 -1.06483718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83864 meters Centerline goodness : 0.998868 Centerline is valid? [False, True] Translation: X:30.41, Y:0.17, Z:-0.11 [[ 9.99853946e-01 1.29776188e-02 1.11205755e-02 3.04112101e+01] [-1.29573342e-02 9.99914256e-01 -1.89416704e-03 1.65737739e-01] [-1.11442037e-02 1.74979737e-03 9.99936370e-01 -1.06357262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:0.17, Z:-0.12 [[ 9.99836424e-01 1.42904137e-02 1.10864242e-02 3.04432847e+01] [-1.42937675e-02 9.99897814e-01 2.23330851e-04 1.65423672e-01] [-1.10820999e-02 -3.81761090e-04 9.99938519e-01 -1.19370363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:0.17, Z:-0.12 [[ 9.99888014e-01 1.00516072e-02 1.10871789e-02 3.04759249e+01] [-1.00541730e-02 9.99949440e-01 1.75711700e-04 1.67666586e-01] [-1.10848522e-02 -2.87164438e-04 9.99938520e-01 -1.20016963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:30.51, Y:0.17, Z:-0.11 [[ 9.99921075e-01 5.90905869e-03 1.10872128e-02 3.05066929e+01] [-5.91134608e-03 9.99982513e-01 1.73548186e-04 1.67856967e-01] [-1.10859934e-02 -2.39074840e-04 9.99938520e-01 -1.08179396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.958639999999995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:30.54, Y:0.17, Z:-0.11 [[ 9.99935046e-01 2.63992728e-03 1.10875929e-02 3.05355298e+01] [-2.64174278e-03 9.99996499e-01 1.49099026e-04 1.67891407e-01] [-1.10871605e-02 -1.78379910e-04 9.99938520e-01 -1.10025366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:30.57, Y:0.17, Z:-0.11 [[ 9.99936979e-01 1.77225314e-03 1.10858850e-02 3.05681141e+01] [-1.77526230e-03 9.99998390e-01 2.61606844e-04 1.68380437e-01] [-1.10854035e-02 -2.81270711e-04 9.99938515e-01 -1.08048474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.60, Y:0.17, Z:-0.12 [[ 9.99933349e-01 3.22220847e-03 1.10867201e-02 3.05997158e+01] [-3.22467995e-03 9.99994780e-01 2.05052804e-04 1.69479801e-01] [-1.10860015e-02 -2.40790261e-04 9.99938519e-01 -1.21413997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.63, Y:0.17, Z:-0.12 [[ 9.99934302e-01 2.90886933e-03 1.10873800e-02 3.06331386e+01] [-2.91081168e-03 9.99995751e-01 1.59052423e-04 1.70553528e-01] [-1.10868703e-02 -1.91315248e-04 9.99938520e-01 -1.22471120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.67, Y:0.17, Z:-0.12 [[ 9.99930919e-01 3.90219189e-03 1.10874111e-02 3.06651830e+01] [-3.90417098e-03 9.99992366e-01 1.56859991e-04 1.72281164e-01] [-1.10867143e-02 -2.00136304e-04 9.99938520e-01 -1.22347426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:30.70, Y:0.17, Z:-0.11 [[ 9.99932546e-01 3.46007399e-03 1.10874312e-02 3.06954200e+01] [-3.46200996e-03 9.99993995e-01 1.55421581e-04 1.74113080e-01] [-1.10868269e-02 -1.93795894e-04 9.99938520e-01 -1.13342028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.138639999999995 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:30.75, Y:0.20, Z:-0.12 [[ 9.97456190e-01 7.04147237e-02 1.10867797e-02 3.07507853e+01] [-7.04212847e-02 9.97517319e-01 2.02029686e-04 2.03950636e-01] [-1.10450289e-02 -9.82261031e-04 9.99938519e-01 -1.23142771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.168639999999996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:30.75, Y:0.18, Z:-0.11 [[ 9.99929629e-01 4.17973998e-03 1.11025818e-02 3.07533535e+01] [-4.16585015e-03 9.99990511e-01 -1.27387738e-03 1.80558681e-01] [-1.11078009e-02 1.22753604e-03 9.99937553e-01 -1.10806643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:30.78, Y:0.18, Z:-0.11 [[ 9.99924171e-01 5.37591644e-03 1.10793372e-02 3.07847069e+01] [-5.37877286e-03 9.99985508e-01 2.28033107e-04 1.82630195e-01] [-1.10779507e-02 -2.87609053e-04 9.99938596e-01 -1.11539767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:30.82, Y:0.19, Z:-0.11 [[ 9.99930288e-01 4.08252893e-03 1.10793923e-02 3.08156085e+01] [-4.08526532e-03 9.99991630e-01 2.24358782e-04 1.88734493e-01] [-1.10783836e-02 -2.69605399e-04 9.99938596e-01 -1.11561397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:30.85, Y:0.19, Z:-0.11 [[ 9.99932793e-01 3.41418428e-03 1.10793806e-02 3.08488468e+01] [-3.41688848e-03 9.99994137e-01 2.25155379e-04 1.92200553e-01] [-1.10785469e-02 -2.62997255e-04 9.99938596e-01 -1.09581766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:30.88, Y:0.20, Z:-0.11 [[ 9.99936654e-01 -1.98071280e-03 1.10799496e-02 3.08787343e+01] [ 1.97878851e-03 9.99998025e-01 1.84632989e-04 1.96981601e-01] [-1.10802934e-02 -1.62696416e-04 9.99938598e-01 -1.13033755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.318639999999995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:30.91, Y:0.20, Z:-0.11 [[ 9.99928426e-01 -4.51676191e-03 1.10789238e-02 3.09099369e+01] [ 4.51415171e-03 9.99989777e-01 2.60596636e-04 1.99283978e-01] [-1.10799876e-02 -2.10566041e-04 9.99938593e-01 -1.11081913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.94, Y:0.21, Z:-0.13 [[ 9.99926624e-01 -4.89963882e-03 1.10787828e-02 3.09436750e+01] [ 4.89693075e-03 9.99987973e-01 2.71551610e-04 2.05221630e-01] [-1.10799801e-02 -2.17279652e-04 9.99938592e-01 -1.25700502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.98, Y:0.21, Z:-0.13 [[ 9.99928975e-01 -4.38965244e-03 1.10804465e-02 3.09772715e+01] [ 4.38840274e-03 9.99990362e-01 1.37095248e-04 2.06071897e-01] [-1.10809415e-02 -8.84600487e-05 9.99938601e-01 -1.26048428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:31.01, Y:0.21, Z:-0.11 [[ 9.99904501e-01 -8.25900052e-03 1.10805134e-02 3.10057371e+01] [ 8.25805082e-03 9.99965893e-01 1.31460092e-04 2.09421917e-01] [-1.10812212e-02 -3.99440946e-05 9.99938601e-01 -1.13745088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:31.04, Y:0.21, Z:-0.13 [[ 9.99927450e-01 -4.72735144e-03 1.10791415e-02 3.10389232e+01] [ 4.72489007e-03 9.99988807e-01 2.48326895e-04 2.11913165e-01] [-1.10801915e-02 -1.95961153e-04 9.99938594e-01 -1.26486101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:31.07, Y:0.21, Z:-0.11 [[ 9.99894973e-01 -9.34151878e-03 1.10805329e-02 3.10673628e+01] [ 9.34071464e-03 9.99956367e-01 1.24322338e-04 2.14037802e-01] [-1.10812108e-02 -2.08091841e-05 9.99938601e-01 -1.13451698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:31.10, Y:0.22, Z:-0.11 [[ 9.99908693e-01 -7.73722203e-03 1.10788744e-02 3.11001768e+01] [ 7.73469041e-03 9.99970050e-01 2.71338982e-04 2.18650721e-01] [-1.10806420e-02 -1.85622543e-04 9.99938591e-01 -1.13889557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.528639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:31.13, Y:0.22, Z:-0.11 [[ 9.99903362e-01 -8.39715972e-03 1.10794352e-02 3.11320059e+01] [ 8.39526108e-03 9.99964735e-01 2.17864750e-04 2.23570235e-01] [-1.10808740e-02 -1.24828944e-04 9.99938597e-01 -1.14967392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.17, Y:0.23, Z:-0.13 [[ 9.99908780e-01 -7.72504391e-03 1.10795473e-02 3.11655264e+01] [ 7.72322880e-03 9.99970154e-01 2.06603001e-04 2.25198348e-01] [-1.10808127e-02 -1.21014275e-04 9.99938599e-01 -1.28340977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58864 meters Centerline goodness : 0.969931 Centerline is valid? [True, True] Translation: X:31.20, Y:0.26, Z:-0.13 [[ 9.97732703e-01 6.63827922e-02 1.10805104e-02 3.11951157e+01] [-6.63880010e-02 9.97793878e-01 1.02524594e-04 2.60989916e-01] [-1.10492596e-02 -8.37905075e-04 9.99938604e-01 -1.29373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:31.23, Y:0.22, Z:-0.12 [[ 9.99847527e-01 -1.34965101e-02 1.10799940e-02 3.12258906e+01] [ 1.34955876e-02 9.99908918e-01 1.58024981e-04 2.23820224e-01] [-1.10811176e-02 -8.46985742e-06 9.99938602e-01 -1.17528877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64864 meters Centerline goodness : 0.813464 Centerline is valid? [True, False] Translation: X:31.25, Y:0.23, Z:-0.12 [[ 9.99875288e-01 -1.32653981e-02 -8.56958745e-03 3.12505390e+01] [ 1.32232829e-02 9.99900303e-01 -4.95260871e-03 2.27038862e-01] [ 8.63443141e-03 4.83867298e-03 9.99951016e-01 -1.15887019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:31.27, Y:0.23, Z:-0.11 [[ 9.99918777e-01 -5.93319906e-03 -1.12798884e-02 3.12714665e+01] [ 5.85901190e-03 9.99961064e-01 -6.59864947e-03 2.28099881e-01] [ 1.13186003e-02 6.53202451e-03 9.99914607e-01 -1.12239472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:31.30, Y:0.22, Z:-0.09 [[ 9.99894940e-01 -9.15284562e-03 -1.12398942e-02 3.12988009e+01] [ 9.15418648e-03 9.99958097e-01 6.78524538e-05 2.17783464e-01] [ 1.12388021e-02 -1.70737412e-04 9.99936828e-01 -9.25837228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:31.33, Y:0.22, Z:-0.10 [[ 9.99913539e-01 -6.82364761e-03 -1.12406986e-02 3.13279125e+01] [ 6.82333322e-03 9.99976719e-01 -6.63197809e-05 2.16420461e-01] [ 1.12408895e-02 -1.03849856e-05 9.99936819e-01 -9.97299223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:31.36, Y:0.21, Z:-0.10 [[ 9.99901692e-01 -8.38152417e-03 -1.12408069e-02 3.13571324e+01] [ 8.38110162e-03 9.99964874e-01 -8.46979665e-05 2.13595563e-01] [ 1.12411220e-02 -9.52070501e-06 9.99936817e-01 -9.71776957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:31.38, Y:0.21, Z:-0.10 [[ 9.99903885e-01 -8.11566172e-03 -1.12408186e-02 3.13844146e+01] [ 8.11520182e-03 9.99967067e-01 -8.65254571e-05 2.07729375e-01] [ 1.12411506e-02 -4.70437042e-06 9.99936816e-01 -9.72965084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:31.42, Y:0.21, Z:-0.10 [[ 9.99928207e-01 -4.14883726e-03 -1.12413268e-02 3.14167487e+01] [ 4.14725455e-03 9.99991387e-01 -1.64101298e-04 2.05029874e-01] [ 1.12419108e-02 1.17468873e-04 9.99936801e-01 -9.50432300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85864 meters Centerline goodness : 0.900600 Centerline is valid? [True, False] Translation: X:31.44, Y:0.21, Z:-0.09 [[ 9.99913300e-01 -2.27250750e-04 -1.31658908e-02 3.14384106e+01] [ 1.56197020e-04 9.99985421e-01 -5.39758074e-03 2.05131701e-01] [ 1.31669255e-02 5.39505630e-03 9.99898758e-01 -9.21253742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters Centerline goodness : 0.981343 Centerline is valid? [False, True] Translation: X:31.44, Y:0.20, Z:-0.09 [[ 9.99913080e-01 -2.88853510e-04 -1.31813645e-02 3.14385139e+01] [ 2.23960852e-04 9.99987851e-01 -4.92427136e-03 2.02782320e-01] [ 1.31826267e-02 4.92089123e-03 9.99900997e-01 -9.21854831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.918639999999996 meters Centerline goodness : 0.937395 Centerline is valid? [True, False] Translation: X:31.44, Y:0.20, Z:-0.09 [[ 9.99912663e-01 -2.92922967e-04 -1.32128814e-02 3.14386307e+01] [ 2.37686845e-04 9.99991228e-01 -4.18185176e-03 1.99465846e-01] [ 1.32139904e-02 4.17834600e-03 9.99903961e-01 -9.26284366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94864 meters Centerline goodness : 0.999016 Centerline is valid? [False, True] Translation: X:31.44, Y:0.20, Z:-0.09 [[ 9.99912441e-01 -3.22047737e-04 -1.32290441e-02 3.14387004e+01] [ 2.67444913e-04 9.99991440e-01 -4.12905753e-03 1.99109758e-01] [ 1.32302606e-02 4.12515795e-03 9.99903967e-01 -9.28742630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:31.47, Y:0.20, Z:-0.09 [[ 9.99912636e-01 6.72540798e-04 -1.32010958e-02 3.14689332e+01] [-6.73566352e-04 9.99999770e-01 -7.32410915e-05 1.95748181e-01] [ 1.32010435e-02 8.21265068e-05 9.99912859e-01 -9.49837525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:31.50, Y:0.19, Z:-0.09 [[ 9.99912871e-01 -7.11609171e-07 -1.32003709e-02 3.14982089e+01] [ 1.11155533e-06 1.00000000e+00 3.02907632e-05 1.93938383e-01] [ 1.32003709e-02 -3.03027970e-05 9.99912871e-01 -9.44621819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:31.53, Y:0.19, Z:-0.10 [[ 9.99912793e-01 3.82848727e-04 -1.32007729e-02 3.15295935e+01] [-3.83235790e-04 9.99999926e-01 -2.67916286e-05 1.92579047e-01] [ 1.32007617e-02 3.18483009e-05 9.99912866e-01 -9.52778529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:31.56, Y:0.19, Z:-0.11 [[ 9.99912062e-01 -1.27434048e-03 -1.32001309e-02 3.15602382e+01] [ 1.27527273e-03 9.99999185e-01 6.22071116e-05 1.90844626e-01] [ 1.32000409e-02 -7.90354082e-05 9.99912873e-01 -1.06438319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.098639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:0.19, Z:-0.11 [[ 9.99906722e-01 -3.50862073e-03 -1.31998855e-02 3.15888280e+01] [ 3.51019327e-03 9.99993835e-01 9.59662120e-05 1.90212444e-01] [ 1.31994674e-02 -1.42291410e-04 9.99912873e-01 -1.06438127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:31.62, Y:0.19, Z:-0.09 [[ 9.99896140e-01 -5.78536773e-03 -1.31999246e-02 3.16165633e+01] [ 5.78706308e-03 9.99983251e-01 9.02434425e-05 1.88383644e-01] [ 1.31991814e-02 -1.66622866e-04 9.99912873e-01 -9.02583874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15864 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:31.65, Y:0.19, Z:-0.09 [[ 9.99893385e-01 -6.24169231e-03 -1.32007514e-02 3.16471354e+01] [ 6.24173831e-03 9.99980519e-01 -3.77156865e-05 1.87360252e-01] [ 1.32007297e-02 -4.46839703e-05 9.99912866e-01 -9.01128046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18864 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:31.68, Y:0.19, Z:-0.08 [[ 9.99906065e-01 -3.68912369e-03 -1.32004057e-02 3.16788107e+01] [ 3.68962928e-03 9.99993193e-01 1.39478527e-05 1.86616759e-01] [ 1.32002644e-02 -6.26511458e-05 9.99912871e-01 -8.25312834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:31.71, Y:0.18, Z:-0.10 [[ 9.99883681e-01 -7.64145429e-03 -1.31996986e-02 3.17079269e+01] [ 7.64371078e-03 9.99970779e-01 1.20508544e-04 1.84774560e-01] [ 1.31983920e-02 -2.21389205e-04 9.99912873e-01 -1.03328973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:31.74, Y:0.18, Z:-0.09 [[ 9.99877482e-01 -8.41329318e-03 -1.31999253e-02 3.17357879e+01] [ 8.41515511e-03 9.99964588e-01 8.55193352e-05 1.81597922e-01] [ 1.31987384e-02 -1.96588276e-04 9.99912874e-01 -8.98053694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.278639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:0.18, Z:-0.10 [[ 9.99883428e-01 -7.67301185e-03 -1.32005427e-02 3.17666461e+01] [ 7.67346429e-03 9.99970558e-01 -1.63757923e-05 1.80674532e-01] [ 1.32002797e-02 -8.49200097e-05 9.99912869e-01 -1.02203400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:31.80, Y:0.18, Z:-0.09 [[ 9.99885046e-01 -7.46037352e-03 -1.31999305e-02 3.17957463e+01] [ 7.46210708e-03 9.99972155e-01 8.20835135e-05 1.78781382e-01] [ 1.31989506e-02 -1.80573373e-04 9.99912874e-01 -8.70267516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.83, Y:0.17, Z:-0.10 [[ 9.99885231e-01 -7.43499697e-03 -1.32002101e-02 3.18266089e+01] [ 7.43610042e-03 9.99972351e-01 3.45133438e-05 1.74702476e-01] [ 1.31995885e-02 -1.32667470e-04 9.99912873e-01 -1.01621005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:31.86, Y:0.17, Z:-0.09 [[ 9.99884130e-01 -7.58208648e-03 -1.31999519e-02 3.18552046e+01] [ 7.58377852e-03 9.99971240e-01 7.81341630e-05 1.71607264e-01] [ 1.31989798e-02 -1.78230621e-04 9.99912874e-01 -8.57980729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39864 meters Centerline goodness : 0.935993 Centerline is valid? [True, False] Translation: X:31.87, Y:0.17, Z:-0.08 [[ 9.99924913e-01 -1.91687847e-03 -1.21034572e-02 3.18706459e+01] [ 1.86955410e-03 9.99990569e-01 -3.92009251e-03 1.71901816e-01] [ 1.21108574e-02 3.89717009e-03 9.99919066e-01 -8.01973259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42864 meters Centerline goodness : 0.999065 Centerline is valid? [False, True] Translation: X:31.89, Y:0.18, Z:-0.08 [[ 9.99898358e-01 2.02942094e-03 -1.41122451e-02 3.18919362e+01] [-2.17216433e-03 9.99946565e-01 -1.01068998e-02 1.76005246e-01] [ 1.40909799e-02 1.01365267e-02 9.99849336e-01 -7.67015087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.458639999999995 meters Centerline goodness : 0.877873 Centerline is valid? [True, False] Translation: X:31.90, Y:0.17, Z:-0.08 [[ 9.99878103e-01 3.74434982e-03 -1.51577825e-02 3.18972670e+01] [-3.86221816e-03 9.99962476e-01 -7.75430403e-03 1.72480795e-01] [ 1.51281789e-02 7.81190147e-03 9.99855046e-01 -8.12786711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters Centerline goodness : 0.999704 Centerline is valid? [False, True] Translation: X:31.89, Y:0.17, Z:-0.08 [[ 9.99993194e-01 3.36749804e-03 -1.50719152e-03 3.18915595e+01] [-3.38086360e-03 9.99954188e-01 -8.95494290e-03 1.67881905e-01] [ 1.47696672e-03 8.95997756e-03 9.99958768e-01 -8.40096083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:31.92, Y:0.16, Z:-0.07 [[ 9.99992203e-01 3.69791226e-03 -1.38520201e-03 3.19201175e+01] [-3.69788971e-03 9.99993163e-01 1.88390361e-05 1.56707711e-01] [ 1.38526221e-03 -1.37165649e-05 9.99999040e-01 -7.12347838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:31.95, Y:0.15, Z:-0.08 [[ 9.99995354e-01 2.71523766e-03 -1.38527909e-03 3.19512379e+01] [-2.71522223e-03 9.99996314e-01 1.30170386e-05 1.53884632e-01] [ 1.38530932e-03 -9.25563752e-06 9.99999040e-01 -8.49179008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:31.98, Y:0.15, Z:-0.07 [[ 9.99997784e-01 1.58529787e-03 -1.38520873e-03 3.19811963e+01] [-1.58527400e-03 9.99998743e-01 1.83328298e-05 1.47139078e-01] [ 1.38523606e-03 -1.61368538e-05 9.99999040e-01 -6.98942717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.01, Y:0.14, Z:-0.08 [[ 9.99998314e-01 1.20575959e-03 -1.38524601e-03 3.20116932e+01] [-1.20573928e-03 9.99999273e-01 1.54941266e-05 1.44850955e-01] [ 1.38526368e-03 -1.38238550e-05 9.99999040e-01 -8.38961186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.638639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.04, Y:0.14, Z:-0.09 [[ 9.99998970e-01 -3.75162848e-04 -1.38520929e-03 3.20412211e+01] [ 3.75188525e-04 9.99999929e-01 1.82767628e-05 1.40660607e-01] [ 1.38520234e-03 -1.87964586e-05 9.99999040e-01 -8.53720837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:0.14, Z:-0.08 [[ 9.99998998e-01 -2.91868512e-04 -1.38521042e-03 3.20704088e+01] [ 2.91893990e-04 9.99999957e-01 1.81908661e-05 1.37668204e-01] [ 1.38520505e-03 -1.85951824e-05 9.99999040e-01 -8.46533490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:0.13, Z:-0.08 [[ 9.99999039e-01 -6.13432629e-05 -1.38521154e-03 3.21003213e+01] [ 6.13684008e-05 9.99999998e-01 1.81048911e-05 1.34654878e-01] [ 1.38521043e-03 -1.81898820e-05 9.99999040e-01 -8.48470324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:32.13, Y:0.13, Z:-0.07 [[ 9.99998776e-01 7.28072036e-04 -1.38521267e-03 3.21288644e+01] [-7.28047776e-04 9.99999735e-01 1.80181571e-05 1.30776213e-01] [ 1.38522542e-03 -1.70096340e-05 9.99999040e-01 -6.80477453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.16, Y:0.13, Z:-0.08 [[ 9.99996905e-01 2.06642303e-03 -1.38528989e-03 3.21602260e+01] [-2.06640849e-03 9.99997865e-01 1.19289851e-05 1.29127132e-01] [ 1.38531158e-03 -9.06637336e-06 9.99999040e-01 -8.44105855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:32.19, Y:0.13, Z:-0.07 [[ 9.99997907e-01 1.50571193e-03 -1.38521852e-03 3.21893743e+01] [-1.50568905e-03 9.99998866e-01 1.75589968e-05 1.27102623e-01] [ 1.38524339e-03 -1.54732517e-05 9.99999040e-01 -7.04485710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.818639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:0.13, Z:-0.08 [[ 9.99990348e-01 4.16949793e-03 -1.38529816e-03 3.22208913e+01] [-4.16948646e-03 9.99991308e-01 1.11663014e-05 1.25476655e-01] [ 1.38533267e-03 -5.39021171e-06 9.99999040e-01 -8.41881142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.848639999999996 meters Centerline goodness : 0.974838 Centerline is valid? [True, True] Translation: X:32.27, Y:0.16, Z:-0.09 [[ 9.95935189e-01 9.00620959e-02 -1.38522307e-03 3.22661424e+01] [-9.00621586e-02 9.95936146e-01 1.72100345e-05 1.58515795e-01] [ 1.38114370e-03 1.07616101e-04 9.99999040e-01 -8.83744277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:0.12, Z:-0.08 [[ 9.99944556e-01 1.04388302e-02 -1.38388725e-03 3.22817934e+01] [-1.04386802e-02 9.99945509e-01 1.15554298e-04 1.18481102e-01] [ 1.38501809e-03 -1.01101934e-04 9.99999036e-01 -8.49330595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:32.31, Y:0.12, Z:-0.07 [[ 9.99912165e-01 1.31811940e-02 -1.38499965e-03 3.23112326e+01] [-1.31811853e-02 9.99913124e-01 1.53799189e-05 1.17422381e-01] [ 1.38508206e-03 2.87736910e-06 9.99999041e-01 -6.92740318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:32.34, Y:0.12, Z:-0.07 [[ 9.99851478e-01 1.71785772e-02 -1.38501410e-03 3.23422773e+01] [-1.71785742e-02 9.99852437e-01 1.40457951e-05 1.16388608e-01] [ 1.38505102e-03 9.74885855e-06 9.99999041e-01 -7.13678042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:32.37, Y:0.11, Z:-0.07 [[ 9.99839841e-01 1.78430265e-02 -1.38493693e-03 3.23697687e+01] [-1.78430144e-02 9.99840801e-01 2.11409240e-05 1.14967832e-01] [ 1.38509366e-03 3.57391133e-06 9.99999041e-01 -7.36652266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:32.40, Y:0.11, Z:-0.07 [[ 9.99703633e-01 2.43049077e-02 -1.38503349e-03 3.24001004e+01] [-2.43049147e-02 9.99704592e-01 1.17697566e-05 1.14044166e-01] [ 1.38491040e-03 2.18968523e-05 9.99999041e-01 -6.89550269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:32.43, Y:0.11, Z:-0.07 [[ 9.99634566e-01 2.69965886e-02 -1.38495846e-03 3.24290780e+01] [-2.69965879e-02 9.99635526e-01 1.91903432e-05 1.14835725e-01] [ 1.38497175e-03 1.82058223e-05 9.99999041e-01 -6.84533792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:32.46, Y:0.12, Z:-0.07 [[ 9.99553356e-01 2.98524834e-02 -1.38496403e-03 3.24570046e+01] [-2.98524863e-02 9.99554315e-01 1.86091153e-05 1.16703453e-01] [ 1.38490230e-03 2.27438161e-05 9.99999041e-01 -7.39653167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08864 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:32.49, Y:0.12, Z:-0.07 [[ 9.99357355e-01 3.58184260e-02 -1.38501615e-03 3.24865711e+01] [-3.58184425e-02 9.99358314e-01 1.28719542e-05 1.20908956e-01] [ 1.38458845e-03 3.67454392e-05 9.99999041e-01 -7.29100331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11864 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:32.52, Y:0.12, Z:-0.09 [[ 9.99209206e-01 3.97371858e-02 -1.38494103e-03 3.25158647e+01] [-3.97371946e-02 9.99210166e-01 2.11843437e-05 1.24248679e-01] [ 1.38468896e-03 3.38660800e-05 9.99999041e-01 -8.70650433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:32.54, Y:0.13, Z:-0.09 [[ 9.99184332e-01 4.03577930e-02 -1.38502093e-03 3.25438684e+01] [-4.03578154e-02 9.99185291e-01 1.18323187e-05 1.26999038e-01] [ 1.38437007e-03 4.40737514e-05 9.99999041e-01 -8.67144495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17864 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:32.57, Y:0.13, Z:-0.09 [[ 9.99168671e-01 4.07436822e-02 -1.38502668e-03 3.25714735e+01] [-4.07437059e-02 9.99169630e-01 1.11160261e-05 1.30733619e-01] [ 1.38432950e-03 4.53243346e-05 9.99999041e-01 -8.71347696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:32.60, Y:0.14, Z:-0.07 [[ 9.99136248e-01 4.15311871e-02 -1.38503205e-03 3.26025639e+01] [-4.15312126e-02 9.99137207e-01 1.03997307e-05 1.35812960e-01] [ 1.38426897e-03 4.71313128e-05 9.99999041e-01 -7.29914498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23864 meters Centerline goodness : 0.985138 Centerline is valid? [True, True] Translation: X:32.61, Y:0.16, Z:-0.09 [[ 9.97070219e-01 7.64791547e-02 -1.38494796e-03 3.26051608e+01] [-7.64791975e-02 9.97071177e-01 2.21097747e-05 1.57107770e-01] [ 1.38258262e-03 8.38747103e-05 9.99999041e-01 -8.78089743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26864 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:32.62, Y:0.14, Z:-0.09 [[ 9.98798896e-01 4.89780068e-02 -1.38600595e-03 3.26205555e+01] [-4.89782441e-02 9.98799836e-01 -1.37768738e-04 1.40416893e-01] [ 1.37759488e-03 2.05487401e-04 9.99999030e-01 -9.44721209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29864 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:32.65, Y:0.14, Z:-0.09 [[ 9.98559868e-01 5.36309544e-02 -1.38211287e-03 3.26504740e+01] [-5.36313867e-02 9.98560763e-01 -2.77614414e-04 1.41985596e-01] [ 1.36523496e-03 3.51339243e-04 9.99999006e-01 -9.44087808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32864 meters Centerline goodness : 0.797757 Centerline is valid? [True, False] Translation: X:32.64, Y:0.15, Z:-0.10 [[ 9.99083769e-01 4.15197882e-02 1.03792514e-02 3.26402223e+01] [-4.15342363e-02 9.99136384e-01 1.18027547e-03 1.47016437e-01] [-1.03212830e-02 -1.61028835e-03 9.99945438e-01 -9.71686736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35864 meters Centerline goodness : 0.997933 Centerline is valid? [False, True] Translation: X:32.63, Y:0.15, Z:-0.10 [[ 9.99391459e-01 2.67187994e-02 2.24236026e-02 3.26276995e+01] [-2.67404861e-02 9.99642186e-01 6.67792818e-04 1.49866626e-01] [-2.23977365e-02 -1.26700447e-03 9.99748336e-01 -9.74927921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.388639999999995 meters Centerline goodness : 0.805766 Centerline is valid? [True, False] Translation: X:32.66, Y:0.15, Z:-0.10 [[ 9.99720686e-01 1.64039354e-02 1.70135622e-02 3.26563223e+01] [-1.64386191e-02 9.99863070e-01 1.90074128e-03 1.49996805e-01] [-1.69800529e-02 -2.17988984e-03 9.99853452e-01 -9.58076790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.418639999999996 meters Centerline goodness : 0.996358 Centerline is valid? [False, True] Translation: X:32.65, Y:0.15, Z:-0.10 [[ 9.99861031e-01 1.19763019e-02 1.15968638e-02 3.26492768e+01] [-1.21046202e-02 9.99865583e-01 1.10586744e-02 1.48104529e-01] [-1.14628630e-02 -1.11975133e-02 9.99871601e-01 -9.65667200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44864 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:32.68, Y:0.16, Z:-0.10 [[ 9.99873417e-01 1.06703820e-02 1.18022228e-02 3.26775423e+01] [-1.06721027e-02 9.99943048e-01 8.28188533e-05 1.62053061e-01] [-1.18006669e-02 -2.08762903e-04 9.99930348e-01 -9.74734444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:32.71, Y:0.17, Z:-0.11 [[ 9.99867851e-01 1.11834421e-02 1.17987867e-02 3.27099787e+01] [-1.11873818e-02 9.99937383e-01 2.67957718e-04 1.65218253e-01] [-1.17950512e-02 -3.99919838e-04 9.99930356e-01 -1.09674392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:32.74, Y:0.17, Z:-0.11 [[ 9.99879981e-01 1.00394171e-02 1.17997567e-02 3.27429288e+01] [-1.00426485e-02 9.99949548e-01 2.14625799e-04 1.70887208e-01] [-1.17970067e-02 -3.33100849e-04 9.99930357e-01 -1.09727829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53864 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:32.77, Y:0.17, Z:-0.10 [[ 9.99883178e-01 9.71567442e-03 1.17997979e-02 3.27749803e+01] [-9.71885624e-03 9.99952748e-01 2.12336310e-04 1.74213388e-01] [-1.17971774e-02 -3.26992044e-04 9.99930357e-01 -9.83911019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters Centerline goodness : 0.986225 Centerline is valid? [True, True] Translation: X:32.80, Y:0.16, Z:-0.12 [[ 9.97612798e-01 -6.80401107e-02 1.18003996e-02 3.28047980e+01] [ 6.80427442e-02 9.97682391e-01 1.78629282e-04 1.58973036e-01] [-1.17852048e-02 6.24728712e-04 9.99930357e-01 -1.20077329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.598639999999996 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:32.84, Y:0.18, Z:-0.10 [[ 9.99914352e-01 5.66149644e-03 1.17998327e-02 3.28355158e+01] [-5.66437356e-03 9.99983935e-01 2.10420451e-04 1.84681889e-01] [-1.17984518e-02 -2.77241090e-04 9.99930357e-01 -9.79731595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters Centerline goodness : 0.972355 Centerline is valid? [True, True] Translation: X:32.91, Y:0.20, Z:-0.12 [[ 9.99754769e-01 -1.87390982e-02 1.18003138e-02 3.29127271e+01] [ 1.87382418e-02 9.99824407e-01 1.83135610e-04 1.95439547e-01] [-1.18016736e-02 3.80264348e-05 9.99930357e-01 -1.24657957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:32.87, Y:0.21, Z:-0.11 [[ 9.99791537e-01 1.67028340e-02 1.17429663e-02 3.28656040e+01] [-1.66641948e-02 9.99855428e-01 -3.38059771e-03 2.07239283e-01] [-1.17977342e-02 3.18420590e-03 9.99925334e-01 -1.10642909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68864 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:32.86, Y:0.21, Z:-0.11 [[ 9.98872493e-01 4.59931958e-02 1.17629821e-02 3.28582356e+01] [-4.59966029e-02 9.98941596e-01 1.91244497e-05 2.13855236e-01] [-1.17496525e-02 -5.60160102e-04 9.99930814e-01 -1.10618685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71864 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:32.92, Y:0.23, Z:-0.10 [[ 9.98691008e-01 4.97709564e-02 1.17950287e-02 3.29226429e+01] [-4.97871079e-02 9.98759270e-01 1.07951779e-03 2.25977797e-01] [-1.17266656e-02 -1.66534508e-03 9.99929854e-01 -9.69762806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74864 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:32.92, Y:0.22, Z:-0.12 [[ 9.99623009e-01 2.48180818e-02 1.17431740e-02 3.29183433e+01] [-2.48152305e-02 9.99691979e-01 -3.88475309e-04 2.24296409e-01] [-1.17491981e-02 9.69192883e-05 9.99930971e-01 -1.23151315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.778639999999996 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:32.98, Y:0.24, Z:-0.11 [[ 9.98607233e-01 5.14267904e-02 1.17847351e-02 3.29801630e+01] [-5.14397039e-02 9.98675786e-01 7.95094880e-04 2.37207394e-01] [-1.17282404e-02 -1.40019078e-03 9.99930241e-01 -1.09784747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80864 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:33.01, Y:0.24, Z:-0.11 [[ 9.98710697e-01 4.93885947e-02 1.17350474e-02 3.30121483e+01] [-4.93865586e-02 9.98779632e-01 -4.63405691e-04 2.43842735e-01] [-1.17436133e-02 -1.16745386e-04 9.99931035e-01 -1.09991904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83864 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:33.04, Y:0.24, Z:-0.11 [[ 9.98834564e-01 4.68166883e-02 1.17350180e-02 3.30427456e+01] [-4.68144660e-02 9.98903494e-01 -4.64150191e-04 2.44248908e-01] [-1.17438804e-02 -8.57593453e-05 9.99931035e-01 -1.11743133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:33.05, Y:0.24, Z:-0.14 [[ 9.99762438e-01 1.83672756e-02 1.17350180e-02 3.30463503e+01] [-1.83630922e-02 9.99831276e-01 -4.64150191e-04 2.35272094e-01] [-1.17415632e-02 2.48548709e-04 9.99931035e-01 -1.35202632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89864 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:33.10, Y:0.25, Z:-0.10 [[ 9.98979344e-01 4.36086152e-02 1.17710752e-02 3.30995400e+01] [-4.36169116e-02 9.99048229e-01 4.48892137e-04 2.46969339e-01] [-1.17402962e-02 -9.61851918e-04 9.99930618e-01 -9.79266337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92864 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:33.13, Y:0.25, Z:-0.10 [[ 9.99035218e-01 4.23193889e-02 1.17346418e-02 3.31304201e+01] [-4.23175369e-02 9.99104129e-01 -4.06182226e-04 2.47878382e-01] [-1.17413185e-02 -9.07907882e-05 9.99931064e-01 -9.92940104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.958639999999995 meters Centerline goodness : 0.985269 Centerline is valid? [True, True] Translation: X:33.22, Y:0.27, Z:-0.13 [[ 9.98293673e-01 5.72016434e-02 1.17351872e-02 3.32162795e+01] [-5.72009697e-02 9.98362607e-01 -3.93322284e-04 2.69062953e-01] [-1.17384707e-02 -2.78612938e-04 9.99931063e-01 -1.32113991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:33.18, Y:0.24, Z:-0.11 [[ 9.99361089e-01 3.38014559e-02 1.16135678e-02 3.31837478e+01] [-3.37690416e-02 9.99425233e-01 -2.97597152e-03 2.41889685e-01] [-1.17074849e-02 2.58189109e-03 9.99928132e-01 -1.12473761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01864 meters Centerline goodness : 0.867240 Centerline is valid? [True, False] Translation: X:33.18, Y:0.24, Z:-0.11 [[ 9.99698589e-01 1.76788450e-02 1.70349306e-02 3.31826606e+01] [-1.77064422e-02 9.99842147e-01 1.47056561e-03 2.35425879e-01] [-1.70062437e-02 -1.77175038e-03 9.99853814e-01 -1.13460472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04864 meters Centerline goodness : 0.992285 Centerline is valid? [False, True] Translation: X:33.20, Y:0.24, Z:-0.11 [[ 9.99925006e-01 2.39500612e-03 1.20102205e-02 3.32042501e+01] [-2.34406632e-03 9.99988206e-01 -4.25365578e-03 2.35032622e-01] [-1.20202664e-02 4.22518403e-03 9.99918827e-01 -1.08069668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07864 meters Centerline goodness : 0.951405 Centerline is valid? [True, True] Translation: X:33.26, Y:0.22, Z:-0.13 [[ 9.99439527e-01 -3.12063853e-02 1.21158350e-02 3.32649406e+01] [ 3.12359891e-02 9.99509478e-01 -2.26185924e-03 2.18078476e-01] [-1.20393075e-02 2.63904162e-03 9.99924042e-01 -1.25684708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:33.23, Y:0.20, Z:-0.12 [[ 9.99773697e-01 -1.74860708e-02 1.21157916e-02 3.32307867e+01] [ 1.75156853e-02 9.99843845e-01 -2.34249135e-03 2.03436111e-01] [-1.20729387e-02 2.55417763e-03 9.99923857e-01 -1.15415701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.138639999999995 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:33.26, Y:0.21, Z:-0.11 [[ 9.99889560e-01 8.63648175e-03 1.20945664e-02 3.32623403e+01] [-8.63838418e-03 9.99962683e-01 1.05062857e-04 2.10909233e-01] [-1.20932077e-02 -2.09528766e-04 9.99926853e-01 -1.10918380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:33.29, Y:0.20, Z:-0.10 [[ 9.99787876e-01 -1.66707530e-02 1.20950062e-02 3.32916987e+01] [ 1.66713318e-02 9.99861022e-01 5.29708695e-05 1.96338270e-01] [-1.20942083e-02 1.48680229e-04 9.99926851e-01 -1.04857785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19864 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:33.32, Y:0.20, Z:-0.10 [[ 9.99803689e-01 -1.56944434e-02 1.20941281e-02 3.33234245e+01] [ 1.56937244e-02 9.99876834e-01 1.54361780e-04 1.96764567e-01] [-1.20950611e-02 3.54704366e-05 9.99926851e-01 -1.02753729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22864 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:33.35, Y:0.20, Z:-0.10 [[ 9.99800247e-01 -1.59118903e-02 1.20945028e-02 3.33545857e+01] [ 1.59117414e-02 9.99873394e-01 1.08550006e-04 1.96884694e-01] [-1.20946988e-02 8.39162779e-05 9.99926853e-01 -1.01487723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25864 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:33.38, Y:0.21, Z:-0.11 [[ 9.99881063e-01 9.56985105e-03 1.20945163e-02 3.33823873e+01] [-9.57184375e-03 9.99954183e-01 1.06884349e-04 2.05536637e-01] [-1.20929393e-02 -2.22638456e-04 9.99926853e-01 -1.09720436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:33.42, Y:0.20, Z:-0.12 [[ 9.99842441e-01 -1.29940634e-02 1.20932889e-02 3.34165479e+01] [ 1.29918630e-02 9.99915568e-01 2.60500530e-04 1.95865417e-01] [-1.20956528e-02 -1.03345133e-04 9.99926840e-01 -1.16368900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.318639999999995 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:33.45, Y:0.20, Z:-0.10 [[ 9.99893986e-01 -8.10793164e-03 1.20945545e-02 3.34490457e+01] [ 8.10744225e-03 9.99967130e-01 8.94939350e-05 1.99145070e-01] [-1.20948825e-02 8.57145461e-06 9.99926854e-01 -1.02772620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:33.48, Y:0.20, Z:-0.12 [[ 9.99869187e-01 -1.07385273e-02 1.20951781e-02 3.34784408e+01] [ 1.07393116e-02 9.99942332e-01 1.00831647e-07 2.00241495e-01] [-1.20944817e-02 1.29793068e-04 9.99926851e-01 -1.16929554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:33.51, Y:0.20, Z:-0.12 [[ 9.99883098e-01 -9.35482557e-03 1.20945635e-02 3.35116734e+01] [ 9.35446639e-03 9.99956242e-01 8.62694496e-05 2.00767456e-01] [-1.20948413e-02 2.68788234e-05 9.99926854e-01 -1.17633374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40864 meters Centerline goodness : 0.766376 Centerline is valid? [True, False] Translation: X:33.54, Y:0.21, Z:-0.11 [[ 9.99935883e-01 -9.21244840e-03 6.58482950e-03 3.35396349e+01] [ 9.29148450e-03 9.99883929e-01 -1.20746739e-02 2.13333569e-01] [-6.47282788e-03 1.21350825e-02 9.99905417e-01 -1.14702683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:33.54, Y:0.21, Z:-0.12 [[ 9.99967021e-01 -5.05037438e-03 6.36001177e-03 3.35401839e+01] [ 5.09808305e-03 9.99958822e-01 -7.50761388e-03 2.11777405e-01] [-6.32183362e-03 7.53979016e-03 9.99951592e-01 -1.15365074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:33.57, Y:0.21, Z:-0.10 [[ 9.99967134e-01 -5.05684434e-03 6.33708762e-03 3.35697760e+01] [ 5.05682261e-03 9.99987214e-01 1.94511439e-05 2.05271673e-01] [-6.33710495e-03 1.25950233e-05 9.99979920e-01 -1.00489892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:33.60, Y:0.21, Z:-0.12 [[ 9.99937896e-01 -9.16770013e-03 6.33699066e-03 3.36012056e+01] [ 9.16757260e-03 9.99957976e-01 4.91730136e-05 2.05712695e-01] [-6.33717516e-03 8.92486222e-06 9.99979920e-01 -1.16420730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:33.63, Y:0.21, Z:-0.12 [[ 9.99908210e-01 -1.19755466e-02 6.33708078e-03 3.36331257e+01] [ 1.19756679e-02 9.99928289e-01 1.88069202e-05 2.06115400e-01] [-6.33685157e-03 5.70855813e-05 9.99979920e-01 -1.16124022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55864 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:33.66, Y:0.20, Z:-0.10 [[ 9.99857497e-01 -1.56469789e-02 6.33708784e-03 3.36641387e+01] [ 1.56471916e-02 9.99877575e-01 1.60127682e-05 2.04097022e-01] [-6.33656258e-03 8.31471412e-05 9.99979920e-01 -1.01417230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:33.70, Y:0.20, Z:-0.12 [[ 9.99790368e-01 -1.94695206e-02 6.33707501e-03 3.36968047e+01] [ 1.94697756e-02 9.99810446e-01 2.14515370e-05 2.02372863e-01] [-6.33629144e-03 1.01934388e-04 9.99979920e-01 -1.17554299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61864 meters Centerline goodness : 0.758109 Centerline is valid? [True, False] Translation: X:33.70, Y:0.21, Z:-0.12 [[ 9.99957652e-01 -7.65538116e-03 5.10786198e-03 3.36966937e+01] [ 7.69676535e-03 9.99937312e-01 -8.13219883e-03 2.08056352e-01] [-5.04528670e-03 8.17116846e-03 9.99953887e-01 -1.16824283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64864 meters Centerline goodness : 0.999606 Centerline is valid? [False, True] Translation: X:33.72, Y:0.21, Z:-0.11 [[ 9.99999077e-01 -1.34988282e-03 -1.55362179e-04 3.37192926e+01] [ 1.34835835e-03 9.99954661e-01 -9.42646922e-03 2.08027786e-01] [ 1.68079764e-04 9.42625104e-03 9.99955558e-01 -1.14247199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:33.75, Y:0.19, Z:-0.12 [[ 9.99992735e-01 -3.81156962e-03 3.84035100e-05 3.37499963e+01] [ 3.81156966e-03 9.99992736e-01 -7.89462106e-07 1.94643871e-01] [-3.84002219e-05 9.35834024e-07 9.99999999e-01 -1.15797147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:33.78, Y:0.19, Z:-0.11 [[ 9.99994308e-01 -3.37377586e-03 3.84035100e-05 3.37808425e+01] [ 3.37377589e-03 9.99994309e-01 -7.89462106e-07 1.91131873e-01] [-3.84006279e-05 9.19022448e-07 9.99999999e-01 -1.14281604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73864 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:33.81, Y:0.18, Z:-0.10 [[ 9.99997995e-01 -2.00197410e-03 3.84034628e-05 3.38108789e+01] [ 2.00197413e-03 9.99997996e-01 -7.91748350e-07 1.80757967e-01] [-3.84018008e-05 8.68629501e-07 9.99999999e-01 -9.61634621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:33.84, Y:0.18, Z:-0.11 [[ 9.99998441e-01 -1.76551479e-03 3.84038070e-05 3.38418080e+01] [ 1.76551482e-03 9.99998441e-01 -7.74959392e-07 1.75711349e-01] [-3.84023789e-05 8.42760673e-07 9.99999999e-01 -1.14479656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:33.87, Y:0.17, Z:-0.12 [[ 9.99998235e-01 1.87852534e-03 3.84033054e-05 3.38723781e+01] [-1.87852532e-03 9.99998236e-01 -7.99063577e-07 1.68279749e-01] [-3.84047387e-05 7.26920584e-07 9.99999999e-01 -1.15790775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:33.90, Y:0.16, Z:-0.12 [[ 9.99985926e-01 5.30534437e-03 3.84033054e-05 3.39019431e+01] [-5.30534434e-03 9.99985927e-01 -7.99063577e-07 1.64634566e-01] [-3.84070043e-05 5.95309571e-07 9.99999999e-01 -1.15924236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:33.93, Y:0.16, Z:-0.12 [[ 9.99964839e-01 8.38565370e-03 3.84033296e-05 3.39319782e+01] [-8.38565367e-03 9.99964840e-01 -7.97901594e-07 1.60753951e-01] [-3.84086702e-05 4.75836516e-07 9.99999999e-01 -1.15584702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:33.96, Y:0.16, Z:-0.12 [[ 9.99944861e-01 1.05011601e-02 3.84033787e-05 3.39615657e+01] [-1.05011600e-02 9.99944861e-01 -7.95533156e-07 1.56858011e-01] [-3.84096152e-05 3.92209265e-07 9.99999999e-01 -1.16397824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.918639999999996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:33.99, Y:0.15, Z:-0.12 [[ 9.99895140e-01 1.44813062e-02 3.84034278e-05 3.39906016e+01] [-1.44813061e-02 9.99895140e-01 -7.93155239e-07 1.51586041e-01] [-3.84108867e-05 2.36940273e-07 9.99999999e-01 -1.16638293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:34.02, Y:0.15, Z:-0.10 [[ 9.99876319e-01 1.57272402e-02 3.84037660e-05 3.40202184e+01] [-1.57272402e-02 9.99876319e-01 -7.76427761e-07 1.48041187e-01] [-3.84112272e-05 1.72346479e-07 9.99999999e-01 -1.03032094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97864 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:34.05, Y:0.14, Z:-0.10 [[ 9.99824809e-01 1.87176588e-02 3.84051914e-05 3.40505663e+01] [-1.87176588e-02 9.99824809e-01 -7.05436743e-07 1.42186455e-01] [-3.84116673e-05 -1.35421106e-08 9.99999999e-01 -1.01618685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:34.08, Y:0.14, Z:-0.12 [[ 9.99836321e-01 1.80922753e-02 3.84004632e-05 3.40800336e+01] [-1.80922753e-02 9.99836321e-01 -9.41040073e-07 1.39445349e-01] [-3.84112034e-05 2.46134292e-07 9.99999999e-01 -1.16073145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03864 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:34.11, Y:0.14, Z:-0.10 [[ 9.99745290e-01 2.25688513e-02 3.84040695e-05 3.41108239e+01] [-2.25688513e-02 9.99745291e-01 -7.58429442e-07 1.36662268e-01] [-3.84114045e-05 -1.08499473e-07 9.99999999e-01 -9.95840966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:34.14, Y:0.14, Z:-0.10 [[ 9.99721293e-01 2.36079243e-02 3.84022707e-05 3.41407021e+01] [-2.36079243e-02 9.99721294e-01 -8.49720463e-07 1.35897023e-01] [-3.84116279e-05 -5.71142609e-08 9.99999999e-01 -9.90059788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.098639999999996 meters Centerline goodness : 0.859407 Centerline is valid? [True, False] Translation: X:34.13, Y:0.13, Z:-0.10 [[ 9.99870835e-01 1.10718465e-02 1.16502371e-02 3.41305290e+01] [-1.11151305e-02 9.99931537e-01 3.65711627e-03 1.31180958e-01] [-1.16089485e-02 -3.78613780e-03 9.99925446e-01 -1.00719282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters Centerline goodness : 0.998671 Centerline is valid? [False, True] Translation: X:34.13, Y:0.14, Z:-0.10 [[ 9.99930422e-01 3.02111605e-03 1.14027645e-02 3.41310839e+01] [-2.95292519e-03 9.99977686e-01 -5.99231010e-03 1.37007403e-01] [-1.14206136e-02 5.95822166e-03 9.99917031e-01 -1.00131515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:34.16, Y:0.13, Z:-0.10 [[ 9.99927545e-01 3.94738597e-03 1.13719910e-02 3.41603098e+01] [-3.94798958e-03 9.99992206e-01 3.06305098e-05 1.30018686e-01] [-1.13717815e-02 -7.55247924e-05 9.99935336e-01 -9.91499295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:34.19, Y:0.13, Z:-0.10 [[ 9.99925167e-01 4.51071467e-03 1.13715963e-02 3.41920794e+01] [-4.51218847e-03 9.99989815e-01 1.03950552e-04 1.30422227e-01] [-1.13710116e-02 -1.55253559e-04 9.99935336e-01 -9.95222082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:34.22, Y:0.13, Z:-0.10 [[ 9.99924983e-01 4.55133932e-03 1.13716255e-02 3.42239669e+01] [-4.55274711e-03 9.99989631e-01 9.79138878e-05 1.29187017e-01] [-1.13710619e-02 -1.49678678e-04 9.99935336e-01 -9.98097217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24864 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:34.25, Y:0.13, Z:-0.10 [[ 9.99935154e-01 6.08727408e-04 1.13717552e-02 3.42531778e+01] [-6.09551056e-04 9.99999812e-01 6.89634966e-05 1.26791967e-01] [-1.13717110e-02 -7.58906900e-05 9.99935337e-01 -9.87023485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.278639999999996 meters Centerline goodness : 0.943952 Centerline is valid? [True, False] Translation: X:34.25, Y:0.13, Z:-0.10 [[ 9.99931477e-01 -3.40475391e-03 1.12004148e-02 3.42537331e+01] [ 3.45562632e-03 9.99983788e-01 -4.52579861e-03 1.28418125e-01] [-1.11848240e-02 4.56419293e-03 9.99927031e-01 -9.84567080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters Centerline goodness : 0.773507 Centerline is valid? [False, False] Translation: X:34.27, Y:0.13, Z:-0.09 [[ 9.99983258e-01 -2.54794435e-03 5.19529638e-03 3.42742222e+01] [ 2.60786541e-03 9.99929783e-01 -1.15597450e-02 1.33850316e-01] [-5.16547800e-03 1.15731001e-02 9.99919687e-01 -9.43505858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33864 meters Centerline goodness : 0.971949 Centerline is valid? [False, True] Translation: X:34.27, Y:0.13, Z:-0.09 [[ 9.99983143e-01 -2.62627982e-03 5.17840500e-03 3.42742318e+01] [ 2.68371218e-03 9.99934623e-01 -1.11151638e-02 1.31416248e-01] [-5.14887492e-03 1.11288738e-02 9.99924816e-01 -9.43820348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:34.22, Y:0.09, Z:-0.06 [[ 9.98311870e-01 -5.78955428e-02 4.63863101e-03 3.42231566e+01] [ 5.78883339e-02 9.98321661e-01 1.67369391e-03 8.58731929e-02] [-4.72774523e-03 -1.40234587e-03 9.99987841e-01 -6.10717733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:34.26, Y:0.09, Z:-0.08 [[ 9.98434791e-01 -5.57293630e-02 4.71226897e-03 3.42562759e+01] [ 5.57285087e-02 9.98445910e-01 3.12502710e-04 8.78058464e-02] [-4.72236126e-03 -4.94058554e-05 9.99988848e-01 -7.54759837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:34.29, Y:0.09, Z:-0.06 [[ 9.98478130e-01 -5.49471319e-02 4.71550101e-03 3.42877194e+01] [ 5.49465544e-02 9.98489265e-01 2.52031545e-04 8.66121299e-02] [-4.72222555e-03 7.45254669e-06 9.99988850e-01 -6.12159754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.458639999999995 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:34.32, Y:0.09, Z:-0.08 [[ 9.98467689e-01 -5.51364972e-02 4.71595613e-03 3.43183948e+01] [ 5.51359622e-02 9.98478826e-01 2.43479999e-04 8.65081923e-02] [-4.72220698e-03 1.69118673e-05 9.99988850e-01 -7.61850515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:34.35, Y:0.08, Z:-0.08 [[ 9.98508560e-01 -5.43913403e-02 4.71559626e-03 3.43509761e+01] [ 5.43907650e-02 9.98519695e-01 2.50260960e-04 8.48877014e-02] [-4.72222777e-03 6.59717752e-06 9.99988850e-01 -7.66382426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51864 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:34.38, Y:0.09, Z:-0.08 [[ 9.98580857e-01 -5.30474665e-02 4.71570728e-03 3.43844614e+01] [ 5.30468861e-02 9.98591992e-01 2.48151269e-04 8.52397089e-02] [-4.72223132e-03 2.35447978e-06 9.99988850e-01 -7.66518203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:34.42, Y:0.08, Z:-0.08 [[ 9.98614793e-01 -5.24047342e-02 4.71583255e-03 3.44177101e+01] [ 5.24041580e-02 9.98625928e-01 2.45747247e-04 8.47516744e-02] [-4.72223098e-03 1.72239789e-06 9.99988850e-01 -7.57302121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57864 meters Centerline goodness : 0.938211 Centerline is valid? [True, False] Translation: X:34.42, Y:0.08, Z:-0.08 [[ 9.99297818e-01 -3.69266060e-02 6.34794535e-03 3.44161044e+01] [ 3.69461683e-02 9.99312777e-01 -2.99249944e-03 8.45191931e-02] [-6.23308005e-03 3.22493042e-03 9.99975374e-01 -7.52170575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:34.42, Y:0.09, Z:-0.08 [[ 9.99713771e-01 -2.31934791e-02 5.86852498e-03 3.44174007e+01] [ 2.32470036e-02 9.99687208e-01 -9.22296960e-03 8.99245080e-02] [-5.65277660e-03 9.35675534e-03 9.99940247e-01 -7.57719476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.638639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.45, Y:0.08, Z:-0.08 [[ 9.99739050e-01 -2.21352434e-02 5.64479769e-03 3.44494487e+01] [ 2.21349532e-02 9.99754985e-01 1.13897741e-04 8.16663649e-02] [-5.64593578e-03 1.10793129e-05 9.99984062e-01 -7.78251095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.48, Y:0.08, Z:-0.08 [[ 9.99766984e-01 -2.08356283e-02 5.64393247e-03 3.44823256e+01] [ 2.08351104e-02 9.99782914e-01 1.50564747e-04 8.16708019e-02] [-5.64584437e-03 -3.29377072e-05 9.99984062e-01 -7.72652558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.51, Y:0.08, Z:-0.08 [[ 9.99748476e-01 -2.17054711e-02 5.64426932e-03 3.45122489e+01] [ 2.17050487e-02 9.99764408e-01 1.36080236e-04 8.10604202e-02] [-5.64589326e-03 -1.35368678e-05 9.99984062e-01 -7.77593363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:34.54, Y:0.08, Z:-0.08 [[ 9.99761124e-01 -2.11150234e-02 5.64371695e-03 3.45442720e+01] [ 2.11144565e-02 9.99777052e-01 1.60025404e-04 7.94740090e-02] [-5.64583763e-03 -4.08231620e-05 9.99984061e-01 -7.58664782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.58, Y:0.08, Z:-0.08 [[ 9.99766805e-01 -2.08441629e-02 5.64418732e-03 3.45750237e+01] [ 2.08437100e-02 9.99782737e-01 1.39052678e-04 8.05711539e-02] [-5.64585948e-03 -2.13744482e-05 9.99984062e-01 -7.69847810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:34.60, Y:0.08, Z:-0.07 [[ 9.99720214e-01 -2.29702937e-02 5.64439066e-03 3.46041644e+01] [ 2.29699266e-02 9.99736148e-01 1.29865653e-04 8.13227488e-02] [-5.64588443e-03 -1.78079752e-07 9.99984062e-01 -7.49950830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.818639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:34.64, Y:0.08, Z:-0.08 [[ 9.99747997e-01 -2.17276100e-02 5.64382240e-03 3.46365107e+01] [ 2.17270766e-02 9.99763927e-01 1.55822656e-04 8.17071212e-02] [-5.64587570e-03 -3.31596270e-05 9.99984061e-01 -7.64757086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.848639999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:34.67, Y:0.08, Z:-0.08 [[ 9.99766831e-01 -2.08428735e-02 5.64426311e-03 3.46689724e+01] [ 2.08424409e-02 9.99782764e-01 1.35459883e-04 8.33889829e-02] [-5.64586034e-03 -1.77880783e-05 9.99984062e-01 -7.58447590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:34.70, Y:0.08, Z:-0.08 [[ 9.99812250e-01 -1.85366432e-02 5.64417634e-03 3.47018727e+01] [ 1.85361509e-02 9.99828181e-01 1.39528369e-04 8.49614866e-02] [-5.64579295e-03 -3.48808680e-05 9.99984062e-01 -7.71604309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.73, Y:0.09, Z:-0.09 [[ 9.99834509e-01 -1.72943071e-02 5.64460639e-03 3.47333587e+01] [ 1.72939103e-02 9.99850442e-01 1.19108489e-04 8.77638711e-02] [-5.64582210e-03 -2.14714613e-05 9.99984062e-01 -8.93934236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:34.76, Y:0.09, Z:-0.08 [[ 9.99881794e-01 -1.43015831e-02 5.64462205e-03 3.47641124e+01] [ 1.43011428e-02 9.99897726e-01 1.18361974e-04 9.19110489e-02] [-5.64573751e-03 -3.76234372e-05 9.99984062e-01 -7.94775401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96864 meters Centerline goodness : 0.865970 Centerline is valid? [True, False] Translation: X:34.77, Y:0.11, Z:-0.08 [[ 9.99945255e-01 -1.04448706e-02 6.26238709e-04 3.47663831e+01] [ 1.04545602e-02 9.99778842e-01 -1.82474615e-02 1.08444590e-01] [-4.35507837e-04 1.82530096e-02 9.99833305e-01 -7.61729872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99864 meters Centerline goodness : 0.999704 Centerline is valid? [False, True] Translation: X:34.76, Y:0.12, Z:-0.07 [[ 9.99994909e-01 -2.20162296e-03 2.30959255e-03 3.47642998e+01] [ 2.27370837e-03 9.99495240e-01 -3.16874600e-02 1.22086063e-01] [-2.23866292e-03 3.16925500e-02 9.99495158e-01 -7.38060280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:34.80, Y:0.09, Z:-0.09 [[ 9.99991454e-01 -3.64137090e-03 1.95740552e-03 3.47953050e+01] [ 3.64123443e-03 9.99993368e-01 7.32824839e-05 9.33105301e-02] [-1.95765939e-03 -6.61544853e-05 9.99998082e-01 -9.12027939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:34.83, Y:0.09, Z:-0.08 [[ 9.99996464e-01 -1.79930736e-03 1.95798338e-03 3.48269347e+01] [ 1.79926751e-03 9.99998381e-01 2.21106649e-05 9.39294608e-02] [-1.95802000e-03 -1.85876508e-05 9.99998083e-01 -7.85968963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:0.09, Z:-0.08 [[ 9.99920602e-01 -1.24481352e-02 1.95802773e-03 3.48584683e+01] [ 1.24481236e-02 9.99922519e-01 1.81128011e-05 9.16143878e-02] [-1.95810149e-03 6.26240822e-06 9.99998083e-01 -8.32044349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:0.10, Z:-0.09 [[ 9.99997936e-01 -5.43436076e-04 1.95797588e-03 3.48905220e+01] [ 5.43392222e-04 9.99999852e-01 2.29294654e-05 9.85524056e-02] [-1.95798805e-03 -2.18654692e-05 9.99998083e-01 -9.02498720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14864 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:34.92, Y:0.10, Z:-0.08 [[ 9.99995281e-01 2.36747260e-03 1.95799654e-03 3.49219994e+01] [-2.36751826e-03 9.99997197e-01 2.10030004e-05 9.97564593e-02] [-1.95794133e-03 -2.56384939e-05 9.99998083e-01 -8.12052128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:34.95, Y:0.10, Z:-0.08 [[ 9.99983635e-01 5.37541130e-03 1.95801517e-03 3.49528938e+01] [-5.37545933e-03 9.99985552e-01 1.92661363e-05 1.01030148e-01] [-1.95788332e-03 -2.97910520e-05 9.99998083e-01 -7.83313000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:34.98, Y:0.10, Z:-0.08 [[ 9.99975035e-01 6.78930528e-03 1.95810938e-03 3.49845235e+01] [-6.78933921e-03 9.99976952e-01 1.06820679e-05 1.02879599e-01] [-1.95799172e-03 -2.39760700e-05 9.99998083e-01 -7.91655358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:35.02, Y:0.11, Z:-0.08 [[ 9.99945620e-01 1.02431600e-02 1.95813935e-03 3.50154113e+01] [-1.02431953e-02 9.99947537e-01 7.99727930e-06 1.07118620e-01] [-1.95795470e-03 -2.80544481e-05 9.99998083e-01 -7.99018523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26864 meters Centerline goodness : 0.808675 Centerline is valid? [True, False] Translation: X:35.02, Y:0.12, Z:-0.08 [[ 9.99996189e-01 -1.95431518e-03 1.94983671e-03 3.50152707e+01] [ 1.98365974e-03 9.99883066e-01 -1.51630787e-02 1.19089853e-01] [-1.91997527e-03 1.51668888e-02 9.99883133e-01 -7.86072702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29864 meters Centerline goodness : 0.923240 Centerline is valid? [False, False] Translation: X:35.02, Y:0.12, Z:-0.08 [[ 9.99995755e-01 2.25460789e-03 1.84567320e-03 3.50155514e+01] [-2.23445175e-03 9.99938630e-01 -1.08509236e-02 1.18794789e-01] [-1.87002451e-03 1.08467535e-02 9.99939424e-01 -7.89842440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32864 meters Centerline goodness : 0.896065 Centerline is valid? [False, False] Translation: X:34.99, Y:0.13, Z:-0.08 [[ 9.99985220e-01 3.81006227e-03 3.87856078e-03 3.49929813e+01] [-3.71793480e-03 9.99717174e-01 -2.34893412e-02 1.34123593e-01] [-3.96695968e-03 2.34745738e-02 9.99716564e-01 -7.89307562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35864 meters Centerline goodness : 0.810379 Centerline is valid? [False, False] Translation: X:34.99, Y:0.14, Z:-0.08 [[ 9.99992630e-01 -2.34980105e-04 3.83206887e-03 3.49930795e+01] [ 3.46390804e-04 9.99576487e-01 -2.90985541e-02 1.40366790e-01] [-3.82360836e-03 2.90996671e-02 9.99569202e-01 -7.82412463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:34.99, Y:0.15, Z:-0.08 [[ 9.99983095e-01 -4.30521168e-03 3.90827652e-03 3.49928668e+01] [ 4.44053579e-03 9.99366778e-01 -3.53033362e-02 1.48846695e-01] [-3.75381337e-03 3.53200942e-02 9.99369001e-01 -7.73206296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.418639999999996 meters Centerline goodness : 0.827282 Centerline is valid? [True, False] Translation: X:34.99, Y:0.15, Z:-0.08 [[ 9.99992780e-01 -1.05584813e-04 3.79859981e-03 3.49931463e+01] [ 2.23581588e-04 9.99516992e-01 -3.10762294e-02 1.48914420e-01] [-3.79348388e-03 3.10768543e-02 9.99509799e-01 -7.76314576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:35.00, Y:0.15, Z:-0.08 [[ 9.99993892e-01 1.96509971e-03 2.89029318e-03 3.49983198e+01] [-1.87882812e-03 9.99561405e-01 -2.95545011e-02 1.52010073e-01] [-2.94710305e-03 2.95488902e-02 9.99558992e-01 -8.18469726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.03, Y:0.13, Z:-0.09 [[ 9.99996910e-01 -3.55682683e-04 2.46054464e-03 3.50295748e+01] [ 3.54962777e-04 9.99999894e-01 2.93010313e-04 1.32763056e-01] [-2.46064860e-03 -2.92136006e-04 9.99996930e-01 -8.82386408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50864 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:35.06, Y:0.14, Z:-0.08 [[ 9.99996837e-01 -5.01139280e-04 2.46462813e-03 3.50610617e+01] [ 5.01097015e-04 9.99999874e-01 1.77663206e-05 1.36671101e-01] [-2.46463673e-03 -1.65312466e-05 9.99996963e-01 -7.91562590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.09, Y:0.14, Z:-0.09 [[ 9.99996121e-01 -1.29781638e-03 2.46459559e-03 3.50933670e+01] [ 1.29777115e-03 9.99999158e-01 1.99482852e-05 1.40762648e-01] [-2.46461940e-03 -1.67497268e-05 9.99996963e-01 -8.85860055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.568639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.13, Y:0.15, Z:-0.08 [[ 9.99988354e-01 -4.14941592e-03 2.46465691e-03 3.51250662e+01] [ 4.14938951e-03 9.99991391e-01 1.58278034e-05 1.49179431e-01] [-2.46470137e-03 -5.60079753e-06 9.99996963e-01 -7.90312940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.598639999999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:35.16, Y:0.15, Z:-0.08 [[ 9.99962395e-01 -8.31466394e-03 2.46455552e-03 3.51553584e+01] [ 8.31463327e-03 9.99965433e-01 2.26924499e-05 1.52279435e-01] [-2.46465901e-03 -2.19972125e-06 9.99996963e-01 -8.22039626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62864 meters Centerline goodness : 0.830707 Centerline is valid? [True, False] Translation: X:35.16, Y:0.17, Z:-0.08 [[ 9.99967205e-01 -6.33821551e-03 -5.04142006e-03 3.51613894e+01] [ 6.22964985e-03 9.99754433e-01 -2.12665285e-02 1.74955088e-01] [ 5.17497389e-03 2.12344248e-02 9.99761131e-01 -7.79120399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65864 meters Centerline goodness : 0.855393 Centerline is valid? [False, False] Translation: X:35.17, Y:0.18, Z:-0.08 [[ 9.99972714e-01 -4.40591622e-03 -5.92957985e-03 3.51665849e+01] [ 4.28921163e-03 9.99799629e-01 -1.95526165e-02 1.75867307e-01] [ 6.01453892e-03 1.95266498e-02 9.99791246e-01 -8.23689936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:35.19, Y:0.18, Z:-0.08 [[ 9.99955052e-01 -1.43616354e-03 -9.37180345e-03 3.51878513e+01] [ 1.18039970e-03 9.99628240e-01 -2.72394736e-02 1.84528824e-01] [ 9.40743972e-03 2.72271868e-02 9.99585004e-01 -7.71384957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.22, Y:0.16, Z:-0.08 [[ 9.99951259e-01 -2.99451034e-03 -9.40808777e-03 3.52169727e+01] [ 2.99491152e-03 9.99995515e-01 2.85531537e-05 1.60558332e-01] [ 9.40796007e-03 -5.67281524e-05 9.99955743e-01 -8.29711915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:35.25, Y:0.16, Z:-0.08 [[ 9.99953800e-01 -1.97168584e-03 -9.40802477e-03 3.52470274e+01] [ 1.97167863e-03 9.99998056e-01 -1.00409340e-05 1.61818391e-01] [ 9.40802628e-03 -8.50913128e-06 9.99955744e-01 -8.34920317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.778639999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:35.28, Y:0.16, Z:-0.08 [[ 9.99953606e-01 -2.06753062e-03 -9.40808647e-03 3.52755063e+01] [ 2.06785678e-03 9.99997862e-01 2.49406708e-05 1.62128391e-01] [ 9.40801479e-03 -4.43940891e-05 9.99955743e-01 -8.22200760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:35.30, Y:0.16, Z:-0.08 [[ 9.99945166e-01 -4.59932288e-03 -9.40805116e-03 3.53013931e+01] [ 4.59961111e-03 9.99989422e-01 8.99963695e-06 1.64588955e-01] [ 9.40791025e-03 -5.22725201e-05 9.99955743e-01 -7.99853719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:35.33, Y:0.17, Z:-0.08 [[ 9.99954725e-01 -1.42988069e-03 -9.40767012e-03 3.53348906e+01] [ 1.42827735e-03 9.99998964e-01 -1.77144791e-04 1.65342607e-01] [ 9.40791368e-03 1.63700009e-04 9.99955731e-01 -8.21556208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:0.17, Z:-0.10 [[ 9.99955337e-01 -9.02840874e-04 -9.40789212e-03 3.53658887e+01] [ 9.02406389e-04 9.99999592e-01 -5.04279075e-05 1.65816846e-01] [ 9.40793380e-03 4.19359133e-05 9.99955744e-01 -9.68745144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:35.39, Y:0.17, Z:-0.08 [[ 9.99955742e-01 6.01523257e-05 -9.40795113e-03 3.53938849e+01] [-6.03077402e-05 9.99999998e-01 -1.62357965e-05 1.67609387e-01] [ 9.40795013e-03 1.68024502e-05 9.99955744e-01 -8.13139456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:35.42, Y:0.17, Z:-0.08 [[ 9.99953738e-01 2.00379275e-03 -9.40782027e-03 3.54236310e+01] [-2.00461070e-03 9.99997988e-01 -7.75142587e-05 1.70115057e-01] [ 9.40764602e-03 9.63696899e-05 9.99955742e-01 -8.08966974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.958639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.45, Y:0.17, Z:-0.08 [[ 9.99952963e-01 2.35909462e-03 -9.40783994e-03 3.54529536e+01] [-2.35984285e-03 9.99997213e-01 -6.84326642e-05 1.72656184e-01] [ 9.40765229e-03 9.06304691e-05 9.99955743e-01 -7.80519523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:35.48, Y:0.17, Z:-0.08 [[ 9.99944227e-01 4.79965730e-03 -9.40779392e-03 3.54828647e+01] [-4.80072857e-03 9.99988472e-01 -9.12909694e-05 1.74038683e-01] [ 9.40724730e-03 1.36450143e-04 9.99955742e-01 -7.79828306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:0.18, Z:-0.08 [[ 9.99926226e-01 7.68338818e-03 -9.40784636e-03 3.55135087e+01] [-7.68436565e-03 9.99970473e-01 -6.77551079e-05 1.75750703e-01] [ 9.40704798e-03 1.40043441e-04 9.99955743e-01 -7.91363663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04864 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:35.60, Y:0.19, Z:-0.10 [[ 9.99948118e-01 3.90548800e-03 -9.40794516e-03 3.55957042e+01] [-3.90591024e-03 9.99992372e-01 -2.65076817e-05 1.92282729e-01] [ 9.40776986e-03 6.32528957e-05 9.99955744e-01 -1.04879032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.57, Y:0.17, Z:-0.09 [[ 9.99952578e-01 2.53902374e-03 -9.40183518e-03 3.55669641e+01] [-2.51791254e-03 9.99994284e-01 2.25659033e-03 1.68796758e-01] [ 9.40751097e-03 -2.23281032e-03 9.99953256e-01 -8.91976626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:35.60, Y:0.17, Z:-0.08 [[ 9.99954201e-01 1.87113904e-03 -9.38586544e-03 3.55958534e+01] [-1.87166000e-03 9.99998247e-01 -4.67222442e-05 1.70112296e-01] [ 9.38576157e-03 6.42872533e-05 9.99955951e-01 -7.87743726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.138639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:35.62, Y:0.17, Z:-0.08 [[ 9.99954227e-01 1.85940207e-03 -9.38549448e-03 3.56241726e+01] [-1.86048064e-03 9.99998264e-01 -1.06189532e-04 1.70347877e-01] [ 9.38528074e-03 1.23646202e-04 9.99955950e-01 -7.84962653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.65, Y:0.17, Z:-0.08 [[ 9.99947328e-01 4.15369258e-03 -9.38549204e-03 3.56537583e+01] [-4.15487584e-03 9.99991363e-01 -1.06579362e-04 1.69661333e-01] [ 9.38496828e-03 1.45569302e-04 9.99955950e-01 -7.96948698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:35.68, Y:0.17, Z:-0.08 [[ 9.99942287e-01 5.22796123e-03 -9.38563724e-03 3.56844270e+01] [-5.22897688e-03 9.99986325e-01 -8.36764819e-05 1.69892583e-01] [ 9.38507144e-03 1.32748933e-04 9.99955950e-01 -7.98911330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.71, Y:0.17, Z:-0.08 [[ 9.99927879e-01 7.49298317e-03 -9.38576488e-03 3.57144793e+01] [-7.49391474e-03 9.99971918e-01 -6.40885006e-05 1.71454590e-01] [ 9.38502110e-03 1.34420000e-04 9.99955951e-01 -8.03352871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.74, Y:0.17, Z:-0.08 [[ 9.99883738e-01 1.20174207e-02 -9.38578604e-03 3.57444698e+01] [-1.20185215e-02 9.99927773e-01 -6.08906147e-05 1.74631184e-01] [ 9.38437638e-03 1.73686807e-04 9.99955951e-01 -7.86056870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.77, Y:0.18, Z:-0.08 [[ 9.99867021e-01 1.33359117e-02 -9.38587175e-03 3.57726122e+01] [-1.33369532e-02 9.99911058e-01 -4.83808725e-05 1.75678603e-01] [ 9.38439175e-03 1.73553371e-04 9.99955951e-01 -7.95977590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.318639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:35.80, Y:0.18, Z:-0.08 [[ 9.99844091e-01 1.49567339e-02 -9.38561334e-03 3.58025920e+01] [-1.49581772e-02 9.99888117e-01 -8.35991245e-05 1.76549199e-01] [ 9.38331288e-03 2.23977758e-04 9.99955951e-01 -8.04244010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:35.83, Y:0.18, Z:-0.08 [[ 9.99843436e-01 1.50002553e-02 -9.38594182e-03 3.58307450e+01] [-1.50012953e-02 9.99887473e-01 -4.04141250e-05 1.78342224e-01] [ 9.38427943e-03 1.81209083e-04 9.99955950e-01 -7.92467368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:35.86, Y:0.18, Z:-0.08 [[ 9.99857880e-01 1.40046825e-02 -9.38559131e-03 3.58595993e+01] [-1.40060880e-02 9.99901906e-01 -8.40368542e-05 1.82001151e-01] [ 9.38349374e-03 2.15480329e-04 9.99955951e-01 -7.86363537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.89, Y:0.18, Z:-0.08 [[ 9.99866951e-01 1.33411982e-02 -9.38576942e-03 3.58893272e+01] [-1.33423770e-02 9.99910985e-01 -6.29886640e-05 1.83814069e-01] [ 9.38409359e-03 1.88208758e-04 9.99955951e-01 -7.81601664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:35.92, Y:0.19, Z:-0.08 [[ 9.99877562e-01 1.25205240e-02 -9.38605289e-03 3.59183011e+01] [-1.25213573e-02 9.99921604e-01 -3.00205784e-05 1.85351175e-01] [ 9.38494119e-03 1.47543025e-04 9.99955950e-01 -7.89650118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:35.95, Y:0.19, Z:-0.08 [[ 9.99901158e-01 1.04680458e-02 -9.38583775e-03 3.59464228e+01] [-1.04690133e-02 9.99945197e-01 -5.39593380e-05 1.89947560e-01] [ 9.38475852e-03 1.52214465e-04 9.99955951e-01 -7.72071927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:35.98, Y:0.19, Z:-0.08 [[ 9.99903866e-01 1.02064528e-02 -9.38545970e-03 3.59757322e+01] [-1.02077858e-02 9.99947895e-01 -9.41373804e-05 1.91522270e-01] [ 9.38400986e-03 1.89933093e-04 9.99955951e-01 -7.73855196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:36.00, Y:0.19, Z:-0.08 [[ 9.99934383e-01 6.56839184e-03 -9.38536663e-03 3.60039301e+01] [-6.56965511e-03 9.99978414e-01 -1.03775684e-04 1.93276656e-01] [ 9.38448240e-03 1.65427497e-04 9.99955951e-01 -7.54976005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:36.03, Y:0.19, Z:-0.08 [[ 9.99928463e-01 7.41584206e-03 -9.38474329e-03 3.60348429e+01] [-7.41772586e-03 9.99972475e-01 -1.65938207e-04 1.94910693e-01] [ 9.38325440e-03 2.35539790e-04 9.99955949e-01 -7.71576703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:36.06, Y:0.20, Z:-0.09 [[ 9.99937013e-01 6.15540587e-03 -9.38517878e-03 3.60645205e+01] [-6.15682637e-03 9.99981039e-01 -1.22471696e-04 1.96251990e-01] [ 9.38424697e-03 1.80246898e-04 9.99955951e-01 -8.87387778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:36.09, Y:0.20, Z:-0.08 [[ 9.99955940e-01 -1.91354210e-04 -9.38520057e-03 3.60919882e+01] [ 1.90233763e-04 9.99999975e-01 -1.20276984e-04 1.98755402e-01] [ 9.38522335e-03 1.18486302e-04 9.99955951e-01 -7.53804697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:36.12, Y:0.20, Z:-0.09 [[ 9.99955898e-01 -3.66249229e-04 -9.38440944e-03 3.61244612e+01] [ 3.64390486e-04 9.99999914e-01 -1.99776252e-04 1.99997628e-01] [ 9.38448180e-03 1.96347852e-04 9.99955946e-01 -9.14876831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:36.15, Y:0.20, Z:-0.09 [[ 9.99953701e-01 -2.12354962e-03 -9.38546236e-03 3.61528297e+01] [ 2.12279758e-03 9.99997743e-01 -9.00888722e-05 2.00673934e-01] [ 9.38563248e-03 7.01612643e-05 9.99955952e-01 -9.02696636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:36.18, Y:0.20, Z:-0.08 [[ 9.99933824e-01 -6.65290491e-03 -9.38545090e-03 3.61804475e+01] [ 6.65234132e-03 9.99977869e-01 -9.12671558e-05 2.02839899e-01] [ 9.38585038e-03 2.88258933e-05 9.99955952e-01 -7.53058256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:36.21, Y:0.20, Z:-0.08 [[ 9.99931373e-01 -7.01276912e-03 -9.38462517e-03 3.62115723e+01] [ 7.01143698e-03 9.99975404e-01 -1.74842453e-04 2.04358709e-01] [ 9.38562048e-03 1.09030746e-04 9.99955948e-01 -8.38449449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:36.24, Y:0.21, Z:-0.08 [[ 9.99905829e-01 -1.00127164e-02 -9.38504673e-03 3.62408105e+01] [ 1.00119224e-02 9.99949871e-01 -1.31576586e-04 2.05012545e-01] [ 9.38589370e-03 3.76018354e-05 9.99955951e-01 -8.46494852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:36.27, Y:0.20, Z:-0.08 [[ 9.99876503e-01 -1.26054226e-02 -9.38517546e-03 3.62687349e+01] [ 1.26048642e-02 9.99920549e-01 -1.18640801e-04 2.04530341e-01] [ 9.38592531e-03 3.27287216e-07 9.99955951e-01 -7.70592426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:36.30, Y:0.21, Z:-0.09 [[ 9.99875485e-01 -1.26862064e-02 -9.38476665e-03 3.62993419e+01] [ 1.26852605e-02 9.99919526e-01 -1.60311394e-04 2.05466850e-01] [ 9.38604516e-03 4.12432229e-05 9.99955949e-01 -8.75748547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:36.33, Y:0.21, Z:-0.07 [[ 9.99837598e-01 -1.53847565e-02 -9.38543565e-03 3.63257012e+01] [ 1.53845684e-02 9.99881646e-01 -9.22506535e-05 2.05319829e-01] [ 9.38574410e-03 -5.21552046e-05 9.99955952e-01 -7.40968739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:36.36, Y:0.21, Z:-0.09 [[ 9.99813532e-01 -1.68769160e-02 -9.38461996e-03 3.63562901e+01] [ 1.68760381e-02 9.99857575e-01 -1.72728753e-04 2.05169674e-01] [ 9.38619848e-03 1.43213402e-05 9.99955949e-01 -8.71642141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.918639999999996 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:36.39, Y:0.20, Z:-0.08 [[ 9.99794639e-01 -1.79608720e-02 -9.38540962e-03 3.63859157e+01] [ 1.79607877e-02 9.99838688e-01 -9.32780494e-05 2.02960872e-01] [ 9.38557099e-03 -7.53104555e-05 9.99955952e-01 -8.11754852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:36.41, Y:0.20, Z:-0.08 [[ 9.99741031e-01 -2.07312523e-02 -9.38540673e-03 3.64135291e+01] [ 2.07312873e-02 9.99785079e-01 -9.35678116e-05 2.01800491e-01] [ 9.38532939e-03 -1.01027983e-04 9.99955952e-01 -8.17514492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:36.44, Y:0.20, Z:-0.07 [[ 9.99729388e-01 -2.12854810e-02 -9.38507780e-03 3.64444951e+01] [ 2.12852336e-02 9.99773436e-01 -1.26251535e-04 2.00341177e-01] [ 9.38563880e-03 -7.35462038e-05 9.99955951e-01 -7.46147921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:36.47, Y:0.20, Z:-0.08 [[ 9.99667067e-01 -2.40346633e-02 -9.38564127e-03 3.64737959e+01] [ 2.40350644e-02 9.99711114e-01 -7.00689522e-05 1.99084574e-01] [ 9.38461397e-03 -1.55538869e-04 9.99955951e-01 -8.19993554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:36.50, Y:0.20, Z:-0.09 [[ 9.99659353e-01 -2.43535333e-02 -9.38531565e-03 3.65027583e+01] [ 2.43536458e-02 9.99703401e-01 -1.02320883e-04 1.95804436e-01] [ 9.38502385e-03 -1.26280625e-04 9.99955952e-01 -8.75973158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:36.53, Y:0.19, Z:-0.07 [[ 9.99664557e-01 -2.41389376e-02 -9.38537473e-03 3.65305509e+01] [ 2.41390945e-02 9.99708605e-01 -9.65793845e-05 1.94046699e-01] [ 9.38497120e-03 -1.30007460e-04 9.99955952e-01 -7.20889102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.098639999999996 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:36.56, Y:0.19, Z:-0.09 [[ 9.99694684e-01 -2.28575009e-02 -9.38476197e-03 3.65622002e+01] [ 2.28570469e-02 9.99738731e-01 -1.55640342e-04 1.93202068e-01] [ 9.38586758e-03 -5.89151218e-05 9.99955950e-01 -8.60807789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:36.59, Y:0.19, Z:-0.07 [[ 9.99810334e-01 -1.70648839e-02 -9.38537041e-03 3.65930728e+01] [ 1.70647306e-02 9.99854382e-01 -9.64132760e-05 1.90289919e-01] [ 9.38564902e-03 -6.37638282e-05 9.99955952e-01 -7.45368881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15864 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:36.62, Y:0.19, Z:-0.07 [[ 9.99817396e-01 -1.66458098e-02 -9.38569651e-03 3.66209669e+01] [ 1.66459352e-02 9.99861445e-01 -6.47696990e-05 1.88992801e-01] [ 9.38547421e-03 -9.14758239e-05 9.99955951e-01 -7.42174007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:36.65, Y:0.19, Z:-0.09 [[ 9.99860103e-01 -1.38455008e-02 -9.38490702e-03 3.66521977e+01] [ 1.38448092e-02 9.99904146e-01 -1.38656443e-04 1.88913324e-01] [ 9.38592721e-03 8.70479766e-06 9.99955951e-01 -8.58461209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21864 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:36.68, Y:0.19, Z:-0.07 [[ 9.99901339e-01 -1.04512420e-02 -9.38532280e-03 3.66799228e+01] [ 1.04507694e-02 9.99945384e-01 -9.93978164e-05 1.88509168e-01] [ 9.38584905e-03 1.30416568e-06 9.99955952e-01 -6.57705552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:36.71, Y:0.19, Z:-0.07 [[ 9.99925004e-01 -7.86871243e-03 -9.38450209e-03 3.67108093e+01] [ 7.86741220e-03 9.99969036e-01 -1.75459565e-04 1.88488922e-01] [ 9.38559215e-03 1.01614660e-04 9.99955949e-01 -6.75658942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.278639999999996 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:36.75, Y:0.19, Z:-0.07 [[ 9.99930453e-01 7.14231008e-03 -9.38494467e-03 3.67469334e+01] [-7.14388650e-03 9.99974473e-01 -1.34459718e-04 1.94235912e-01] [ 9.38374475e-03 2.01495346e-04 9.99955951e-01 -6.88556512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30864 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:36.77, Y:0.19, Z:-0.07 [[ 9.99931692e-01 -6.96229383e-03 -9.38819108e-03 3.67694749e+01] [ 6.96426494e-03 9.99975733e-01 1.77280888e-04 1.86527913e-01] [ 9.38672898e-03 -2.42650628e-04 9.99955914e-01 -6.70446589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33864 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:36.80, Y:0.19, Z:-0.07 [[ 9.99934304e-01 -6.58173891e-03 -9.38452266e-03 3.67993071e+01] [ 6.58068345e-03 9.99978337e-01 -1.43343234e-04 1.87841914e-01] [ 9.38526281e-03 8.15772436e-05 9.99955954e-01 -6.79504275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36864 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:36.83, Y:0.19, Z:-0.07 [[ 9.99934957e-01 -6.48144038e-03 -9.38468429e-03 3.68278830e+01] [ 6.48051119e-03 9.99978993e-01 -1.29417195e-04 1.88930538e-01] [ 9.38532596e-03 6.85912261e-05 9.99955955e-01 -6.68351307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39864 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:36.86, Y:0.19, Z:-0.06 [[ 9.99951542e-01 -2.97456791e-03 -9.38435548e-03 3.68570524e+01] [ 2.97322063e-03 9.99995568e-01 -1.57515061e-04 1.92019555e-01] [ 9.38478242e-03 1.29605669e-04 9.99955954e-01 -6.44876599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42864 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:36.89, Y:0.19, Z:-0.07 [[ 9.99953906e-01 -2.02883520e-03 -9.38452799e-03 3.68865922e+01] [ 2.02758302e-03 9.99997934e-01 -1.42942511e-04 1.94088699e-01] [ 9.38479861e-03 1.23908013e-04 9.99955954e-01 -6.50273323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.458639999999995 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:36.91, Y:0.20, Z:-0.06 [[ 9.99955584e-01 -8.75446091e-04 -9.38419944e-03 3.69145236e+01] [ 8.73882174e-04 9.99999604e-01 -1.70753408e-04 1.97095043e-01] [ 9.38434521e-03 1.62545140e-04 9.99955953e-01 -6.46344812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:36.94, Y:0.20, Z:-0.06 [[ 9.99955960e-01 1.40256596e-04 -9.38389313e-03 3.69417267e+01] [-1.42105670e-04 9.99999971e-01 -1.96381098e-04 2.01616714e-01] [ 9.38386531e-03 1.97705954e-04 9.99955951e-01 -6.40632707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51864 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:36.97, Y:0.20, Z:-0.06 [[ 9.99953742e-01 2.11241915e-03 -9.38353584e-03 3.69708639e+01] [-2.11462813e-03 9.99997739e-01 -2.25494289e-04 2.04500219e-01] [ 9.38303829e-03 2.45326547e-04 9.99955948e-01 -6.34390318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54864 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:37.00, Y:0.21, Z:-0.06 [[ 9.99948437e-01 3.88225746e-03 -9.38355477e-03 3.69982521e+01] [-3.88452995e-03 9.99992430e-01 -2.23964871e-04 2.08411743e-01] [ 9.38261425e-03 2.60404022e-04 9.99955948e-01 -6.43987478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57864 meters Centerline goodness : 0.906115 Centerline is valid? [True, False] Translation: X:36.99, Y:0.23, Z:-0.06 [[ 9.99975541e-01 6.98979827e-03 -2.46100030e-04 3.69945153e+01] [-6.99298276e-03 9.99829588e-01 -1.70848909e-02 2.32617477e-01] [ 1.26638151e-04 1.70861940e-02 9.99854012e-01 -5.96729786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60864 meters Centerline goodness : 0.995685 Centerline is valid? [False, True] Translation: X:36.97, Y:0.23, Z:-0.06 [[ 9.99989040e-01 1.19696870e-03 4.52623300e-03 3.69736291e+01] [-1.12689223e-03 9.99879956e-01 -1.54532771e-02 2.33874325e-01] [-4.54418675e-03 1.54480072e-02 9.99870346e-01 -6.40972081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.638639999999995 meters Centerline goodness : 0.927919 Centerline is valid? [True, False] Translation: X:37.01, Y:0.26, Z:-0.06 [[ 9.99838536e-01 -1.70236622e-03 -1.78886622e-02 3.70083281e+01] [ 1.08282195e-03 9.99401134e-01 -3.45861312e-02 2.57693929e-01] [ 1.79368275e-02 3.45611765e-02 9.99241610e-01 -5.57663266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters Centerline goodness : 0.995922 Centerline is valid? [False, True] Translation: X:37.01, Y:0.25, Z:-0.06 [[ 9.99934928e-01 -4.18157931e-03 -1.06138582e-02 3.70077708e+01] [ 3.98997515e-03 9.99829851e-01 -1.80096909e-02 2.46544242e-01] [ 1.06873612e-02 1.79661699e-02 9.99781475e-01 -6.06386857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69864 meters Centerline goodness : 0.909957 Centerline is valid? [True, False] Translation: X:37.01, Y:0.25, Z:-0.07 [[ 9.99930700e-01 -2.19724344e-03 -1.15657733e-02 3.70131081e+01] [ 2.00438582e-03 9.99859202e-01 -1.66601179e-02 2.49879331e-01] [ 1.16007512e-02 1.66357811e-02 9.99794316e-01 -6.50857932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72864 meters Centerline goodness : 0.997446 Centerline is valid? [False, True] Translation: X:37.04, Y:0.27, Z:-0.06 [[ 9.99844350e-01 -3.70376634e-03 -1.72498411e-02 3.70390341e+01] [ 3.16064910e-03 9.99501685e-01 -3.14068720e-02 2.69811864e-01] [ 1.73575689e-02 3.13474628e-02 9.99357819e-01 -5.78358872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75864 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:37.07, Y:0.24, Z:-0.06 [[ 9.99819022e-01 -7.08009467e-03 -1.76577430e-02 3.70683845e+01] [ 7.07720502e-03 9.99974931e-01 -2.26132227e-04 2.44689812e-01] [ 1.76589014e-02 1.01123835e-04 9.99844064e-01 -6.44477280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:37.10, Y:0.25, Z:-0.06 [[ 9.99789404e-01 -1.04573162e-02 -1.76576396e-02 3.70963289e+01] [ 1.04548153e-02 9.99945320e-01 -2.33938946e-04 2.48944326e-01] [ 1.76591204e-02 4.92823179e-05 9.99844064e-01 -6.33232698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.818639999999995 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:37.12, Y:0.25, Z:-0.06 [[ 9.99692225e-01 -1.74260495e-02 -1.76575171e-02 3.71245367e+01] [ 1.74244781e-02 9.99848153e-01 -2.42848250e-04 2.54430550e-01] [ 1.76590677e-02 -6.48995122e-05 9.99844064e-01 -6.26505833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:37.15, Y:0.26, Z:-0.05 [[ 9.99588146e-01 -2.26219350e-02 -1.76574790e-02 3.71521292e+01] [ 2.26211258e-02 9.99744079e-01 -2.45586590e-04 2.55096530e-01] [ 1.76585157e-02 -1.53946608e-04 9.99844064e-01 -4.88459426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87864 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:37.18, Y:0.25, Z:-0.04 [[ 9.99462937e-01 -2.76065373e-02 -1.76554755e-02 3.71812508e+01] [ 2.76039853e-02 9.99618862e-01 -3.88274537e-04 2.53883852e-01] [ 1.76594653e-02 -9.92954776e-05 9.99844055e-01 -4.06986703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:37.21, Y:0.25, Z:-0.06 [[ 9.99256708e-01 -3.42691407e-02 -1.76538351e-02 3.72136809e+01] [ 3.42655671e-02 9.99412635e-01 -5.04956555e-04 2.53698972e-01] [ 1.76607703e-02 -1.00337445e-04 9.99844031e-01 -6.19368140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:37.24, Y:0.25, Z:-0.06 [[ 9.99053493e-01 -3.97534011e-02 -1.76574389e-02 3.72423683e+01] [ 3.97553376e-02 9.99209415e-01 -2.41470540e-04 2.51983803e-01] [ 1.76530785e-02 -4.60735458e-04 9.99844066e-01 -6.13606953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:37.27, Y:0.25, Z:-0.06 [[ 9.98848666e-01 -4.46044681e-02 -1.76574103e-02 3.72706663e+01] [ 4.46071251e-02 9.99004577e-01 -2.43544860e-04 2.50650160e-01] [ 1.76506969e-02 -5.44381853e-04 9.99844066e-01 -6.02064574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.998639999999995 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:37.30, Y:0.25, Z:-0.06 [[ 9.98843473e-01 -4.47206139e-02 -1.76573742e-02 3.72999531e+01] [ 4.47232433e-02 9.98999385e-01 -2.46135854e-04 2.51023984e-01] [ 1.76507133e-02 -5.43843851e-04 9.99844066e-01 -5.96884322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:37.33, Y:0.25, Z:-0.06 [[ 9.98563192e-01 -5.05941717e-02 -1.76573453e-02 3.73290128e+01] [ 5.05976818e-02 9.98719086e-01 -2.48188560e-04 2.46454798e-01] [ 1.76472847e-02 -6.45588780e-04 9.99844066e-01 -5.86590479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05864 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:37.35, Y:0.24, Z:-0.04 [[ 9.98287066e-01 -5.57777072e-02 -1.76573164e-02 3.73546576e+01] [ 5.57819904e-02 9.98442941e-01 -2.50230798e-04 2.41437345e-01] [ 1.76437802e-02 -7.35158086e-04 9.99844066e-01 -4.03505291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:37.39, Y:0.24, Z:-0.06 [[ 9.98457315e-01 -5.26439562e-02 -1.76522902e-02 3.73900530e+01] [ 5.26416277e-02 9.98613290e-01 -5.96864143e-04 2.41659842e-01] [ 1.76592328e-02 -3.33301917e-04 9.99844008e-01 -5.71441479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:37.42, Y:0.24, Z:-0.06 [[ 9.98472583e-01 -5.23519384e-02 -1.76571547e-02 3.74193211e+01] [ 5.23558324e-02 9.98628464e-01 -2.41977599e-04 2.38463176e-01] [ 1.76456053e-02 -6.82847034e-04 9.99844071e-01 -5.72424338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:37.45, Y:0.23, Z:-0.06 [[ 9.98614828e-01 -4.95646206e-02 -1.76571408e-02 3.74490854e+01] [ 4.95680616e-02 9.98770719e-01 -2.42990545e-04 2.33121248e-01] [ 1.76474789e-02 -6.32576280e-04 9.99844071e-01 -5.63130901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17864 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:37.48, Y:0.23, Z:-0.04 [[ 9.98560791e-01 -5.06416141e-02 -1.76571337e-02 3.74771915e+01] [ 5.06452142e-02 9.98716678e-01 -2.43500064e-04 2.29886656e-01] [ 1.76468052e-02 -6.51099703e-04 9.99844071e-01 -4.24370930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.208639999999995 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:37.51, Y:0.22, Z:-0.04 [[ 9.98719659e-01 -4.74065515e-02 -1.76539223e-02 3.75064392e+01] [ 4.74054917e-02 9.98875613e-01 -4.78744467e-04 2.24156178e-01] [ 1.76567681e-02 -3.58761356e-04 9.99844043e-01 -4.22657159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23864 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:37.54, Y:0.22, Z:-0.04 [[ 9.98813969e-01 -4.53758865e-02 -1.76545785e-02 3.75361103e+01] [ 4.53753707e-02 9.98969915e-01 -4.29994586e-04 2.21181778e-01] [ 1.76559041e-02 -3.71598443e-04 9.99844053e-01 -4.05909633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26864 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:37.57, Y:0.22, Z:-0.04 [[ 9.98919674e-01 -4.29861859e-02 -1.76542561e-02 3.75660126e+01] [ 4.29848590e-02 9.99075620e-01 -4.54792347e-04 2.18491288e-01] [ 1.76574866e-02 -3.04564685e-04 9.99844048e-01 -4.05851821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29864 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:37.60, Y:0.21, Z:-0.04 [[ 9.99239572e-01 -3.47647275e-02 -1.76547605e-02 3.76003614e+01] [ 3.47628181e-02 9.99395504e-01 -4.15121374e-04 2.14104984e-01] [ 1.76585199e-02 -1.98923525e-04 9.99844056e-01 -4.14383008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:37.63, Y:0.21, Z:-0.04 [[ 9.99149893e-01 -3.72511845e-02 -1.76590203e-02 3.76260244e+01] [ 3.72557950e-02 9.99305760e-01 -6.79312157e-05 2.11751020e-01] [ 1.76492912e-02 -5.90027372e-04 9.99844065e-01 -4.12341876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:37.66, Y:0.21, Z:-0.04 [[ 9.99402116e-01 -2.97273203e-02 -1.76549361e-02 3.76569436e+01] [ 2.97250582e-02 9.99558037e-01 -3.90587033e-04 2.14864878e-01] [ 1.76587444e-02 -1.34440498e-04 9.99844063e-01 -3.87559588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:37.69, Y:0.22, Z:-0.04 [[ 9.99498025e-01 -2.63050356e-02 -1.76562722e-02 3.76877347e+01] [ 2.63041206e-02 9.99653946e-01 -2.84097974e-04 2.16867574e-01] [ 1.76576354e-02 -1.80477349e-04 9.99844076e-01 -4.16029027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.418639999999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:37.72, Y:0.22, Z:-0.05 [[ 9.99543244e-01 -2.45256906e-02 -1.76576839e-02 3.77170895e+01] [ 2.45264768e-02 9.99699166e-01 -1.72062344e-04 2.18246797e-01] [ 1.76565918e-02 -2.61097022e-04 9.99844076e-01 -5.26142023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:37.74, Y:0.22, Z:-0.05 [[ 9.99598214e-01 -2.21729711e-02 -1.76570066e-02 3.77446278e+01] [ 2.21724522e-02 9.99754136e-01 -2.25173891e-04 2.19780515e-01] [ 1.76576582e-02 -1.66415717e-04 9.99844078e-01 -5.22569790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:37.77, Y:0.22, Z:-0.05 [[ 9.99658638e-01 -1.92571861e-02 -1.76569652e-02 3.77735772e+01] [ 1.92561558e-02 9.99814557e-01 -2.28376711e-04 2.22662113e-01] [ 1.76580887e-02 -1.11706522e-04 9.99844078e-01 -5.26683896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50864 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:37.85, Y:0.23, Z:-0.05 [[ 9.99615780e-01 -2.13664426e-02 -1.76569370e-02 3.78483556e+01] [ 2.13657032e-02 9.99771701e-01 -2.30535148e-04 2.32730745e-01] [ 1.76578317e-02 -1.46806305e-04 9.99844078e-01 -4.80580649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:0.22, Z:-0.05 [[ 9.99517726e-01 -2.55188492e-02 -1.76947289e-02 3.78259384e+01] [ 2.55758509e-02 9.99668375e-01 3.00257902e-03 2.18317288e-01] [ 1.76122386e-02 -3.45368870e-03 9.99838928e-01 -5.19877611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:37.85, Y:0.22, Z:-0.04 [[ 9.99474325e-01 -2.72070198e-02 -1.76309972e-02 3.78535829e+01] [ 2.72053078e-02 9.99629810e-01 -3.36986483e-04 2.22035928e-01] [ 1.76336388e-02 -1.42847369e-04 9.99844505e-01 -3.87765926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.598639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:0.22, Z:-0.05 [[ 9.99495929e-01 -2.64028630e-02 -1.76288703e-02 3.78848844e+01] [ 2.63990729e-02 9.99651383e-01 -4.47706025e-04 2.24230605e-01] [ 1.76345453e-02 -1.79054835e-05 9.99844499e-01 -5.09361922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:37.91, Y:0.23, Z:-0.03 [[ 9.99490157e-01 -2.66190600e-02 -1.76309813e-02 3.79121217e+01] [ 2.66172493e-02 9.99645641e-01 -3.37398295e-04 2.27334944e-01] [ 1.76337149e-02 -1.32061950e-04 9.99844505e-01 -3.19206859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:37.94, Y:0.23, Z:-0.04 [[ 9.99510122e-01 -2.58601159e-02 -1.76286930e-02 3.79418751e+01] [ 2.58560836e-02 9.99665571e-01 -4.56656943e-04 2.28019678e-01] [ 1.76346066e-02 6.24276970e-07 9.99844498e-01 -3.87211999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:0.23, Z:-0.05 [[ 9.99529114e-01 -2.51143333e-02 -1.76301005e-02 3.79727211e+01] [ 2.51114733e-02 9.99684584e-01 -3.83615915e-04 2.27734483e-01] [ 1.76341739e-02 -5.92825219e-05 9.99844504e-01 -5.06532666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:38.00, Y:0.23, Z:-0.03 [[ 9.99522593e-01 -2.53719224e-02 -1.76309746e-02 3.80009694e+01] [ 2.53699066e-02 9.99678075e-01 -3.38024692e-04 2.27591597e-01] [ 1.76338751e-02 -1.09432861e-04 9.99844505e-01 -3.46394556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:0.23, Z:-0.05 [[ 9.99585920e-01 -2.27422026e-02 -1.76289721e-02 3.80318670e+01] [ 2.27379433e-02 9.99741362e-01 -4.42034265e-04 2.31434737e-01] [ 1.76344654e-02 4.10046602e-05 9.99844500e-01 -4.96822016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.778639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.06, Y:0.23, Z:-0.04 [[ 9.99559828e-01 -2.38599959e-02 -1.76309756e-02 3.80596284e+01] [ 2.38577573e-02 9.99715306e-01 -3.37324101e-04 2.32221143e-01] [ 1.76340047e-02 -8.34599160e-05 9.99844505e-01 -3.64051054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.09, Y:0.23, Z:-0.05 [[ 9.99640812e-01 -2.01865668e-02 -1.76280788e-02 3.80918934e+01] [ 2.01811108e-02 9.99796222e-01 -4.87362455e-04 2.32912359e-01] [ 1.76343248e-02 1.31433188e-04 9.99844495e-01 -5.01317848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.12, Y:0.23, Z:-0.04 [[ 9.99636155e-01 -2.04134089e-02 -1.76309666e-02 3.81200535e+01] [ 2.04106626e-02 9.99791624e-01 -3.35715943e-04 2.34011440e-01] [ 1.76341458e-02 -2.42659160e-05 9.99844506e-01 -3.60228913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:0.24, Z:-0.05 [[ 9.99671944e-01 -1.85798404e-02 -1.76293353e-02 3.81514624e+01] [ 1.85753158e-02 9.99827376e-01 -4.20379474e-04 2.38264481e-01] [ 1.76341027e-02 9.27710942e-05 9.99844503e-01 -5.03978950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:0.24, Z:-0.03 [[ 9.99630505e-01 -2.06882954e-02 -1.76308721e-02 3.81804028e+01] [ 2.06855003e-02 9.99785974e-01 -3.40905372e-04 2.38376926e-01] [ 1.76341514e-02 -2.39240007e-05 9.99844506e-01 -3.42527102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:0.24, Z:-0.04 [[ 9.99662236e-01 -1.90951842e-02 -1.76291698e-02 3.82125876e+01] [ 1.90906038e-02 9.99817666e-01 -4.28087922e-04 2.39249015e-01] [ 1.76341298e-02 9.13918345e-05 9.99844502e-01 -3.63369524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.958639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.24, Y:0.24, Z:-0.03 [[ 9.99568801e-01 -2.34794146e-02 -1.76332033e-02 3.82383590e+01] [ 2.34791686e-02 9.99724302e-01 -2.21003215e-04 2.39400997e-01] [ 1.76335309e-02 -1.93105035e-04 9.99844499e-01 -3.42935290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:0.24, Z:-0.05 [[ 9.99573229e-01 -2.32940999e-02 -1.76279361e-02 3.82700329e+01] [ 2.32891554e-02 9.99728653e-01 -4.85753673e-04 2.42671869e-01] [ 1.76344680e-02 7.50066243e-05 9.99844498e-01 -4.85847668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:0.24, Z:-0.05 [[ 9.99558255e-01 -2.39260689e-02 -1.76306175e-02 3.82976484e+01] [ 2.39235972e-02 9.99713728e-01 -3.51119757e-04 2.43901778e-01] [ 1.76339713e-02 -7.08231404e-05 9.99844507e-01 -4.83263989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:38.33, Y:0.24, Z:-0.03 [[ 9.99551610e-01 -2.42021216e-02 -1.76305520e-02 3.83270753e+01] [ 2.41996354e-02 9.99707083e-01 -3.54377980e-04 2.44765692e-01] [ 1.76339644e-02 -7.24338491e-05 9.99844507e-01 -3.33262535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:0.25, Z:-0.03 [[ 9.99493377e-01 -2.64984265e-02 -1.76301461e-02 3.83538063e+01] [ 2.64959456e-02 9.99648851e-01 -3.74326433e-04 2.47726664e-01] [ 1.76338744e-02 -9.29906020e-05 9.99844507e-01 -3.43275809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:0.25, Z:-0.05 [[ 9.99532411e-01 -2.49844316e-02 -1.76277700e-02 3.83857407e+01] [ 2.49796621e-02 9.99687839e-01 -4.90736238e-04 2.51149904e-01] [ 1.76345281e-02 5.01710360e-05 9.99844498e-01 -4.78378445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.138639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:0.25, Z:-0.05 [[ 9.99520369e-01 -2.54597287e-02 -1.76305114e-02 3.84148361e+01] [ 2.54574386e-02 9.99675844e-01 -3.54345698e-04 2.53102520e-01] [ 1.76338179e-02 -9.46519198e-05 9.99844508e-01 -4.75723678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:0.25, Z:-0.05 [[ 9.99464271e-01 -2.75742205e-02 -1.76304676e-02 3.84437901e+01] [ 2.75722212e-02 9.99619750e-01 -3.56512197e-04 2.54685609e-01] [ 1.76335942e-02 -1.29789949e-04 9.99844508e-01 -4.70399449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:0.26, Z:-0.05 [[ 9.99453264e-01 -2.79703484e-02 -1.76304238e-02 3.84729760e+01] [ 2.79683727e-02 9.99608744e-01 -3.58667392e-04 2.55635859e-01] [ 1.76335578e-02 -1.34622967e-04 9.99844508e-01 -4.64282194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:38.50, Y:0.26, Z:-0.03 [[ 9.99398535e-01 -2.98619793e-02 -1.76303797e-02 3.85002513e+01] [ 2.98602599e-02 9.99554018e-01 -3.60820657e-04 2.58489514e-01] [ 1.76332917e-02 -1.65844083e-04 9.99844508e-01 -3.32154770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:38.53, Y:0.26, Z:-0.03 [[ 9.99421861e-01 -2.90731123e-02 -1.76266205e-02 3.85287907e+01] [ 2.90680528e-02 9.99577287e-01 -5.43228522e-04 2.61009010e-01] [ 1.76349628e-02 3.05429242e-05 9.99844491e-01 -2.85209821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.56, Y:0.26, Z:-0.04 [[ 9.99513275e-01 -2.57399083e-02 -1.76258636e-02 3.85619910e+01] [ 2.57336874e-02 9.99668666e-01 -5.79690738e-04 2.63141850e-01] [ 1.76349447e-02 1.25830123e-04 9.99844484e-01 -4.39149073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.318639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:0.26, Z:-0.04 [[ 9.99527218e-01 -2.51894931e-02 -1.76303476e-02 3.85903001e+01] [ 2.51870561e-02 9.99682691e-01 -3.60295401e-04 2.64074506e-01] [ 1.76338290e-02 -8.39314940e-05 9.99844508e-01 -4.31462507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.62, Y:0.26, Z:-0.04 [[ 9.99504576e-01 -2.60725035e-02 -1.76303033e-02 3.86194379e+01] [ 2.60701658e-02 9.99660050e-01 -3.62450581e-04 2.64829881e-01] [ 1.76337599e-02 -9.73539154e-05 9.99844508e-01 -4.29879441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:0.27, Z:-0.04 [[ 9.99458399e-01 -2.77863736e-02 -1.76302585e-02 3.86480813e+01] [ 2.77842643e-02 9.99613876e-01 -3.64615865e-04 2.65506778e-01] [ 1.76335824e-02 -1.25425373e-04 9.99844508e-01 -4.15141862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:38.68, Y:0.26, Z:-0.03 [[ 9.99353651e-01 -3.13281826e-02 -1.76302138e-02 3.86757455e+01] [ 3.13265864e-02 9.99509135e-01 -3.66765643e-04 2.63816933e-01] [ 1.76330498e-02 -1.85765831e-04 9.99844508e-01 -2.88330356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:0.26, Z:-0.04 [[ 9.99376347e-01 -3.05975504e-02 -1.76268759e-02 3.87078442e+01] [ 3.05930304e-02 9.99531785e-01 -5.26083041e-04 2.64021202e-01] [ 1.76347196e-02 -1.35046031e-05 9.99844496e-01 -3.98332132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:38.74, Y:0.26, Z:-0.03 [[ 9.99311981e-01 -3.26303542e-02 -1.76302088e-02 3.87366273e+01] [ 3.26289884e-02 9.99467466e-01 -3.65192500e-04 2.64034496e-01] [ 1.76327365e-02 -2.10314638e-04 9.99844509e-01 -2.66643940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.498639999999995 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:38.77, Y:0.27, Z:-0.02 [[ 9.99314629e-01 -3.25500888e-02 -1.76284886e-02 3.87661451e+01] [ 3.25472585e-02 9.99470097e-01 -4.47505527e-04 2.66076814e-01] [ 1.76337135e-02 -1.26560155e-04 9.99844506e-01 -2.39275210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.528639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:0.27, Z:-0.04 [[ 9.99323460e-01 -3.22774553e-02 -1.76292060e-02 3.87972105e+01] [ 3.22751920e-02 9.99478935e-01 -4.12957608e-04 2.67259565e-01] [ 1.76333493e-02 -1.56307783e-04 9.99844508e-01 -3.88632223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:38.83, Y:0.27, Z:-0.03 [[ 9.99307652e-01 -3.27626662e-02 -1.76302097e-02 3.88254981e+01] [ 3.27613349e-02 9.99463137e-01 -3.64400839e-04 2.67130160e-01] [ 1.76326834e-02 -2.13440657e-04 9.99844509e-01 -2.59653036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:38.85, Y:0.26, Z:-0.02 [[ 9.99282827e-01 -3.35120880e-02 -1.76287061e-02 3.88538357e+01] [ 3.35096077e-02 9.99438300e-01 -4.36150953e-04 2.64851355e-01] [ 1.76334204e-02 -1.54892868e-04 9.99844507e-01 -2.40411434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:38.89, Y:0.26, Z:-0.03 [[ 9.99342375e-01 -3.16869519e-02 -1.76282414e-02 3.88858598e+01] [ 3.16837947e-02 9.99497837e-01 -4.58427624e-04 2.63757753e-01] [ 1.76339154e-02 -1.00403432e-04 9.99844505e-01 -2.50777371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:38.92, Y:0.27, Z:-0.03 [[ 9.99678361e-01 -1.82294249e-02 -1.76313183e-02 3.89184219e+01] [ 1.82268016e-02 9.99833830e-01 -3.09481022e-04 2.67670807e-01] [ 1.76340302e-02 -1.19810601e-05 9.99844508e-01 -2.65292671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:38.94, Y:0.26, Z:-0.02 [[ 9.99184389e-01 -3.63252383e-02 -1.76361259e-02 3.89425761e+01] [ 3.63294720e-02 9.99339864e-01 -8.03651085e-05 2.59940412e-01] [ 1.76274030e-02 -5.60411581e-04 9.99844468e-01 -2.24437882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:0.26, Z:-0.04 [[ 9.99168119e-01 -3.67741405e-02 -1.76275898e-02 3.89739238e+01] [ 3.67715754e-02 9.99323587e-01 -4.69720892e-04 2.59277788e-01] [ 1.76329399e-02 -1.78864110e-04 9.99844512e-01 -3.74120405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:39.00, Y:0.26, Z:-0.02 [[ 9.99158146e-01 -3.70432137e-02 -1.76294814e-02 3.90006269e+01] [ 3.70422282e-02 9.99313628e-01 -3.82553447e-04 2.55580721e-01] [ 1.76315520e-02 -2.70803880e-04 9.99844515e-01 -2.06006604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:39.03, Y:0.26, Z:-0.02 [[ 9.99186525e-01 -3.62712115e-02 -1.76263312e-02 3.90308599e+01] [ 3.62675759e-02 9.99341977e-01 -5.25976308e-04 2.55726540e-01] [ 1.76338104e-02 -1.13715865e-04 9.99844506e-01 -2.06174759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:0.26, Z:-0.03 [[ 9.99261077e-01 -3.41552681e-02 -1.76271631e-02 3.90629953e+01] [ 3.41519809e-02 9.99416532e-01 -4.87563592e-04 2.55725696e-01] [ 1.76335311e-02 -1.14799217e-04 9.99844511e-01 -3.48429044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:39.09, Y:0.25, Z:-0.02 [[ 9.99216610e-01 -3.54311709e-02 -1.76294965e-02 3.90899575e+01] [ 3.54299965e-02 9.99372089e-01 -3.79039919e-04 2.53618240e-01] [ 1.76318566e-02 -2.45870018e-04 9.99844517e-01 -2.14424992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:39.12, Y:0.25, Z:-0.02 [[ 9.99316524e-01 -3.24937054e-02 -1.76250742e-02 3.91195265e+01] [ 3.24884737e-02 9.99471940e-01 -5.83158986e-04 2.53638346e-01] [ 1.76347161e-02 1.01486520e-05 9.99844496e-01 -1.97114459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:39.15, Y:0.25, Z:-0.04 [[ 9.99365510e-01 -3.09493820e-02 -1.76270733e-02 3.91516216e+01] [ 3.09455557e-02 9.99520952e-01 -4.89856175e-04 2.54340037e-01] [ 1.76337898e-02 -5.59342118e-05 9.99844511e-01 -3.56508697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.918639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:39.18, Y:0.25, Z:-0.04 [[ 9.99359888e-01 -3.11289969e-02 -1.76295129e-02 3.91800575e+01] [ 3.11272201e-02 9.99515360e-01 -3.75245887e-04 2.54782218e-01] [ 1.76326500e-02 -1.73752040e-04 9.99844518e-01 -3.51785174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:39.21, Y:0.26, Z:-0.02 [[ 9.99304741e-01 -3.28517449e-02 -1.76294441e-02 3.92074524e+01] [ 3.28501795e-02 9.99460216e-01 -3.78450563e-04 2.55136062e-01] [ 1.76323608e-02 -2.00942962e-04 9.99844518e-01 -1.64025410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:39.24, Y:0.26, Z:-0.03 [[ 9.99357435e-01 -3.12091795e-02 -1.76268006e-02 3.92392902e+01] [ 3.12052204e-02 9.99512874e-01 -4.99674718e-04 2.57172473e-01] [ 1.76338086e-02 -5.06945545e-05 9.99844511e-01 -3.21712801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:0.26, Z:-0.03 [[ 9.99349624e-01 -3.14568905e-02 -1.76293344e-02 3.92675889e+01] [ 3.14550266e-02 9.99505095e-01 -3.83071868e-04 2.59772695e-01] [ 1.76326598e-02 -1.71708457e-04 9.99844518e-01 -3.09048879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:39.30, Y:0.26, Z:-0.01 [[ 9.99333330e-01 -3.19703625e-02 -1.76292874e-02 3.92961215e+01] [ 3.19685406e-02 9.99488801e-01 -3.85223078e-04 2.61008962e-01] [ 1.76325911e-02 -1.78616330e-04 9.99844518e-01 -1.49230470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.068639999999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:39.33, Y:0.26, Z:-0.01 [[ 9.99351167e-01 -3.14088968e-02 -1.76274202e-02 3.93254452e+01] [ 3.14054932e-02 9.99506615e-01 -4.69940102e-04 2.61700432e-01] [ 1.76334834e-02 -8.39626349e-05 9.99844515e-01 -1.43382934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.098639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:0.26, Z:-0.03 [[ 9.99350881e-01 -3.14177314e-02 -1.76278981e-02 3.93571941e+01] [ 3.14147091e-02 9.99506336e-01 -4.48398272e-04 2.62899383e-01] [ 1.76332835e-02 -1.05668083e-04 9.99844516e-01 -3.13635155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:39.38, Y:0.26, Z:-0.01 [[ 9.99140954e-01 -3.75042040e-02 -1.76291882e-02 3.93840257e+01] [ 3.75031571e-02 9.99296433e-01 -3.90098313e-04 2.64650727e-01] [ 1.76314152e-02 -2.71387014e-04 9.99844518e-01 -1.28197531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:39.41, Y:0.27, Z:-0.02 [[ 9.99095592e-01 -3.86964639e-02 -1.76233056e-02 3.94145966e+01] [ 3.86909811e-02 9.99251011e-01 -6.52091104e-04 2.66850543e-01] [ 1.76353395e-02 -3.03616341e-05 9.99844485e-01 -1.62443782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:0.27, Z:-0.03 [[ 9.99046689e-01 -3.99389215e-02 -1.76237546e-02 3.94471244e+01] [ 3.99339946e-02 9.99202120e-01 -6.31534627e-04 2.66097486e-01] [ 1.76349158e-02 -7.28543448e-05 9.99844490e-01 -2.98533584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:39.48, Y:0.26, Z:-0.03 [[ 9.98971138e-01 -4.17836872e-02 -1.76291903e-02 3.94756143e+01] [ 4.17835167e-02 9.99126616e-01 -3.78164966e-04 2.64614059e-01] [ 1.76295943e-02 -3.58833679e-04 9.99844522e-01 -2.90034476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:0.26, Z:-0.03 [[ 9.98905391e-01 -4.33270394e-02 -1.76291448e-02 3.95041190e+01] [ 4.33270720e-02 9.99060869e-01 -3.80270487e-04 2.63751054e-01] [ 1.76290648e-02 -3.83964989e-04 9.99844522e-01 -2.91680771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.278639999999996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:39.53, Y:0.26, Z:-0.01 [[ 9.98709303e-01 -4.76334217e-02 -1.76290996e-02 3.95309908e+01] [ 4.76340878e-02 9.98864779e-01 -3.82357316e-04 2.60708370e-01] [ 1.76272997e-02 -4.57882269e-04 9.99844522e-01 -1.33315890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:39.56, Y:0.26, Z:-0.01 [[ 9.98694596e-01 -4.79428900e-02 -1.76233781e-02 3.95584968e+01] [ 4.79390030e-02 9.98850058e-01 -6.43191779e-04 2.59300526e-01] [ 1.76339487e-02 -2.02495021e-04 9.99844489e-01 -1.33647957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:39.59, Y:0.26, Z:-0.01 [[ 9.98759990e-01 -4.65607762e-02 -1.76231998e-02 3.95870359e+01] [ 4.65565317e-02 9.98915444e-01 -6.51267211e-04 2.57872001e-01] [ 1.76344100e-02 -1.70015426e-04 9.99844487e-01 -1.27646588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:39.62, Y:0.26, Z:-0.03 [[ 9.99032745e-01 -4.02858050e-02 -1.76246663e-02 3.96192742e+01] [ 4.02817676e-02 9.99188189e-01 -5.84167118e-04 2.55069074e-01] [ 1.76338920e-02 -1.26350631e-04 9.99844503e-01 -2.79002562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:39.65, Y:0.25, Z:-0.03 [[ 9.99132872e-01 -3.77189528e-02 -1.76290784e-02 3.96478720e+01] [ 3.77181367e-02 9.99288346e-01 -3.78900256e-04 2.53605386e-01] [ 1.76308243e-02 -2.86364289e-04 9.99844524e-01 -2.81482757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:39.68, Y:0.25, Z:-0.03 [[ 9.99254818e-01 -3.43369544e-02 -1.76290329e-02 3.96758160e+01] [ 3.43355749e-02 9.99410288e-01 -3.81007245e-04 2.53056145e-01] [ 1.76317195e-02 -2.24579655e-04 9.99844524e-01 -2.82084655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.458639999999995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:39.70, Y:0.25, Z:-0.01 [[ 9.99377093e-01 -3.05719883e-02 -1.76289634e-02 3.97032043e+01] [ 3.05699669e-02 9.99532556e-01 -3.84195349e-04 2.53131844e-01] [ 1.76324685e-02 -1.54960797e-04 9.99844524e-01 -1.26142878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:39.73, Y:0.25, Z:-0.01 [[ 9.99274396e-01 -3.37646897e-02 -1.76246064e-02 3.97287151e+01] [ 3.37596659e-02 9.99429810e-01 -5.82570086e-04 2.50746928e-01] [ 1.76342273e-02 -1.28534545e-05 9.99844505e-01 -9.89380798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:39.76, Y:0.26, Z:-0.01 [[ 9.99543971e-01 -2.45253107e-02 -1.76170233e-02 3.97616355e+01] [ 2.45127691e-02 9.99699087e-01 -9.27520568e-04 2.56960769e-01] [ 1.76344698e-02 4.95255566e-04 9.99844378e-01 -1.04913569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:39.79, Y:0.26, Z:-0.01 [[ 9.99656380e-01 -1.94035887e-02 -1.76245027e-02 3.97914744e+01] [ 1.93964328e-02 9.99811705e-01 -5.76885380e-04 2.58815514e-01] [ 1.76323777e-02 2.34834668e-04 9.99844510e-01 -1.02489550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:39.82, Y:0.26, Z:-0.02 [[ 9.99682731e-01 -1.79925443e-02 -1.76268577e-02 3.98219243e+01] [ 1.79871289e-02 9.99838110e-01 -4.65729949e-04 2.60434659e-01] [ 1.76323838e-02 1.48525626e-04 9.99844526e-01 -2.32820008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:0.26, Z:-0.02 [[ 9.99684881e-01 -1.78707878e-02 -1.76287555e-02 3.98509763e+01] [ 1.78669182e-02 9.99840303e-01 -3.76992262e-04 2.63531918e-01] [ 1.76326773e-02 6.19019324e-05 9.99844530e-01 -2.40996937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.638639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:39.88, Y:0.27, Z:-0.02 [[ 9.99677010e-01 -1.83058322e-02 -1.76287081e-02 3.98795413e+01] [ 1.83019913e-02 9.99832433e-01 -3.79194725e-04 2.65483324e-01] [ 1.76326956e-02 5.64317858e-05 9.99844530e-01 -2.27844477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.668639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:0.27, Z:-0.02 [[ 9.99676285e-01 -1.83454511e-02 -1.76286607e-02 3.99071595e+01] [ 1.83415778e-02 9.99831706e-01 -3.81387110e-04 2.67334809e-01] [ 1.76326906e-02 5.79261992e-05 9.99844530e-01 -2.20016961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:39.93, Y:0.27, Z:-0.01 [[ 9.99621401e-01 -2.11255176e-02 -1.76285880e-02 3.99331368e+01] [ 2.11220178e-02 9.99776831e-01 -3.84715263e-04 2.69309319e-01] [ 1.76327812e-02 1.22182603e-05 9.99844530e-01 -7.27208921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:39.97, Y:0.27, Z:-0.02 [[ 9.99703956e-01 -1.67755277e-02 -1.76233096e-02 3.99665453e+01] [ 1.67671049e-02 9.99859227e-01 -6.25593786e-04 2.72073752e-01] [ 1.76313234e-02 3.29916702e-04 9.99844502e-01 -2.18567206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:39.99, Y:0.28, Z:-0.01 [[ 9.99634350e-01 -2.05035871e-02 -1.76286195e-02 3.99919745e+01] [ 2.05001098e-02 9.99789779e-01 -3.77960985e-04 2.75219815e-01] [ 1.76326631e-02 1.64341495e-05 9.99844532e-01 -6.11584982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:0.28, Z:-0.02 [[ 9.99705416e-01 -1.66888547e-02 -1.76227893e-02 4.00250315e+01] [ 1.66800507e-02 9.99860669e-01 -6.46457908e-04 2.78321515e-01] [ 1.76311225e-02 3.52318453e-04 9.99844498e-01 -2.11125805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.818639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:0.28, Z:-0.02 [[ 9.99704337e-01 -1.67473202e-02 -1.76285522e-02 4.00538738e+01] [ 1.67432751e-02 9.99859750e-01 -3.77043498e-04 2.79559868e-01] [ 1.76323943e-02 8.17723215e-05 9.99844534e-01 -2.12260691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:40.08, Y:0.28, Z:-0.02 [[ 9.99693696e-01 -1.73709641e-02 -1.76285055e-02 4.00828447e+01] [ 1.73669776e-02 9.99849111e-01 -3.79215233e-04 2.81206634e-01] [ 1.76324329e-02 7.29452178e-05 9.99844534e-01 -1.97027901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:0.28, Z:-0.02 [[ 9.99662244e-01 -1.90954104e-02 -1.76284579e-02 4.01119617e+01] [ 1.90916531e-02 9.99817665e-01 -3.81417664e-04 2.84723312e-01] [ 1.76325269e-02 4.47324363e-05 9.99844534e-01 -2.12312401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:40.14, Y:0.29, Z:-0.00 [[ 9.99533555e-01 -2.49381499e-02 -1.76284105e-02 4.01370774e+01] [ 2.49352628e-02 9.99688994e-01 -3.83594509e-04 2.86322229e-01] [ 1.76324941e-02 -5.61534647e-05 9.99844534e-01 -3.03068920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:40.17, Y:0.29, Z:-0.02 [[ 9.99587532e-01 -2.26764563e-02 -1.76222834e-02 4.01700267e+01] [ 2.26682853e-02 9.99742821e-01 -6.63312810e-04 2.88944855e-01] [ 1.76327929e-02 2.63572267e-04 9.99844495e-01 -1.90292615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:40.20, Y:0.29, Z:-0.02 [[ 9.99482143e-01 -2.69199851e-02 -1.76283819e-02 4.01984968e+01] [ 2.69174401e-02 9.99637587e-01 -3.81670403e-04 2.90353867e-01] [ 1.76322677e-02 -9.30381615e-05 9.99844535e-01 -1.93251881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.998639999999995 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:40.23, Y:0.29, Z:-0.02 [[ 9.99450767e-01 -2.80607554e-02 -1.76283348e-02 4.02274721e+01] [ 2.80583497e-02 9.99606213e-01 -3.83831569e-04 2.91763991e-01] [ 1.76321636e-02 -1.11001227e-04 9.99844535e-01 -1.94312566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:40.26, Y:0.30, Z:-0.02 [[ 9.99473127e-01 -2.72527343e-02 -1.76282879e-02 4.02559011e+01] [ 2.72501651e-02 9.99628571e-01 -3.85976488e-04 2.96857942e-01] [ 1.76322591e-02 -9.46006274e-05 9.99844535e-01 -1.87738536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:40.28, Y:0.30, Z:-0.00 [[ 9.99449391e-01 -2.81097850e-02 -1.76282405e-02 4.02832050e+01] [ 2.81073112e-02 9.99604836e-01 -3.88127569e-04 2.99961389e-01] [ 1.76321846e-02 -1.07568578e-04 9.99844535e-01 -2.23295731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:40.32, Y:0.30, Z:-0.02 [[ 9.99547372e-01 -2.43810070e-02 -1.76243434e-02 4.03153896e+01] [ 2.43748794e-02 9.99702730e-01 -5.62437614e-04 3.04047562e-01] [ 1.76328170e-02 1.32591793e-04 9.99844521e-01 -1.82869256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:40.34, Y:0.31, Z:-0.00 [[ 9.99547632e-01 -2.43675932e-02 -1.76281452e-02 4.03448910e+01] [ 2.43644853e-02 9.99703065e-01 -3.91078761e-04 3.07578985e-01] [ 1.76324405e-02 -3.85988358e-05 9.99844536e-01 -4.80886517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:40.37, Y:0.31, Z:-0.00 [[ 9.99495820e-01 -2.64080357e-02 -1.76272861e-02 4.03720785e+01] [ 2.64045657e-02 9.99651246e-01 -4.29602623e-04 3.08552552e-01] [ 1.76324834e-02 -3.60548074e-05 9.99844535e-01 -3.08119909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:40.40, Y:0.31, Z:0.00 [[ 9.99431890e-01 -2.87269531e-02 -1.76255157e-02 4.04011718e+01] [ 2.87224549e-02 9.99587296e-01 -5.08351044e-04 3.09400329e-01] [ 1.76328449e-02 1.81416528e-06 9.99844529e-01 8.73842416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.208639999999995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:40.43, Y:0.31, Z:-0.02 [[ 9.99452849e-01 -2.79893341e-02 -1.76238500e-02 4.04338759e+01] [ 2.79834209e-02 9.99608218e-01 -5.82088704e-04 3.11117432e-01] [ 1.76332376e-02 8.85945994e-05 9.99844518e-01 -1.72668682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:40.46, Y:0.31, Z:0.00 [[ 9.99223499e-01 -3.52370471e-02 -1.76280910e-02 4.04622058e+01] [ 3.52356346e-02 9.99378956e-01 -3.90807422e-04 3.10144618e-01] [ 1.76309140e-02 -2.30633014e-04 9.99844537e-01 3.90820069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:40.49, Y:0.31, Z:-0.02 [[ 9.99198736e-01 -3.59340694e-02 -1.76246560e-02 4.04946404e+01] [ 3.59300731e-02 9.99354159e-01 -5.43449088e-04 3.10534422e-01] [ 1.76328017e-02 -9.02415381e-05 9.99844526e-01 -1.68157071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:40.52, Y:0.31, Z:-0.02 [[ 9.99022265e-01 -4.05434010e-02 -1.76280204e-02 4.05238794e+01] [ 4.05427884e-02 9.99177726e-01 -3.92270957e-04 3.08168888e-01] [ 1.76294293e-02 -3.22801680e-04 9.99844537e-01 -1.61175757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:40.55, Y:0.31, Z:-0.02 [[ 9.98967156e-01 -4.18793053e-02 -1.76279739e-02 4.05525604e+01] [ 4.18788639e-02 9.99122618e-01 -3.94348261e-04 3.07195884e-01] [ 1.76290225e-02 -3.44298559e-04 9.99844537e-01 -1.63395648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:40.58, Y:0.31, Z:-0.02 [[ 9.98904147e-01 -4.33562200e-02 -1.76279268e-02 4.05813391e+01] [ 4.33559715e-02 9.99059609e-01 -3.96440790e-04 3.05479137e-01] [ 1.76285379e-02 -3.68269545e-04 9.99844537e-01 -1.56854379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:40.61, Y:0.30, Z:0.01 [[ 9.98753508e-01 -4.66978325e-02 -1.76278798e-02 4.06076035e+01] [ 4.66980675e-02 9.98908971e-01 -3.98522420e-04 3.02039712e-01] [ 1.76272574e-02 -4.25162255e-04 9.99844537e-01 5.45596408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.418639999999996 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:40.65, Y:0.32, Z:-0.00 [[ 9.99809873e-01 -8.34707893e-03 -1.76222611e-02 4.06459150e+01] [ 8.33703164e-03 9.99965039e-01 -6.43536727e-04 3.16915265e-01] [ 1.76270167e-02 4.96497024e-04 9.99844509e-01 -3.19799279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:40.67, Y:0.30, Z:-0.01 [[ 9.98843332e-01 -4.47305678e-02 -1.76401545e-02 4.06688573e+01] [ 4.47404560e-02 9.98998631e-01 1.66107115e-04 3.00266161e-01] [ 1.76150601e-02 -9.55143539e-04 9.99844387e-01 -1.29049655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:40.70, Y:0.30, Z:-0.01 [[ 9.98768273e-01 -4.63814017e-02 -1.76267711e-02 4.06980538e+01] [ 4.63813889e-02 9.98923720e-01 -4.09750533e-04 2.98392097e-01] [ 1.76268045e-02 -4.08308292e-04 9.99844552e-01 -1.26923171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:40.73, Y:0.30, Z:0.00 [[ 9.98838489e-01 -4.48438611e-02 -1.76267225e-02 4.07277574e+01] [ 4.48435724e-02 9.98993936e-01 -4.11828785e-04 2.96548729e-01] [ 1.76274569e-02 -3.79094767e-04 9.99844552e-01 3.95852039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:40.76, Y:0.29, Z:-0.01 [[ 9.98720190e-01 -4.74051766e-02 -1.76275933e-02 4.07579434e+01] [ 4.74059452e-02 9.98875636e-01 -3.74488369e-04 2.90599603e-01] [ 1.76255262e-02 -4.61643627e-04 9.99844552e-01 -1.22848892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.568639999999995 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:40.79, Y:0.29, Z:0.01 [[ 9.98607902e-01 -4.97147771e-02 -1.76266714e-02 4.07856913e+01] [ 4.97152125e-02 9.98763349e-01 -4.13763672e-04 2.88316450e-01] [ 1.76254435e-02 -4.63126041e-04 9.99844553e-01 5.10661740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.598639999999996 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:40.81, Y:0.29, Z:0.01 [[ 9.98563790e-01 -5.05943339e-02 -1.76230138e-02 4.08148862e+01] [ 5.05921867e-02 9.98719234e-01 -5.67932977e-04 2.87658577e-01] [ 1.76291771e-02 -3.24469501e-04 9.99844541e-01 6.48126247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:40.85, Y:0.28, Z:-0.01 [[ 9.98594848e-01 -4.99776123e-02 -1.76229599e-02 4.08468577e+01] [ 4.99753289e-02 9.98750290e-01 -5.70206817e-04 2.84830785e-01] [ 1.76294339e-02 -3.11307631e-04 9.99844541e-01 -9.64808092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:40.88, Y:0.28, Z:-0.01 [[ 9.98611037e-01 -4.96517702e-02 -1.76266275e-02 4.08756486e+01] [ 4.96521898e-02 9.98766484e-01 -4.14101378e-04 2.82860608e-01] [ 1.76254457e-02 -4.61674449e-04 9.99844553e-01 -1.01381798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:40.90, Y:0.28, Z:-0.01 [[ 9.98642171e-01 -4.90216085e-02 -1.76265788e-02 4.09044758e+01] [ 4.90218935e-02 9.98797618e-01 -4.16164589e-04 2.81394871e-01] [ 1.76257860e-02 -4.48488762e-04 9.99844553e-01 -9.43578744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:40.93, Y:0.28, Z:-0.01 [[ 9.98788722e-01 -4.59390272e-02 -1.76265298e-02 4.09332578e+01] [ 4.59387961e-02 9.98944169e-01 -4.18229218e-04 2.82030037e-01] [ 1.76271322e-02 -3.92018933e-04 9.99844553e-01 -7.41613424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:40.96, Y:0.28, Z:-0.01 [[ 9.98866494e-01 -4.42157753e-02 -1.76264803e-02 4.09623748e+01] [ 4.42152394e-02 9.99021940e-01 -4.20306346e-04 2.84125256e-01] [ 1.76278247e-02 -3.59529119e-04 9.99844553e-01 -5.55481708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.778639999999996 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:40.99, Y:0.29, Z:-0.01 [[ 9.98952272e-01 -4.22334779e-02 -1.76264305e-02 4.09916130e+01] [ 4.22325968e-02 9.99107717e-01 -4.22384913e-04 2.85554624e-01] [ 1.76285415e-02 -3.22467564e-04 9.99844553e-01 -5.09652878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:41.02, Y:0.29, Z:-0.00 [[ 9.98947194e-01 -4.23534570e-02 -1.76263798e-02 4.10208919e+01] [ 4.23525574e-02 9.99102638e-01 -4.24490459e-04 2.86225500e-01] [ 1.76285412e-02 -3.22478709e-04 9.99844553e-01 -4.57956242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:41.05, Y:0.29, Z:-0.00 [[ 9.98998485e-01 -4.11258972e-02 -1.76263286e-02 4.10499538e+01] [ 4.11247692e-02 9.99153928e-01 -4.26607148e-04 2.85862752e-01] [ 1.76289600e-02 -2.98698800e-04 9.99844553e-01 -3.19791150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:41.08, Y:0.29, Z:0.01 [[ 9.98912823e-01 -4.31565397e-02 -1.76262770e-02 4.10760462e+01] [ 4.31556904e-02 9.99068267e-01 -4.28728332e-04 2.85466123e-01] [ 1.76283564e-02 -3.32411923e-04 9.99844553e-01 1.41788321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:41.11, Y:0.29, Z:-0.00 [[ 9.98969836e-01 -4.18185367e-02 -1.76203666e-02 4.11092832e+01] [ 4.18132479e-02 9.99125220e-01 -6.68620189e-04 2.87218176e-01] [ 1.76329134e-02 -6.88333554e-05 9.99844526e-01 -3.48968195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:41.14, Y:0.29, Z:-0.00 [[ 9.98944236e-01 -4.24232179e-02 -1.76262260e-02 4.11384441e+01] [ 4.24222942e-02 9.99099678e-01 -4.26470378e-04 2.86708232e-01] [ 1.76284489e-02 -3.21724817e-04 9.99844555e-01 -7.76909799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.958639999999995 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:41.17, Y:0.29, Z:0.02 [[ 9.98881201e-01 -4.38823838e-02 -1.76261749e-02 4.11668825e+01] [ 4.38816501e-02 9.99036645e-01 -4.28571108e-04 2.86269628e-01] [ 1.76280013e-02 -3.45374016e-04 9.99844555e-01 1.51555730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:41.19, Y:0.29, Z:0.02 [[ 9.98840683e-01 -4.47962863e-02 -1.76233636e-02 4.11949734e+01] [ 4.47936535e-02 9.98996112e-01 -5.44299052e-04 2.86394184e-01] [ 1.76300543e-02 -2.45746805e-04 9.99844548e-01 1.65275218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:41.22, Y:0.28, Z:0.02 [[ 9.98819889e-01 -4.52580887e-02 -1.76220208e-02 4.12231179e+01] [ 4.52545432e-02 9.98975308e-01 -6.00115292e-04 2.83927018e-01] [ 1.76311238e-02 -1.98069414e-04 9.99844540e-01 2.30844735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:41.26, Y:0.28, Z:0.02 [[ 9.98882109e-01 -4.38649335e-02 -1.76181602e-02 4.12554852e+01] [ 4.38582916e-02 9.99037471e-01 -7.63383901e-04 2.84763387e-01] [ 1.76346879e-02 -1.01718844e-05 9.99844497e-01 1.88227769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:41.28, Y:0.28, Z:0.02 [[ 9.98821042e-01 -4.52323368e-02 -1.76227787e-02 4.12832099e+01] [ 4.52294314e-02 9.98976467e-01 -5.63597798e-04 2.80705722e-01] [ 1.76302340e-02 -2.34134920e-04 9.99844548e-01 2.05628770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:41.32, Y:0.28, Z:0.00 [[ 9.98966617e-01 -4.18950670e-02 -1.76210628e-02 4.13169010e+01] [ 4.18903234e-02 9.99122011e-01 -6.38380466e-04 2.78999670e-01] [ 1.76323367e-02 -1.00431245e-04 9.99844533e-01 3.64076271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.138639999999995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:41.34, Y:0.27, Z:0.02 [[ 9.98967740e-01 -4.18659789e-02 -1.76265080e-02 4.13428784e+01] [ 4.18655044e-02 9.99123177e-01 -3.96076834e-04 2.73179193e-01] [ 1.76276348e-02 -3.42274669e-04 9.99844563e-01 2.20658982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.168639999999996 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:41.37, Y:0.27, Z:0.02 [[ 9.99123137e-01 -3.79801186e-02 -1.76200709e-02 4.13736215e+01] [ 3.79740603e-02 9.99278495e-01 -6.78398380e-04 2.72155670e-01] [ 1.76331236e-02 8.69788236e-06 9.99844524e-01 2.18453222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19864 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:41.40, Y:0.27, Z:0.02 [[ 9.99225637e-01 -3.51791534e-02 -1.76225307e-02 4.14038405e+01] [ 3.51745976e-02 9.99381021e-01 -5.68504755e-04 2.70995367e-01] [ 1.76316222e-02 -5.18009002e-05 9.99844550e-01 2.28018216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:41.44, Y:0.27, Z:0.01 [[ 9.99356724e-01 -3.12341710e-02 -1.76228197e-02 4.14361599e+01] [ 3.12292298e-02 9.99512094e-01 -5.55581481e-04 2.70058742e-01] [ 1.76315745e-02 4.87700418e-06 9.99844552e-01 6.73950462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:41.47, Y:0.27, Z:0.01 [[ 9.99493275e-01 -2.65047434e-02 -1.76264749e-02 4.14651425e+01] [ 2.65019748e-02 9.99648685e-01 -3.90677113e-04 2.66238225e-01] [ 1.76306372e-02 -7.66572470e-05 9.99844565e-01 7.05557897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.49, Y:0.27, Z:0.01 [[ 9.99526211e-01 -2.52321821e-02 -1.76264263e-02 4.14941558e+01] [ 2.52291773e-02 9.99681616e-01 -3.92855297e-04 2.65397083e-01] [ 1.76307270e-02 -5.20310688e-05 9.99844565e-01 8.15044131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.318639999999995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:41.52, Y:0.26, Z:0.02 [[ 9.99552802e-01 -2.41558828e-02 -1.76263772e-02 4.15205589e+01] [ 2.41526719e-02 9.99708204e-01 -3.95047010e-04 2.63686917e-01] [ 1.76307766e-02 -3.08537603e-05 9.99844565e-01 2.34385798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:41.55, Y:0.26, Z:0.01 [[ 9.99613423e-01 -2.15049125e-02 -1.76222349e-02 4.15531292e+01] [ 2.14980854e-02 9.99768723e-01 -5.76779165e-04 2.63682740e-01] [ 1.76305629e-02 1.97711884e-04 9.99844550e-01 8.20199824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:41.58, Y:0.26, Z:0.01 [[ 9.99604134e-01 -2.19291973e-02 -1.76262613e-02 4.15822687e+01] [ 2.19255731e-02 9.99759526e-01 -3.98858276e-04 2.62886322e-01] [ 1.76307693e-02 1.22345024e-05 9.99844566e-01 8.26641191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:41.61, Y:0.26, Z:0.01 [[ 9.99594828e-01 -2.23494087e-02 -1.76262112e-02 4.16113330e+01] [ 2.23458110e-02 9.99750221e-01 -4.01060427e-04 2.63519989e-01] [ 1.76307720e-02 7.02594528e-06 9.99844566e-01 8.80888537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:0.27, Z:0.01 [[ 9.99589003e-01 -2.26084643e-02 -1.76261607e-02 4.16394450e+01] [ 2.26048680e-02 9.99744396e-01 -4.03264587e-04 2.65131814e-01] [ 1.76307726e-02 4.66180990e-06 9.99844566e-01 9.28597391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:41.67, Y:0.27, Z:0.03 [[ 9.99575220e-01 -2.32099413e-02 -1.76260843e-02 4.16680719e+01] [ 2.32063801e-02 9.99730613e-01 -4.06578977e-04 2.66125514e-01] [ 1.76307727e-02 -2.63134067e-06 9.99844566e-01 2.60571513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.498639999999995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:41.70, Y:0.27, Z:0.03 [[ 9.99535448e-01 -2.48653116e-02 -1.76239655e-02 4.16970071e+01] [ 2.48603995e-02 9.99690809e-01 -4.97783193e-04 2.67369615e-01] [ 1.76308938e-02 5.94131235e-05 9.99844562e-01 2.77600814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.528639999999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:41.73, Y:0.27, Z:0.01 [[ 9.99590536e-01 -2.25441084e-02 -1.76216892e-02 4.17297832e+01] [ 2.25371023e-02 9.99745830e-01 -5.96098361e-04 2.69212312e-01] [ 1.76306488e-02 1.98712469e-04 9.99844548e-01 1.04247577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:41.76, Y:0.27, Z:0.01 [[ 9.99560044e-01 -2.38545533e-02 -1.76260645e-02 4.17586097e+01] [ 2.38510970e-02 9.99715440e-01 -4.06308272e-04 2.70435972e-01] [ 1.76307411e-02 -1.42714598e-05 9.99844566e-01 1.17862980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:41.79, Y:0.27, Z:0.03 [[ 9.99479965e-01 -2.70022773e-02 -1.76260137e-02 4.17864585e+01] [ 2.69992718e-02 9.99635370e-01 -4.08498722e-04 2.69881132e-01] [ 1.76306171e-02 -6.76032463e-05 9.99844566e-01 2.69690260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:41.82, Y:0.27, Z:0.03 [[ 9.99504743e-01 -2.60704185e-02 -1.76238947e-02 4.18176457e+01] [ 2.60656659e-02 9.99660108e-01 -4.99363097e-04 2.69816263e-01] [ 1.76309230e-02 3.97372338e-05 9.99844562e-01 2.74275332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:41.85, Y:0.27, Z:0.03 [[ 9.99495205e-01 -2.64322993e-02 -1.76257755e-02 4.18459908e+01] [ 2.64290219e-02 9.99650605e-01 -4.18894358e-04 2.70029605e-01] [ 1.76306895e-02 -4.71491053e-05 9.99844566e-01 2.81125225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:41.88, Y:0.27, Z:0.01 [[ 9.99538712e-01 -2.47327091e-02 -1.76254490e-02 4.18765578e+01] [ 2.47289217e-02 9.99694100e-01 -4.32831119e-04 2.72687973e-01] [ 1.76307625e-02 -3.22688926e-06 9.99844566e-01 1.47266623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.708639999999995 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:41.90, Y:0.27, Z:0.03 [[ 9.99533425e-01 -2.49451539e-02 -1.76258769e-02 4.19049137e+01] [ 2.49417202e-02 9.99688821e-01 -4.14643234e-04 2.73147208e-01] [ 1.76307354e-02 -2.51699178e-05 9.99844566e-01 3.13407611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:41.93, Y:0.27, Z:0.03 [[ 9.99515287e-01 -2.56629369e-02 -1.76239955e-02 4.19341449e+01] [ 2.56582201e-02 9.99670652e-01 -4.93737932e-04 2.73154553e-01] [ 1.76308618e-02 4.12982556e-05 9.99844563e-01 2.69070410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76864 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:41.96, Y:0.27, Z:0.03 [[ 9.99534698e-01 -2.48967640e-02 -1.76220912e-02 4.19643692e+01] [ 2.48905229e-02 9.99690018e-01 -5.73439984e-04 2.73196221e-01] [ 1.76309055e-02 1.34550097e-04 9.99844554e-01 3.24700959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:42.00, Y:0.28, Z:0.02 [[ 9.99575194e-01 -2.32139582e-02 -1.76222413e-02 4.19956203e+01] [ 2.32075679e-02 9.99730507e-01 -5.67069656e-04 2.75720947e-01] [ 1.76306561e-02 1.57859400e-04 9.99844555e-01 1.58331300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:42.02, Y:0.28, Z:0.02 [[ 9.99525528e-01 -2.52595951e-02 -1.76258701e-02 4.20239307e+01] [ 2.52562617e-02 9.99680925e-01 -4.11730662e-04 2.76912487e-01] [ 1.76306463e-02 -3.36282805e-05 9.99844568e-01 1.64148461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:42.05, Y:0.28, Z:0.03 [[ 9.99446514e-01 -2.82134107e-02 -1.76258181e-02 4.20526205e+01] [ 2.82104975e-02 9.99601919e-01 -4.13943322e-04 2.76574246e-01] [ 1.76304804e-02 -8.35188887e-05 9.99844568e-01 2.73134578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.888639999999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:42.08, Y:0.28, Z:0.03 [[ 9.99263577e-01 -3.40831021e-02 -1.76251502e-02 4.20819412e+01] [ 3.40806059e-02 9.99418990e-01 -4.42058150e-04 2.76016288e-01] [ 1.76299765e-02 -1.58943188e-04 9.99844567e-01 2.82288174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.918639999999996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:42.11, Y:0.28, Z:0.03 [[ 9.99222004e-01 -3.52808413e-02 -1.76252181e-02 4.21113375e+01] [ 3.52785815e-02 9.99377421e-01 -4.39213284e-04 2.76794165e-01] [ 1.76297408e-02 -1.82921114e-04 9.99844567e-01 3.09741214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:42.14, Y:0.28, Z:0.03 [[ 9.99083916e-01 -3.89947470e-02 -1.76278024e-02 4.21425989e+01] [ 3.89949680e-02 9.99239352e-01 -3.31314938e-04 2.76533040e-01] [ 1.76273134e-02 -3.56384164e-04 9.99844563e-01 2.71318716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:42.17, Y:0.27, Z:0.02 [[ 9.98878146e-01 -4.39500231e-02 -1.76307953e-02 4.21695987e+01] [ 4.39531770e-02 9.99033570e-01 -2.08757035e-04 2.74589195e-01] [ 1.76229312e-02 -5.66406626e-04 9.99844544e-01 1.76154288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:42.20, Y:0.27, Z:0.03 [[ 9.98789209e-01 -4.59289693e-02 -1.76251700e-02 4.21986298e+01] [ 4.59284207e-02 9.98944638e-01 -4.36117045e-04 2.72938827e-01] [ 1.76265994e-02 -3.73907222e-04 9.99844570e-01 3.44471059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:42.23, Y:0.27, Z:0.03 [[ 9.98708334e-01 -4.76555277e-02 -1.76242657e-02 4.22293560e+01] [ 4.76546077e-02 9.98863762e-01 -4.72408850e-04 2.70888346e-01] [ 1.76267533e-02 -3.68078814e-04 9.99844569e-01 3.44753747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:42.26, Y:0.27, Z:0.03 [[ 9.98565975e-01 -5.05495616e-02 -1.76276995e-02 4.22568982e+01] [ 5.05515333e-02 9.98721398e-01 -3.34005748e-04 2.68898280e-01] [ 1.76220445e-02 -5.57580462e-04 9.99844564e-01 3.17785053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.098639999999996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:42.29, Y:0.27, Z:0.03 [[ 9.98479967e-01 -5.22214752e-02 -1.76259044e-02 4.22857487e+01] [ 5.22224404e-02 9.98635395e-01 -4.05818209e-04 2.66080603e-01] [ 1.76230444e-02 -5.15266391e-04 9.99844569e-01 3.41942923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:0.24, Z:0.04 [[ 9.96103580e-01 -8.64117614e-02 -1.76256915e-02 4.22937979e+01] [ 8.64179040e-02 9.96258889e-01 -4.14273747e-04 2.39251869e-01] [ 1.75955500e-02 -1.11051575e-03 9.99844570e-01 3.59162136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:42.35, Y:0.26, Z:0.03 [[ 9.98389221e-01 -5.39427255e-02 -1.75825416e-02 4.23459982e+01] [ 5.39135693e-02 9.98543338e-01 -2.12840510e-03 2.57470304e-01] [ 1.76717417e-02 1.17703914e-03 9.99843150e-01 3.32032885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:42.38, Y:0.25, Z:0.04 [[ 9.98451778e-01 -5.27601431e-02 -1.76185697e-02 4.23753193e+01] [ 5.27607203e-02 9.98607090e-01 -4.32384494e-04 2.52425229e-01] [ 1.76168413e-02 -4.97853361e-04 9.99844687e-01 3.72706561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:42.41, Y:0.25, Z:0.02 [[ 9.98454760e-01 -5.27035985e-02 -1.76188247e-02 4.24061925e+01] [ 5.27043773e-02 9.98610070e-01 -4.20444955e-04 2.49459494e-01] [ 1.76164947e-02 -5.08793917e-04 9.99844688e-01 2.22266549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.248639999999995 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:42.43, Y:0.24, Z:0.04 [[ 9.98738684e-01 -4.70168510e-02 -1.76197912e-02 4.24348070e+01] [ 4.70175459e-02 9.98893993e-01 -3.75035500e-04 2.42316393e-01] [ 1.76179366e-02 -4.53876882e-04 9.99844689e-01 3.75114517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.278639999999996 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:42.46, Y:0.24, Z:0.04 [[ 9.98897277e-01 -4.35174263e-02 -1.76199993e-02 4.24631086e+01] [ 4.35177482e-02 9.99052587e-01 -3.65330630e-04 2.40889859e-01] [ 1.76192042e-02 -4.01854923e-04 9.99844689e-01 4.10421381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.49, Y:0.24, Z:0.03 [[ 9.98998655e-01 -4.11245514e-02 -1.76198175e-02 4.24937147e+01] [ 4.11243525e-02 9.99153966e-01 -3.73772940e-04 2.39843239e-01] [ 1.76202817e-02 -3.51204919e-04 9.99844689e-01 2.74662856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:42.52, Y:0.24, Z:0.03 [[ 9.99270879e-01 -3.38711856e-02 -1.76196611e-02 4.25223790e+01] [ 3.38697317e-02 9.99426183e-01 -3.81005763e-04 2.36996865e-01] [ 1.76224557e-02 -2.16045229e-04 9.99844689e-01 2.70125334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:42.55, Y:0.24, Z:0.04 [[ 9.99423893e-01 -2.90074407e-02 -1.76196142e-02 4.25532718e+01] [ 2.90051930e-02 9.99579187e-01 -3.83159262e-04 2.35969081e-01] [ 1.76233141e-02 -1.28121790e-04 9.99844689e-01 4.05697665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:42.58, Y:0.24, Z:0.04 [[ 9.99474492e-01 -2.72063845e-02 -1.76224857e-02 4.25797508e+01] [ 2.72061789e-02 9.99629812e-01 -2.51452781e-04 2.35340593e-01] [ 1.76228032e-02 -2.28119858e-04 9.99844680e-01 4.30991982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:42.61, Y:0.24, Z:0.04 [[ 9.99547438e-01 -2.43815324e-02 -1.76198680e-02 4.26076871e+01] [ 2.43788083e-02 9.99702724e-01 -3.69407357e-04 2.35307782e-01] [ 1.76236368e-02 -6.03112079e-05 9.99844690e-01 4.35716992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.458639999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:42.64, Y:0.24, Z:0.03 [[ 9.99580904e-01 -2.29693528e-02 -1.76189107e-02 4.26380181e+01] [ 2.29656591e-02 9.99736170e-01 -4.11973157e-04 2.35912643e-01] [ 1.76237251e-02 7.17060175e-06 9.99844690e-01 2.90844202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48864 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:42.67, Y:0.24, Z:0.04 [[ 9.99611913e-01 -2.15774481e-02 -1.76192296e-02 4.26668136e+01] [ 2.15737870e-02 9.99767180e-01 -3.97853696e-04 2.36643331e-01] [ 1.76237121e-02 1.75857880e-05 9.99844690e-01 4.35963339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:42.70, Y:0.24, Z:0.03 [[ 9.99637158e-01 -2.03742489e-02 -1.76193600e-02 4.26964505e+01] [ 2.03705023e-02 9.99792423e-01 -3.92104692e-04 2.39403938e-01] [ 1.76236914e-02 3.30472081e-05 9.99844690e-01 3.16829294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54864 meters Centerline goodness : 0.822229 Centerline is valid? [True, False] Translation: X:42.69, Y:0.25, Z:0.03 [[ 9.99807143e-01 -1.26325082e-02 -1.50365244e-02 4.26943028e+01] [ 1.24203301e-02 9.99823143e-01 -1.41215626e-02 2.52772595e-01] [ 1.52122558e-02 1.39320805e-02 9.99787220e-01 3.33557649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:42.72, Y:0.26, Z:0.04 [[ 9.99824971e-01 -5.07567744e-03 -1.80073529e-02 4.27157286e+01] [ 4.78353313e-03 9.99856846e-01 -1.62297572e-02 2.56285175e-01] [ 1.80871521e-02 1.61407777e-02 9.99706122e-01 3.72529484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60864 meters Centerline goodness : 0.965356 Centerline is valid? [True, True] Translation: X:42.76, Y:0.28, Z:0.03 [[ 9.96252432e-01 8.45628850e-02 -1.81716787e-02 4.27576133e+01] [-8.45801708e-02 9.96416660e-01 -1.83440996e-04 2.81408517e-01] [ 1.80910511e-02 1.71971723e-03 9.99834865e-01 2.77073276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.638639999999995 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:42.77, Y:0.24, Z:0.05 [[ 9.99833966e-01 -1.20713555e-03 -1.81819564e-02 4.27741417e+01] [ 1.22478838e-03 9.99998789e-01 9.59794194e-04 2.44275672e-01] [ 1.81807758e-02 -9.81903884e-04 9.99834234e-01 4.83784699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.668639999999996 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:42.80, Y:0.25, Z:0.05 [[ 9.99834908e-01 1.93385783e-04 -1.81691743e-02 4.28037773e+01] [-1.96026553e-04 9.99999970e-01 -1.43562581e-04 2.48845442e-01] [ 1.81691460e-02 1.47100521e-04 9.99834917e-01 4.72463036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:42.83, Y:0.25, Z:0.05 [[ 9.99832456e-01 2.22580621e-03 -1.81688235e-02 4.28333986e+01] [-2.22931577e-03 9.99997500e-01 -1.72912162e-04 2.54009234e-01] [ 1.81683932e-02 2.13387236e-04 9.99834918e-01 5.07001080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:42.86, Y:0.25, Z:0.05 [[ 9.99832985e-01 1.97893229e-03 -1.81682925e-02 4.28616684e+01] [-1.98319333e-03 9.99998010e-01 -2.16517491e-04 2.54271953e-01] [ 1.81678279e-02 2.52512565e-04 9.99834920e-01 5.12215923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.89, Y:0.26, Z:0.04 [[ 9.99828022e-01 3.72042214e-03 -1.81682375e-02 4.28922041e+01] [-3.72505105e-03 9.99993038e-01 -2.20945055e-04 2.56110936e-01] [ 1.81672890e-02 2.88584669e-04 9.99834920e-01 3.76654658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:42.92, Y:0.26, Z:0.05 [[ 9.99831529e-01 2.61342168e-03 -1.81681811e-02 4.29227048e+01] [-2.61795050e-03 9.99996548e-01 -2.25493124e-04 2.57154644e-01] [ 1.81675290e-02 2.73018534e-04 9.99834920e-01 5.14866918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.818639999999995 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:42.95, Y:0.26, Z:0.04 [[ 9.99834932e-01 -6.34115845e-05 -1.81688091e-02 4.29526958e+01] [ 6.02490047e-05 9.99999983e-01 -1.74613751e-04 2.60233443e-01] [ 1.81688199e-02 1.73490275e-04 9.99834918e-01 4.05510377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.848639999999996 meters Centerline goodness : 0.951889 Centerline is valid? [True, True] Translation: X:43.00, Y:0.30, Z:0.03 [[ 9.95683597e-01 9.10169879e-02 -1.81681644e-02 4.30017307e+01] [-9.10361070e-02 9.95847567e-01 -2.26362772e-04 3.04055624e-01] [ 1.80721194e-02 1.87934466e-03 9.99834920e-01 3.11375223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:43.01, Y:0.26, Z:0.05 [[ 9.99760889e-01 -1.21395713e-02 -1.81877979e-02 4.30088473e+01] [ 1.21697611e-02 9.99924744e-01 1.55012683e-03 2.57540103e-01] [ 1.81676113e-02 -1.77109733e-03 9.99833387e-01 5.20852313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90864 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:43.04, Y:0.26, Z:0.05 [[ 9.99729917e-01 -1.45026489e-02 -1.81594931e-02 4.30381597e+01] [ 1.44988820e-02 9.99894828e-01 -3.39084955e-04 2.58585412e-01] [ 1.81625009e-02 7.57010263e-05 9.99835045e-01 5.39266390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:43.07, Y:0.26, Z:0.05 [[ 9.99689198e-01 -1.70802507e-02 -1.81596586e-02 4.30669640e+01] [ 1.70771078e-02 9.99854122e-01 -3.28142314e-04 2.57700470e-01] [ 1.81626143e-02 1.79258794e-05 9.99835046e-01 5.36163092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96864 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:43.09, Y:0.26, Z:0.06 [[ 9.99588184e-01 -2.22193440e-02 -1.81594069e-02 4.30944280e+01] [ 2.22167526e-02 9.99753118e-01 -3.44454520e-04 2.55140751e-01] [ 1.81625772e-02 -5.91303821e-05 9.99835045e-01 5.78445350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.998639999999995 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:43.12, Y:0.25, Z:0.06 [[ 9.99597772e-01 -2.17861009e-02 -1.81565656e-02 4.31246404e+01] [ 2.17800651e-02 9.99762646e-01 -5.30130195e-04 2.54161860e-01] [ 1.81638056e-02 1.34465780e-04 9.99835015e-01 5.57502402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:43.16, Y:0.25, Z:0.04 [[ 9.99633074e-01 -2.00994208e-02 -1.81585081e-02 4.31565274e+01] [ 2.00954195e-02 9.99797986e-01 -4.02811040e-04 2.52111380e-01] [ 1.81629360e-02 3.77604005e-05 9.99835040e-01 4.44033020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:43.19, Y:0.25, Z:0.04 [[ 9.99624486e-01 -2.05203398e-02 -1.81604613e-02 4.31850903e+01] [ 2.05187701e-02 9.99789431e-01 -2.72781368e-04 2.49381426e-01] [ 1.81622349e-02 -9.99513964e-05 9.99835048e-01 4.44270752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08864 meters Centerline goodness : 0.941269 Centerline is valid? [True, False] Translation: X:43.18, Y:0.25, Z:0.05 [[ 9.99913564e-01 -8.34541623e-03 -1.01596577e-02 4.31789444e+01] [ 8.28034714e-03 9.99945044e-01 -6.42995966e-03 2.53167128e-01] [ 1.02127600e-02 6.34527839e-03 9.99927716e-01 4.52268588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11864 meters Centerline goodness : 0.998474 Centerline is valid? [False, True] Translation: X:43.19, Y:0.25, Z:0.05 [[ 9.99960171e-01 -2.11031104e-03 -8.67198205e-03 4.31944905e+01] [ 2.02218905e-03 9.99946362e-01 -1.01579245e-02 2.54892355e-01] [ 8.69295328e-03 1.01399835e-02 9.99910803e-01 5.04331633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14864 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:43.22, Y:0.24, Z:0.05 [[ 9.99962070e-01 -1.18300402e-03 -8.62899712e-03 4.32228287e+01] [ 1.18310759e-03 9.99999300e-01 6.89808597e-06 2.41803572e-01] [ 8.62898292e-03 -1.71068563e-05 9.99962769e-01 5.05628194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:43.25, Y:0.24, Z:0.04 [[ 9.99962769e-01 4.26562347e-05 -8.62890751e-03 4.32534578e+01] [-4.24099459e-05 9.99999999e-01 2.87252687e-05 2.40641886e-01] [ 8.62890872e-03 -2.83582478e-05 9.99962770e-01 3.99095469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:43.28, Y:0.24, Z:0.05 [[ 9.99962756e-01 -1.67538441e-04 -8.62888363e-03 4.32814183e+01] [ 1.67843843e-04 9.99999985e-01 3.46688696e-05 2.39781260e-01] [ 8.62887769e-03 -3.61158834e-05 9.99962770e-01 4.99586996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:43.31, Y:0.24, Z:0.04 [[ 9.99957586e-01 3.21991486e-03 -8.62897180e-03 4.33116241e+01] [-3.21993534e-03 9.99994816e-01 1.15181905e-05 2.37961984e-01] [ 8.62896415e-03 1.62670293e-05 9.99962770e-01 4.01042194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:43.34, Y:0.24, Z:0.04 [[ 9.99955214e-01 3.88757281e-03 -8.62888794e-03 4.33395488e+01] [-3.88743046e-03 9.99992443e-01 3.32686654e-05 2.35660582e-01] [ 8.62895207e-03 2.77026440e-07 9.99962770e-01 4.06030921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29864 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:43.37, Y:0.23, Z:0.05 [[ 9.99960620e-01 2.07385480e-03 -8.62890267e-03 4.33665104e+01] [-2.07368292e-03 9.99997850e-01 2.88662227e-05 2.33780302e-01] [ 8.62894398e-03 -1.09714779e-05 9.99962770e-01 5.49082500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:43.40, Y:0.24, Z:0.04 [[ 9.99941556e-01 6.51344696e-03 -8.62905417e-03 4.33974279e+01] [-6.51386440e-03 9.99978784e-01 -2.02716685e-05 2.35123982e-01] [ 8.62873906e-03 7.64789725e-05 9.99962769e-01 4.30219736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:43.43, Y:0.24, Z:0.05 [[ 9.99921745e-01 9.05785476e-03 -8.62892030e-03 4.34263260e+01] [-9.05797341e-03 9.99958975e-01 2.53320665e-05 2.36156236e-01] [ 8.62879575e-03 5.28304464e-05 9.99962770e-01 5.34157089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.388639999999995 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:43.46, Y:0.24, Z:0.04 [[ 9.99895057e-01 1.16368594e-02 -8.62888726e-03 4.34551446e+01] [-1.16369681e-02 9.99932287e-01 3.76140600e-05 2.37686703e-01] [ 8.62874068e-03 6.28039731e-05 9.99962770e-01 4.38599468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.418639999999996 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:43.48, Y:0.24, Z:0.06 [[ 9.99826109e-01 1.65316059e-02 -8.62892780e-03 4.34847214e+01] [-1.65320422e-02 9.99863336e-01 2.07690183e-05 2.40233078e-01] [ 8.62809189e-03 1.21888392e-04 9.99962770e-01 5.69624458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44864 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:43.51, Y:0.24, Z:0.06 [[ 9.99803724e-01 1.78341366e-02 -8.62889531e-03 4.35125096e+01] [-1.78344916e-02 9.99840952e-01 3.58128578e-05 2.42565645e-01] [ 8.62816159e-03 1.18086133e-04 9.99962770e-01 5.71206173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47864 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:43.54, Y:0.24, Z:0.06 [[ 9.99764573e-01 1.99082695e-02 -8.62894759e-03 4.35412004e+01] [-1.99089797e-02 9.99801797e-01 3.59559702e-06 2.44728055e-01] [ 8.62730888e-03 1.68198792e-04 9.99962770e-01 5.69636565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50864 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:43.57, Y:0.25, Z:0.06 [[ 9.99713746e-01 2.23152061e-02 -8.62892862e-03 4.35704680e+01] [-2.23158781e-02 9.99750970e-01 1.84090646e-05 2.49232299e-01] [ 8.62719056e-03 1.74158324e-04 9.99962770e-01 5.67866005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:43.60, Y:0.25, Z:0.05 [[ 9.99662717e-01 2.44947558e-02 -8.62892632e-03 4.35991944e+01] [-2.44954907e-02 9.99699940e-01 2.05325529e-05 2.51973269e-01] [ 8.62684007e-03 1.90844156e-04 9.99962770e-01 4.60930101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:43.63, Y:0.26, Z:0.05 [[ 9.99725883e-01 2.17646480e-02 -8.62893690e-03 4.36282311e+01] [-2.17654022e-02 9.99763106e-01 6.50550888e-06 2.57431441e-01] [ 8.62703434e-03 1.81308556e-04 9.99962770e-01 4.64433325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.598639999999996 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:43.66, Y:0.26, Z:0.05 [[ 9.99792757e-01 1.84386920e-02 -8.62893808e-03 4.36563851e+01] [-1.84393558e-02 9.99829981e-01 2.63808278e-06 2.59428294e-01] [ 8.62751963e-03 1.56474523e-04 9.99962770e-01 4.60333943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:43.68, Y:0.26, Z:0.05 [[ 9.99835433e-01 1.59577339e-02 -8.62893716e-03 4.36839017e+01] [-1.59583435e-02 9.99872658e-01 -1.79386444e-06 2.60980974e-01] [ 8.62780970e-03 1.39497112e-04 9.99962770e-01 4.57476525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:43.71, Y:0.26, Z:0.05 [[ 9.99877847e-01 1.30320144e-02 -8.62893396e-03 4.37117193e+01] [-1.30325532e-02 9.99915073e-01 -6.22183999e-06 2.61652208e-01] [ 8.62812005e-03 1.18678121e-04 9.99962770e-01 4.60902758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68864 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:43.74, Y:0.26, Z:0.05 [[ 9.99931367e-01 7.92481832e-03 -8.62892852e-03 4.37407333e+01] [-7.92520516e-03 9.99968595e-01 -1.06370175e-05 2.61838224e-01] [ 8.62857323e-03 7.90223162e-05 9.99962770e-01 4.59451546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71864 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:43.77, Y:0.26, Z:0.06 [[ 9.99946699e-01 5.66922848e-03 -8.62892203e-03 4.37698469e+01] [-5.66956467e-03 9.99983928e-01 -1.44996754e-05 2.62080941e-01] [ 8.62870114e-03 6.34211340e-05 9.99962770e-01 5.67276683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.748639999999995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:43.80, Y:0.26, Z:0.05 [[ 9.99958881e-01 2.78872116e-03 -8.62892532e-03 4.37998718e+01] [-2.78893459e-03 9.99996111e-01 -1.27004255e-05 2.62528977e-01] [ 8.62885635e-03 3.67654116e-05 9.99962770e-01 4.65754107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.778639999999996 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:43.83, Y:0.26, Z:0.05 [[ 9.99962478e-01 7.64286838e-04 -8.62891804e-03 4.38276338e+01] [-7.64457756e-04 9.99999708e-01 -1.65093487e-05 2.63048891e-01] [ 8.62890289e-03 2.31051726e-05 9.99962770e-01 4.61447396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:43.86, Y:0.26, Z:0.04 [[ 9.99949365e-01 -5.17767712e-03 -8.62891456e-03 4.38564593e+01] [ 5.17771318e-03 9.99986595e-01 -1.81606206e-05 2.61594423e-01] [ 8.62889292e-03 -2.65183436e-05 9.99962770e-01 4.49532625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83864 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:43.88, Y:0.26, Z:0.06 [[ 9.99925818e-01 -8.59650843e-03 -8.62891214e-03 4.38844154e+01] [ 8.59666242e-03 9.99963048e-01 -1.92463273e-05 2.59231395e-01] [ 8.62875873e-03 -5.49349451e-05 9.99962770e-01 5.65281355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86864 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:43.91, Y:0.26, Z:0.06 [[ 9.99891836e-01 -1.19105092e-02 -8.62884975e-03 4.39132182e+01] [ 1.19105663e-02 9.99929066e-01 -4.47702906e-05 2.57129547e-01] [ 8.62877091e-03 -5.80090389e-05 9.99962770e-01 5.75275017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:43.94, Y:0.25, Z:0.04 [[ 9.99811793e-01 -1.73758962e-02 -8.62885623e-03 4.39432763e+01] [ 1.73761788e-02 9.99849022e-01 -4.22347917e-05 2.53018008e-01] [ 8.62828733e-03 -1.07709706e-04 9.99962770e-01 4.39257462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:43.97, Y:0.25, Z:0.05 [[ 9.99761176e-01 -2.00781644e-02 -8.62890790e-03 4.39719460e+01] [ 2.00787261e-02 9.99798402e-01 -2.15410146e-05 2.50236656e-01] [ 8.62760083e-03 -1.51721608e-04 9.99962770e-01 4.51193827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.958639999999995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:44.00, Y:0.24, Z:0.04 [[ 9.99672913e-01 -2.40750608e-02 -8.62890516e-03 4.40012677e+01] [ 2.40757623e-02 9.99710137e-01 -2.25865210e-05 2.42887748e-01] [ 8.62694773e-03 -1.85168337e-04 9.99962770e-01 4.42732986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:44.03, Y:0.24, Z:0.04 [[ 9.99640354e-01 -2.53910245e-02 -8.62890231e-03 4.40301661e+01] [ 2.53917660e-02 9.99677577e-01 -2.36281298e-05 2.39503164e-01] [ 8.62672009e-03 -1.95483436e-04 9.99962770e-01 4.38652851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:44.06, Y:0.24, Z:0.04 [[ 9.99595945e-01 -2.70830144e-02 -8.62889935e-03 4.40587352e+01] [ 2.70838100e-02 9.99633166e-01 -2.46616768e-05 2.36147304e-01] [ 8.62640189e-03 -2.09051759e-04 9.99962770e-01 4.39014901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:44.09, Y:0.23, Z:0.06 [[ 9.99493874e-01 -3.06192292e-02 -8.62889626e-03 4.40863468e+01] [ 3.06201475e-02 9.99531093e-01 -2.57016268e-05 2.28278798e-01] [ 8.62563707e-03 -2.38529457e-04 9.99962770e-01 6.01580265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:44.12, Y:0.22, Z:0.06 [[ 9.99543395e-01 -2.89576786e-02 -8.62870733e-03 4.41189695e+01] [ 2.89580024e-02 9.99580625e-01 -8.74259053e-05 2.24432411e-01] [ 8.62762032e-03 -1.62484142e-04 9.99962768e-01 5.81414642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:44.15, Y:0.22, Z:0.06 [[ 9.99510408e-01 -3.00746361e-02 -8.62900322e-03 4.41477483e+01] [ 3.00759057e-02 9.99547617e-01 1.73754541e-05 2.18791924e-01] [ 8.62457705e-03 -2.76892034e-04 9.99962769e-01 5.83872381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.138639999999995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:44.18, Y:0.21, Z:0.05 [[ 9.99451957e-01 -3.19582150e-02 -8.62892774e-03 4.41779968e+01] [ 3.19593474e-02 9.99489170e-01 -6.65610642e-06 2.14377012e-01] [ 8.62473254e-03 -2.69122441e-04 9.99962770e-01 4.54139309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.168639999999996 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:44.21, Y:0.21, Z:0.06 [[ 9.99489756e-01 -3.07533881e-02 -8.62885777e-03 4.42091817e+01] [ 3.07542904e-02 9.99526975e-01 -2.81235024e-05 2.06474697e-01] [ 8.62564100e-03 -2.37265246e-04 9.99962770e-01 5.96971643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:44.24, Y:0.20, Z:0.05 [[ 9.99396724e-01 -3.36411577e-02 -8.62901832e-03 4.42382858e+01] [ 3.36425934e-02 9.99433928e-01 2.12381330e-05 2.01931799e-01] [ 8.62341920e-03 -3.11527875e-04 9.99962769e-01 4.64497587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22864 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:44.27, Y:0.20, Z:0.06 [[ 9.99377363e-01 -3.42115452e-02 -8.62883615e-03 4.42673108e+01] [ 3.42125565e-02 9.99414579e-01 -3.04279795e-05 1.96230598e-01] [ 8.62482563e-03 -2.64805510e-04 9.99962770e-01 6.05090210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.30, Y:0.19, Z:0.05 [[ 9.99336709e-01 -3.53791846e-02 -8.62880422e-03 4.42986170e+01] [ 3.53801607e-02 9.99373925e-01 -3.95480935e-05 1.86501380e-01] [ 8.62480112e-03 -2.65766618e-04 9.99962770e-01 4.75183226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:44.33, Y:0.18, Z:0.05 [[ 9.99340684e-01 -3.52666927e-02 -8.62883615e-03 4.43273893e+01] [ 3.52677425e-02 9.99377899e-01 -3.05217487e-05 1.82005441e-01] [ 8.62454454e-03 -2.73817946e-04 9.99962770e-01 4.80395810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.318639999999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:44.36, Y:0.18, Z:0.05 [[ 9.99355904e-01 -3.48327521e-02 -8.62883228e-03 4.43563968e+01] [ 3.48337766e-02 9.99393119e-01 -3.15789056e-05 1.77451616e-01] [ 8.62469559e-03 -2.69016250e-04 9.99962770e-01 4.72886309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.348639999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:44.39, Y:0.17, Z:0.05 [[ 9.99425177e-01 -3.27850258e-02 -8.62882841e-03 4.43854945e+01] [ 3.27859652e-02 9.99462395e-01 -3.26009282e-05 1.67460027e-01] [ 8.62525834e-03 -2.50322280e-04 9.99962770e-01 4.73658684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:44.41, Y:0.16, Z:0.05 [[ 9.99485538e-01 -3.08901735e-02 -8.62882440e-03 4.44148469e+01] [ 3.08910334e-02 9.99522758e-01 -3.36321071e-05 1.63597771e-01] [ 8.62574526e-03 -2.32938498e-04 9.99962770e-01 4.77810059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:44.44, Y:0.16, Z:0.05 [[ 9.99569597e-01 -2.80386358e-02 -8.62882128e-03 4.44437835e+01] [ 2.80393828e-02 9.99606819e-01 -3.44131331e-05 1.60938245e-01] [ 8.62639349e-03 -2.07548502e-04 9.99962770e-01 4.89941541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:44.47, Y:0.16, Z:0.05 [[ 9.99696794e-01 -2.30621746e-02 -8.62881696e-03 4.44722514e+01] [ 2.30627272e-02 9.99734019e-01 -3.54636723e-05 1.56033951e-01] [ 8.62733973e-03 -1.63551132e-04 9.99962770e-01 4.90845619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46864 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:44.50, Y:0.15, Z:0.06 [[ 9.99727118e-01 -2.17078943e-02 -8.62881363e-03 4.45006869e+01] [ 2.17083897e-02 9.99764344e-01 -3.62569325e-05 1.54166089e-01] [ 8.62756726e-03 -1.51070610e-04 9.99962770e-01 6.22038507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.498639999999995 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:44.53, Y:0.15, Z:0.06 [[ 9.99788692e-01 -1.86578973e-02 -8.62868188e-03 4.45303501e+01] [ 1.86580133e-02 9.99825922e-01 -6.70618963e-05 1.52948041e-01] [ 8.62843105e-03 -9.39463353e-05 9.99962770e-01 6.15080964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.528639999999996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:44.56, Y:0.15, Z:0.05 [[ 9.99851298e-01 -1.49306864e-02 -8.62885321e-03 4.45598793e+01] [ 1.49309976e-02 9.99888526e-01 -2.83578170e-05 1.51280367e-01] [ 8.62831472e-03 -1.00483786e-04 9.99962770e-01 4.91396503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:44.59, Y:0.15, Z:0.05 [[ 9.99871218e-01 -1.35311169e-02 -8.62881167e-03 4.45889444e+01] [ 1.35312943e-02 9.99908447e-01 -3.78320133e-05 1.49445320e-01] [ 8.62853359e-03 -7.89318486e-05 9.99962770e-01 4.96398597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58864 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:44.62, Y:0.15, Z:0.05 [[ 9.99890317e-01 -1.20373695e-02 -8.62880675e-03 4.46177972e+01] [ 1.20374818e-02 9.99927546e-01 -3.89221383e-05 1.47234263e-01] [ 8.62865008e-03 -6.49512351e-05 9.99962770e-01 5.02861243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61864 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:44.65, Y:0.15, Z:0.05 [[ 9.99887993e-01 -1.22288943e-02 -8.62880165e-03 4.46462696e+01] [ 1.22290043e-02 9.99925222e-01 -4.00228867e-05 1.47315244e-01] [ 8.62864584e-03 -6.55032482e-05 9.99962770e-01 5.05318965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64864 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:44.68, Y:0.14, Z:0.06 [[ 9.99904846e-01 -1.07630210e-02 -8.62879366e-03 4.46757594e+01] [ 1.07630621e-02 9.99942076e-01 -4.16756776e-05 1.44945332e-01] [ 8.62874240e-03 -5.12005303e-05 9.99962770e-01 6.31632667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.678639999999994 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:44.71, Y:0.14, Z:0.06 [[ 9.99923306e-01 -8.88416548e-03 -8.62864596e-03 4.47055928e+01] [ 8.88387206e-03 9.99960535e-01 -7.23340179e-05 1.43846387e-01] [ 8.62894806e-03 -4.32731644e-06 9.99962770e-01 6.27424678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:44.73, Y:0.14, Z:0.06 [[ 9.99930826e-01 -7.99304616e-03 -8.62869444e-03 4.47349423e+01] [ 7.99280516e-03 9.99968055e-01 -6.24148015e-05 1.42304727e-01] [ 8.62891768e-03 -6.55698943e-06 9.99962770e-01 6.49278611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73864 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:44.77, Y:0.14, Z:0.05 [[ 9.99952240e-01 -4.58944347e-03 -8.62868386e-03 4.47654242e+01] [ 4.58905723e-03 9.99989468e-01 -6.45609385e-05 1.39650147e-01] [ 8.62888929e-03 2.49603311e-05 9.99962770e-01 5.20990841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76864 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:44.79, Y:0.14, Z:0.07 [[ 9.99951461e-01 -4.75609589e-03 -8.62879446e-03 4.47937135e+01] [ 4.75591359e-03 9.99988690e-01 -4.16464377e-05 1.37954847e-01] [ 8.62889494e-03 6.06615344e-07 9.99962770e-01 6.56410735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79864 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:44.83, Y:0.14, Z:0.05 [[ 9.99962483e-01 -7.62228974e-04 -8.62855625e-03 4.48252445e+01] [ 7.61484266e-04 9.99999706e-01 -8.95924203e-05 1.36005118e-01] [ 8.62862200e-03 8.30185492e-05 9.99962769e-01 5.23741389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82864 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:44.85, Y:0.14, Z:0.06 [[ 9.99962703e-01 -3.68643916e-04 -8.62878866e-03 4.48545974e+01] [ 3.68281048e-04 9.99999931e-01 -4.36421513e-05 1.35641164e-01] [ 8.62880416e-03 4.04627043e-05 9.99962770e-01 6.32744716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:44.89, Y:0.14, Z:0.05 [[ 9.99960451e-01 2.15531168e-03 -8.62853795e-03 4.48859138e+01] [-2.15618741e-03 9.99997671e-01 -9.21911689e-05 1.35925982e-01] [ 8.62831915e-03 1.10792268e-04 9.99962769e-01 5.27934506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:44.91, Y:0.14, Z:0.07 [[ 9.99954585e-01 4.04631298e-03 -8.62878417e-03 4.49147333e+01] [-4.04685674e-03 9.99991810e-01 -4.55582046e-05 1.36447986e-01] [ 8.62852916e-03 8.04755889e-05 9.99962770e-01 6.55074732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.918639999999996 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:44.94, Y:0.14, Z:0.07 [[ 9.99943643e-01 6.18538610e-03 -8.62857269e-03 4.49435193e+01] [-6.18633659e-03 9.99980861e-01 -8.34692860e-05 1.37794471e-01] [ 8.62789126e-03 1.36843837e-04 9.99962770e-01 6.57549935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94864 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:44.97, Y:0.14, Z:0.07 [[ 9.99931082e-01 7.96109969e-03 -8.62853091e-03 4.49732102e+01] [-7.96217811e-03 9.99968297e-01 -9.06383753e-05 1.40359469e-01] [ 8.62753578e-03 1.59334029e-04 9.99962769e-01 6.62480061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97864 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:45.00, Y:0.14, Z:0.07 [[ 9.99914221e-01 9.85379818e-03 -8.62858924e-03 4.50013186e+01] [-9.85486205e-03 9.99951436e-01 -8.07866422e-05 1.43447347e-01] [ 8.62737415e-03 1.65813269e-04 9.99962770e-01 6.68889084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00864 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:45.03, Y:0.15, Z:0.07 [[ 9.99845160e-01 1.53364197e-02 -8.62850982e-03 4.50300580e+01] [-1.53377972e-02 9.99882365e-01 -9.34933922e-05 1.48942106e-01] [ 8.62606095e-03 2.25821250e-04 9.99962769e-01 6.71150740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03864 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:45.06, Y:0.15, Z:0.07 [[ 9.99818274e-01 1.69990232e-02 -8.62857264e-03 4.50600583e+01] [-1.70003779e-02 9.99855480e-01 -8.36742090e-05 1.51162105e-01] [ 8.62590325e-03 2.30347999e-04 9.99962770e-01 6.72210455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:45.09, Y:0.15, Z:0.07 [[ 9.99802962e-01 1.78769178e-02 -8.62859796e-03 4.50892231e+01] [-1.78782710e-02 9.99840168e-01 -7.97164745e-05 1.54654487e-01] [ 8.62579375e-03 2.33965180e-04 9.99962770e-01 6.91276842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.098639999999996 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:45.12, Y:0.16, Z:0.07 [[ 9.99811663e-01 1.73835288e-02 -8.62852421e-03 4.51180955e+01] [-1.73849590e-02 9.99848866e-01 -9.07628892e-05 1.56647395e-01] [ 8.62564237e-03 2.40752335e-04 9.99962769e-01 6.95225201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12864 meters Centerline goodness : 0.947400 Centerline is valid? [True, False] Translation: X:45.12, Y:0.15, Z:0.07 [[ 9.99996871e-01 1.93545986e-03 -1.58487578e-03 4.51151519e+01] [-1.93086579e-03 9.99993945e-01 2.89510744e-03 1.54283040e-01] [ 1.59046955e-03 -2.89203820e-03 9.99994553e-01 6.77779899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15864 meters Centerline goodness : 0.997932 Centerline is valid? [False, True] Translation: X:45.11, Y:0.16, Z:0.07 [[ 9.99996479e-01 -2.22148622e-03 -1.45137886e-03 4.51148048e+01] [ 2.21817869e-03 9.99994949e-01 -2.27653262e-03 1.58560608e-01] [ 1.45642881e-03 2.27330519e-03 9.99996355e-01 6.79968139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18864 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:45.14, Y:0.16, Z:0.08 [[ 9.99995356e-01 -2.64688899e-03 -1.51068759e-03 4.51445935e+01] [ 2.64683149e-03 9.99996496e-01 -4.00591585e-05 1.59761143e-01] [ 1.51078833e-03 3.60604370e-05 9.99998858e-01 7.91231125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21864 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:45.17, Y:0.16, Z:0.08 [[ 9.99996585e-01 -2.13247248e-03 -1.51069455e-03 4.51740508e+01] [ 2.13241479e-03 9.99997726e-01 -3.97977279e-05 1.63843207e-01] [ 1.51077598e-03 3.65761645e-05 9.99998858e-01 7.85472530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:45.20, Y:0.17, Z:0.07 [[ 9.99997831e-01 1.43393015e-03 -1.51068439e-03 4.52039800e+01] [-1.43399248e-03 9.99998971e-01 -4.01785301e-05 1.70988123e-01] [ 1.51062522e-03 4.23447530e-05 9.99998858e-01 6.79397464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.278639999999996 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:45.23, Y:0.17, Z:0.08 [[ 9.99998153e-01 1.18823294e-03 -1.51067916e-03 4.52334076e+01] [-1.18829529e-03 9.99999293e-01 -4.03740355e-05 1.73863239e-01] [ 1.51063012e-03 4.21690938e-05 9.99998858e-01 7.89610791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30864 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:45.26, Y:0.18, Z:0.08 [[ 9.99998227e-01 1.12376717e-03 -1.51079923e-03 4.52629553e+01] [-1.12382270e-03 9.99999368e-01 -3.59033798e-05 1.76823222e-01] [ 1.51075792e-03 3.76011866e-05 9.99998858e-01 7.88323793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33864 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:45.29, Y:0.18, Z:0.08 [[ 9.99998318e-01 1.03991454e-03 -1.51069907e-03 4.52921097e+01] [-1.03997555e-03 9.99999458e-01 -3.96043091e-05 1.82477049e-01] [ 1.51065707e-03 4.11753326e-05 9.99998858e-01 7.80640711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36864 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:45.32, Y:0.19, Z:0.08 [[ 9.99998841e-01 1.86790446e-04 -1.51072284e-03 4.53219573e+01] [-1.86849172e-04 9.99999982e-01 -3.87313729e-05 1.85710770e-01] [ 1.51071558e-03 3.90136054e-05 9.99998858e-01 7.91833345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39864 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:45.35, Y:0.19, Z:0.07 [[ 9.99998819e-01 -2.80826682e-04 -1.51077619e-03 4.53517150e+01] [ 2.80771451e-04 9.99999960e-01 -3.67697158e-05 1.88412484e-01] [ 1.51078646e-03 3.63454896e-05 9.99998858e-01 6.88289036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:45.38, Y:0.19, Z:0.08 [[ 9.99991962e-01 -3.71402454e-03 -1.51065314e-03 4.53812084e+01] [ 3.71396643e-03 9.99993102e-01 -4.12736344e-05 1.94211249e-01] [ 1.51079601e-03 3.56627876e-05 9.99998858e-01 7.92982128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.458639999999995 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:45.41, Y:0.20, Z:0.08 [[ 9.99994577e-01 -2.92631562e-03 -1.51067095e-03 4.54108985e+01] [ 2.92625759e-03 9.99995718e-01 -4.06252927e-05 1.99584215e-01] [ 1.51078336e-03 3.62044601e-05 9.99998858e-01 7.88641861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48864 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:45.44, Y:0.20, Z:0.08 [[ 9.99993839e-01 -3.16867790e-03 -1.51070887e-03 4.54406080e+01] [ 3.16862223e-03 9.99994979e-01 -3.92375031e-05 2.04284296e-01] [ 1.51082561e-03 3.44503956e-05 9.99998858e-01 8.01362289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51864 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:45.47, Y:0.21, Z:0.08 [[ 9.99998853e-01 -1.11394461e-04 -1.51075225e-03 4.54714757e+01] [ 1.11337719e-04 9.99999993e-01 -3.76430862e-05 2.12193939e-01] [ 1.51075643e-03 3.74748393e-05 9.99998858e-01 7.83688337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54864 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:45.50, Y:0.22, Z:0.08 [[ 9.99998850e-01 -1.31834152e-04 -1.51092210e-03 4.55008227e+01] [ 1.31786766e-04 9.99999991e-01 -3.14622913e-05 2.16341974e-01] [ 1.51092623e-03 3.12631356e-05 9.99998858e-01 7.99116686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:45.53, Y:0.22, Z:0.07 [[ 9.99998214e-01 1.13534166e-03 -1.51084544e-03 4.55299941e+01] [-1.13539469e-03 9.99999355e-01 -3.42453011e-05 2.21035698e-01] [ 1.51080559e-03 3.59606459e-05 9.99998858e-01 6.84740227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60864 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:45.56, Y:0.23, Z:0.08 [[ 9.99998627e-01 -6.80670365e-04 -1.51062843e-03 4.55598903e+01] [ 6.80607630e-04 9.99999768e-01 -4.20428138e-05 2.30435299e-01] [ 1.51065669e-03 4.10146109e-05 9.99998858e-01 7.92158783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.638639999999995 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:45.59, Y:0.23, Z:0.08 [[ 9.99997402e-01 -1.70674948e-03 -1.51093831e-03 4.55881788e+01] [ 1.70670479e-03 9.99998543e-01 -3.08678657e-05 2.34209193e-01] [ 1.51098879e-03 2.82890599e-05 9.99998858e-01 7.77529913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.668639999999996 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:45.62, Y:0.24, Z:0.07 [[ 9.99997407e-01 -1.70391935e-03 -1.51082945e-03 4.56179886e+01] [ 1.70386880e-03 9.99998548e-01 -3.47495226e-05 2.37878281e-01] [ 1.51088647e-03 3.21751774e-05 9.99998858e-01 6.88416771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69864 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:45.65, Y:0.24, Z:0.07 [[ 9.99994180e-01 -3.05911723e-03 -1.51061931e-03 4.56472545e+01] [ 3.05905688e-03 9.99995320e-01 -4.22608903e-05 2.41446175e-01] [ 1.51074152e-03 3.76395740e-05 9.99998858e-01 6.92082604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72864 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:45.68, Y:0.25, Z:0.08 [[ 9.99968268e-01 -7.82180803e-03 -1.51061657e-03 4.56776312e+01] [ 7.82175296e-03 9.99969409e-01 -4.23587355e-05 2.47454523e-01] [ 1.51090168e-03 3.05417217e-05 9.99998858e-01 7.84332905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:45.71, Y:0.25, Z:0.07 [[ 9.99951703e-01 -9.71123631e-03 -1.51087095e-03 4.57085025e+01] [ 9.71119711e-03 9.99952845e-01 -3.32778548e-05 2.50653591e-01] [ 1.51112288e-03 1.86038819e-05 9.99998858e-01 6.90159538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78864 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:45.74, Y:0.25, Z:0.07 [[ 9.99860078e-01 -1.66595874e-02 -1.51062878e-03 4.57388032e+01] [ 1.66595430e-02 9.99861219e-01 -4.19901529e-05 2.52261251e-01] [ 1.51111867e-03 1.68178925e-05 9.99998858e-01 6.84376690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.818639999999995 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:45.77, Y:0.25, Z:0.07 [[ 9.99792771e-01 -2.03010778e-02 -1.51062878e-03 4.57698799e+01] [ 2.03010375e-02 9.99793912e-01 -4.19901529e-05 2.53795252e-01] [ 1.51116990e-03 1.13141198e-05 9.99998858e-01 6.80491752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.848639999999996 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:45.80, Y:0.26, Z:0.07 [[ 9.99713433e-01 -2.38907801e-02 -1.51063147e-03 4.58024055e+01] [ 2.38907440e-02 9.99714575e-01 -4.18931634e-05 2.55386447e-01] [ 1.51120116e-03 5.79104842e-06 9.99998858e-01 6.80736146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:45.83, Y:0.25, Z:0.07 [[ 9.99545400e-01 -3.01116563e-02 -1.51065012e-03 4.58345615e+01] [ 3.01116284e-02 9.99546541e-01 -4.12095509e-05 2.54410479e-01] [ 1.51120599e-03 -4.29731809e-06 9.99998858e-01 6.73664646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:45.87, Y:0.25, Z:0.07 [[ 9.99427569e-01 -3.37972165e-02 -1.51066825e-03 4.58666897e+01] [ 3.37971938e-02 9.99428711e-01 -4.05339953e-05 2.52870407e-01] [ 1.51117515e-03 -1.05455551e-05 9.99998858e-01 6.80122722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:45.90, Y:0.25, Z:0.07 [[ 9.99297451e-01 -3.74475904e-02 -1.51068577e-03 4.58986478e+01] [ 3.74475730e-02 9.99298593e-01 -3.98700422e-05 2.50725875e-01] [ 1.51111920e-03 -1.67294840e-05 9.99998858e-01 6.66503518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:45.93, Y:0.25, Z:0.07 [[ 9.99114550e-01 -4.20456171e-02 -1.51070281e-03 4.59305194e+01] [ 4.20456059e-02 9.99115692e-01 -3.92136920e-05 2.45668134e-01] [ 1.51101564e-03 -2.43394445e-05 9.99998858e-01 6.67086704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.998639999999995 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:45.96, Y:0.24, Z:0.07 [[ 9.99122296e-01 -4.18611472e-02 -1.51071824e-03 4.59632145e+01] [ 4.18611367e-02 9.99123438e-01 -3.86096267e-05 2.43768045e-01] [ 1.51101025e-03 -2.46646440e-05 9.99998858e-01 6.66545841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.028639999999996 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:46.00, Y:0.24, Z:0.07 [[ 9.99153339e-01 -4.11135462e-02 -1.51073685e-03 4.59968358e+01] [ 4.11135359e-02 9.99154480e-01 -3.78674114e-05 2.41087876e-01] [ 1.51101635e-03 -2.42763832e-05 9.99998858e-01 6.70782558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:46.03, Y:0.24, Z:0.07 [[ 9.99300237e-01 -3.73731593e-02 -1.51075509e-03 4.60301187e+01] [ 3.73731459e-02 9.99301379e-01 -3.71251872e-05 2.35182364e-01] [ 1.51108713e-03 -1.93624619e-05 9.99998858e-01 6.69854601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:46.06, Y:0.23, Z:0.07 [[ 9.99411362e-01 -3.42731148e-02 -1.51077316e-03 4.60634995e+01] [ 3.42730990e-02 9.99412504e-01 -3.63744705e-05 2.33982861e-01] [ 1.51113226e-03 -1.54258190e-05 9.99998858e-01 6.71391403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:46.10, Y:0.23, Z:0.07 [[ 9.99629825e-01 -2.71648843e-02 -1.51079089e-03 4.60953244e+01] [ 2.71648615e-02 9.99630966e-01 -3.56226128e-05 2.30471488e-01] [ 1.51120104e-03 -5.43099909e-06 9.99998858e-01 6.71185448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14864 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:46.12, Y:0.23, Z:0.08 [[ 9.99630831e-01 -2.71278472e-02 -1.51079648e-03 4.61247608e+01] [ 2.71278247e-02 9.99631972e-01 -3.53837810e-05 2.28863542e-01] [ 1.51120035e-03 -5.61390385e-06 9.99998858e-01 8.00949006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.178639999999994 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:46.16, Y:0.23, Z:0.08 [[ 9.99655138e-01 -2.62168733e-02 -1.51044029e-03 4.61554007e+01] [ 2.62168266e-02 9.99656279e-01 -5.06900114e-05 2.27596415e-01] [ 1.51125006e-03 1.10735791e-05 9.99998858e-01 7.96488368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.208639999999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:46.19, Y:0.23, Z:0.07 [[ 9.99793801e-01 -2.02503036e-02 -1.51034720e-03 4.61892833e+01] [ 2.02502439e-02 9.99794941e-01 -5.47990152e-05 2.27261385e-01] [ 1.51114719e-03 2.42028165e-05 9.99998858e-01 6.72423745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23864 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:46.22, Y:0.23, Z:0.07 [[ 9.99860910e-01 -1.66095806e-02 -1.51082077e-03 4.62202521e+01] [ 1.66095492e-02 9.99862051e-01 -3.33372273e-05 2.25932529e-01] [ 1.51116607e-03 8.23853852e-06 9.99998858e-01 6.76624372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:46.25, Y:0.23, Z:0.07 [[ 9.99892117e-01 -1.46107060e-02 -1.51082289e-03 4.62514647e+01] [ 1.46106725e-02 9.99893258e-01 -3.32406263e-05 2.27319387e-01] [ 1.51114729e-03 1.11629018e-05 9.99998858e-01 6.86353988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29864 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:46.28, Y:0.23, Z:0.08 [[ 9.99875710e-01 -1.56933675e-02 -1.51082503e-03 4.62789946e+01] [ 1.56933353e-02 9.99876851e-01 -3.31434596e-05 2.28829205e-01] [ 1.51115910e-03 9.42945646e-06 9.99998858e-01 8.24242945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:46.31, Y:0.23, Z:0.07 [[ 9.99964881e-01 -8.24356851e-03 -1.51037733e-03 4.63115192e+01] [ 8.24349696e-03 9.99966020e-01 -5.35923285e-05 2.32868194e-01] [ 1.51076780e-03 4.11396554e-05 9.99998858e-01 6.83562969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35864 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:46.34, Y:0.23, Z:0.08 [[ 9.99946252e-01 -1.02572341e-02 -1.51082906e-03 4.63393691e+01] [ 1.02571963e-02 9.99947393e-01 -3.27579233e-05 2.34884832e-01] [ 1.51108559e-03 1.72592924e-05 9.99998858e-01 8.08878129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:46.37, Y:0.24, Z:0.08 [[ 9.99974423e-01 -6.99085153e-03 -1.51040945e-03 4.63698033e+01] [ 6.99078087e-03 9.99975563e-01 -5.20609439e-05 2.39901435e-01] [ 1.51073649e-03 4.15006708e-05 9.99998858e-01 7.84098382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.418639999999996 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:46.40, Y:0.24, Z:0.08 [[ 9.99974553e-01 -6.97217552e-03 -1.51059345e-03 4.63998145e+01] [ 6.97211783e-03 9.99975694e-01 -4.34586576e-05 2.43385424e-01] [ 1.51085973e-03 3.29255162e-05 9.99998858e-01 8.29780654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44864 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:46.43, Y:0.25, Z:0.08 [[ 9.99984143e-01 -5.42513393e-03 -1.51047544e-03 4.64302129e+01] [ 5.42506591e-03 9.99985283e-01 -4.91289531e-05 2.47347847e-01] [ 1.51071974e-03 4.09337452e-05 9.99998858e-01 8.20240660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:46.46, Y:0.25, Z:0.07 [[ 9.99998270e-01 -1.08556892e-03 -1.51051063e-03 4.64616947e+01] [ 1.08549857e-03 9.99999410e-01 -4.73927854e-05 2.53226129e-01] [ 1.51056119e-03 4.57530463e-05 9.99998858e-01 6.91798284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:46.49, Y:0.26, Z:0.07 [[ 9.99997720e-01 -1.50883239e-03 -1.51085138e-03 4.64912697e+01] [ 1.50878799e-03 9.99998861e-01 -3.05299344e-05 2.56418831e-01] [ 1.51089573e-03 2.82503104e-05 9.99998858e-01 6.95368184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:46.52, Y:0.26, Z:0.07 [[ 9.99996839e-01 -2.00967147e-03 -1.51084940e-03 4.65209601e+01] [ 2.00962749e-03 9.99997980e-01 -3.06277380e-05 2.59288998e-01] [ 1.51090790e-03 2.75913967e-05 9.99998858e-01 6.86419404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:46.55, Y:0.26, Z:0.07 [[ 9.99996708e-01 -2.07375981e-03 -1.51084741e-03 4.65511025e+01] [ 2.07371576e-03 9.99997849e-01 -3.07255415e-05 2.59886684e-01] [ 1.51090788e-03 2.75923723e-05 9.99998858e-01 6.86875135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.598639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:46.58, Y:0.26, Z:0.07 [[ 9.99993868e-01 -3.15946970e-03 -1.51084544e-03 4.65802407e+01] [ 3.15942673e-03 9.99995009e-01 -3.08223693e-05 2.62176353e-01] [ 1.51093528e-03 2.60487748e-05 9.99998858e-01 6.88413616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:46.61, Y:0.26, Z:0.08 [[ 9.99962187e-01 -8.56401075e-03 -1.51084345e-03 4.66091768e+01] [ 8.56397381e-03 9.99963328e-01 -3.09195081e-05 2.64395336e-01] [ 1.51105284e-03 1.79795152e-05 9.99998858e-01 8.22516089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:0.27, Z:0.07 [[ 9.99963652e-01 -8.39119713e-03 -1.51062494e-03 4.66405390e+01] [ 8.39114370e-03 9.99964793e-01 -4.17080761e-05 2.66481490e-01] [ 1.51092174e-03 2.90306892e-05 9.99998858e-01 6.71425611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:46.67, Y:0.27, Z:0.08 [[ 9.99893736e-01 -1.44994648e-02 -1.51085671e-03 4.66700537e+01] [ 1.44994360e-02 9.99894877e-01 -3.00579577e-05 2.67011562e-01] [ 1.51113371e-03 8.14819344e-06 9.99998858e-01 8.26012518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:46.70, Y:0.27, Z:0.08 [[ 9.99883039e-01 -1.52192762e-02 -1.51070286e-03 4.67011666e+01] [ 1.52192366e-02 9.99884180e-01 -3.77482344e-05 2.68000802e-01] [ 1.51110239e-03 1.47520750e-05 9.99998858e-01 8.07414047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:46.73, Y:0.27, Z:0.07 [[ 9.99874188e-01 -1.57900312e-02 -1.51076497e-03 4.67324786e+01] [ 1.57899970e-02 9.99875330e-01 -3.45771194e-05 2.68980354e-01] [ 1.51112259e-03 1.07177949e-05 9.99998858e-01 6.66433090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.778639999999996 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:46.76, Y:0.27, Z:0.08 [[ 9.99834641e-01 -1.81220134e-02 -1.51087279e-03 4.67634791e+01] [ 1.81219903e-02 9.99835783e-01 -2.89503187e-05 2.69709391e-01] [ 1.51114931e-03 1.56550951e-06 9.99998858e-01 8.18636520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.79, Y:0.27, Z:0.06 [[ 9.99803033e-01 -1.97892217e-02 -1.51090452e-03 4.67938606e+01] [ 1.97892031e-02 9.99804174e-01 -2.72728079e-05 2.69919095e-01] [ 1.51114835e-03 -2.63216029e-06 9.99998858e-01 6.45293498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:46.82, Y:0.27, Z:0.08 [[ 9.99691006e-01 -2.48114837e-02 -1.51088223e-03 4.68233790e+01] [ 2.48114690e-02 9.99692148e-01 -2.84560312e-05 2.69305352e-01] [ 1.51112314e-03 -9.03996926e-06 9.99998858e-01 8.05073341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:46.86, Y:0.27, Z:0.08 [[ 9.99648858e-01 -2.64552081e-02 -1.51069775e-03 4.68553288e+01] [ 2.64551804e-02 9.99650000e-01 -3.82804074e-05 2.69728736e-01] [ 1.51118172e-03 -1.69881603e-06 9.99998858e-01 7.91601169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89864 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:46.89, Y:0.27, Z:0.08 [[ 9.99597554e-01 -2.83274993e-02 -1.51083895e-03 4.68873479e+01] [ 2.83274853e-02 9.99598696e-01 -3.06377865e-05 2.68599674e-01] [ 1.51110054e-03 -1.21728119e-05 9.99998858e-01 8.28734195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:46.92, Y:0.27, Z:0.08 [[ 9.99545532e-01 -3.01072639e-02 -1.51084234e-03 4.69189144e+01] [ 3.01072522e-02 9.99546673e-01 -3.04524980e-05 2.67490801e-01] [ 1.51107427e-03 -1.50486530e-05 9.99998858e-01 7.78982584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.958639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.95, Y:0.26, Z:0.06 [[ 9.99347457e-01 -3.60884566e-02 -1.51095154e-03 4.69493083e+01] [ 3.60884610e-02 9.99348599e-01 -2.43524471e-05 2.64206930e-01] [ 1.51084614e-03 -3.01913595e-05 9.99998858e-01 6.37505827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:46.98, Y:0.26, Z:0.08 [[ 9.99358985e-01 -3.57678042e-02 -1.51090815e-03 4.69811549e+01] [ 3.57678046e-02 9.99360127e-01 -2.67987529e-05 2.62695053e-01] [ 1.51089989e-03 -2.72602928e-05 9.99998858e-01 7.87062080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01864 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:47.01, Y:0.26, Z:0.08 [[ 9.99168521e-01 -4.07428944e-02 -1.51108768e-03 4.70094739e+01] [ 4.07429158e-02 9.99169663e-01 -1.66196711e-05 2.59782755e-01] [ 1.51051010e-03 -4.49602657e-05 9.99998858e-01 8.02843241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:47.04, Y:0.26, Z:0.06 [[ 9.99235016e-01 -3.90781274e-02 -1.51073713e-03 4.70423358e+01] [ 3.90781167e-02 9.99236158e-01 -3.66057807e-05 2.59436661e-01] [ 1.51101365e-03 -2.24589841e-05 9.99998858e-01 6.38160033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07864 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:47.07, Y:0.26, Z:0.08 [[ 9.99289207e-01 -3.76669286e-02 -1.51092143e-03 4.70730322e+01] [ 3.76669326e-02 9.99290349e-01 -2.58221294e-05 2.58505333e-01] [ 1.51082184e-03 -3.11080003e-05 9.99998858e-01 8.01891075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10864 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:47.11, Y:0.26, Z:0.08 [[ 9.99336501e-01 -3.63905928e-02 -1.51085294e-03 4.71063060e+01] [ 3.63905893e-02 9.99337643e-01 -2.98338806e-05 2.57451599e-01] [ 1.51093789e-03 -2.51667430e-05 9.99998858e-01 8.05878479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.138639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:47.14, Y:0.25, Z:0.06 [[ 9.99308028e-01 -3.71642530e-02 -1.51094483e-03 4.71375488e+01] [ 3.71642587e-02 9.99309170e-01 -2.42786450e-05 2.54761081e-01] [ 1.51080332e-03 -3.18912999e-05 9.99998858e-01 6.32053095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.168639999999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.17, Y:0.25, Z:0.06 [[ 9.99282214e-01 -3.78520030e-02 -1.51093457e-03 4.71698877e+01] [ 3.78520086e-02 9.99283356e-01 -2.49012183e-05 2.54476535e-01] [ 1.51079433e-03 -3.23085638e-05 9.99998858e-01 6.24257635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.20, Y:0.25, Z:0.06 [[ 9.99278431e-01 -3.79517285e-02 -1.51094485e-03 4.72019894e+01] [ 3.79517352e-02 9.99279573e-01 -2.42609582e-05 2.54537412e-01] [ 1.51077707e-03 -3.30995267e-05 9.99998858e-01 6.29740840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:47.23, Y:0.25, Z:0.06 [[ 9.99223766e-01 -3.93647422e-02 -1.51095486e-03 4.72342948e+01] [ 3.93647514e-02 9.99224908e-01 -2.36206939e-05 2.52801680e-01] [ 1.51071355e-03 -3.58760038e-05 9.99998858e-01 6.24795536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25864 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:47.26, Y:0.25, Z:0.08 [[ 9.99203409e-01 -3.98781160e-02 -1.51096454e-03 4.72643617e+01] [ 3.98781268e-02 9.99204551e-01 -2.29843433e-05 2.50922695e-01] [ 1.51067922e-03 -3.72884014e-05 9.99998858e-01 8.28393274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:47.30, Y:0.25, Z:0.06 [[ 9.99171399e-01 -4.06722583e-02 -1.51094870e-03 4.72956516e+01] [ 4.06722685e-02 9.99172541e-01 -2.40317996e-05 2.47787079e-01] [ 1.51067588e-03 -3.74418242e-05 9.99998858e-01 6.21437210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.318639999999995 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:47.33, Y:0.25, Z:0.08 [[ 9.99172973e-01 -4.06335639e-02 -1.51097252e-03 4.73257744e+01] [ 4.06335765e-02 9.99174115e-01 -2.24265271e-05 2.45250944e-01] [ 1.51063590e-03 -3.89882378e-05 9.99998858e-01 8.20854149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.348639999999996 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:47.36, Y:0.24, Z:0.08 [[ 9.99220757e-01 -3.94410369e-02 -1.51091752e-03 4.73589468e+01] [ 3.94410424e-02 9.99221899e-01 -2.61189237e-05 2.43405995e-01] [ 1.51077203e-03 -3.34935912e-05 9.99998858e-01 7.96946071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:47.39, Y:0.24, Z:0.08 [[ 9.99281982e-01 -3.78581092e-02 -1.51105756e-03 4.73917696e+01] [ 3.78581274e-02 9.99283124e-01 -1.65575997e-05 2.38326278e-01] [ 1.51060116e-03 -4.06600985e-05 9.99998858e-01 7.78440174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40864 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:47.42, Y:0.24, Z:0.08 [[ 9.99252991e-01 -3.86157518e-02 -1.51112022e-03 4.74231262e+01] [ 3.86157772e-02 9.99254133e-01 -1.23164201e-05 2.35087120e-01] [ 1.51046874e-03 -4.60458623e-05 9.99998858e-01 7.92437220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43864 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:47.46, Y:0.23, Z:0.08 [[ 9.99236108e-01 -3.90501778e-02 -1.51108218e-03 4.74554636e+01] [ 3.90501998e-02 9.99237250e-01 -1.49033700e-05 2.31922772e-01] [ 1.51051158e-03 -4.41160758e-05 9.99998858e-01 7.71642787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46864 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:47.49, Y:0.22, Z:0.08 [[ 9.99173273e-01 -4.06261964e-02 -1.51109187e-03 4.74856874e+01] [ 4.06262213e-02 9.99174414e-01 -1.42303573e-05 2.24051955e-01] [ 1.51042246e-03 -4.71713599e-05 9.99998858e-01 8.19564631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.498639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.52, Y:0.22, Z:0.06 [[ 9.99112781e-01 -4.20876292e-02 -1.51101987e-03 4.75158166e+01] [ 4.20876483e-02 9.99113922e-01 -1.92101211e-05 2.21822417e-01] [ 1.51048950e-03 -4.44021953e-05 9.99998858e-01 6.29155027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.528639999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:47.55, Y:0.21, Z:0.06 [[ 9.99156076e-01 -4.10469554e-02 -1.51098507e-03 4.75479082e+01] [ 4.10469696e-02 9.99157218e-01 -2.16401468e-05 2.14165573e-01] [ 1.51059990e-03 -4.03994739e-05 9.99998858e-01 6.27310581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:47.58, Y:0.21, Z:0.06 [[ 9.99206908e-01 -3.97903399e-02 -1.51099399e-03 4.75799978e+01] [ 3.97903536e-02 9.99208050e-01 -2.09978793e-05 2.11093057e-01] [ 1.51063287e-03 -3.91417591e-05 9.99998858e-01 6.27172247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58864 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:47.61, Y:0.21, Z:0.08 [[ 9.99271200e-01 -3.81416621e-02 -1.51100265e-03 4.76110283e+01] [ 3.81416749e-02 9.99272341e-01 -2.03551143e-05 2.08425520e-01] [ 1.51067953e-03 -3.72918924e-05 9.99998858e-01 7.98735662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61864 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:47.64, Y:0.20, Z:0.08 [[ 9.99351957e-01 -3.59636342e-02 -1.51103242e-03 4.76417690e+01] [ 3.59636479e-02 9.99353099e-01 -1.81087287e-05 2.03834831e-01] [ 1.51070619e-03 -3.62452446e-05 9.99998858e-01 7.86410983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:47.67, Y:0.20, Z:0.06 [[ 9.99384832e-01 -3.50381918e-02 -1.51103649e-03 4.76713277e+01] [ 3.50382049e-02 9.99385973e-01 -1.78014055e-05 2.00980028e-01] [ 1.51073240e-03 -3.51535515e-05 9.99998858e-01 6.36120598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.678639999999994 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:47.70, Y:0.20, Z:0.08 [[ 9.99484467e-01 -3.20704955e-02 -1.51100604e-03 4.77020039e+01] [ 3.20705018e-02 9.99485609e-01 -2.00916043e-05 1.98670928e-01] [ 1.51087314e-03 -2.83774754e-05 9.99998858e-01 7.99655603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.708639999999995 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:47.73, Y:0.20, Z:0.08 [[ 9.99573739e-01 -2.91557533e-02 -1.51097924e-03 4.77327467e+01] [ 2.91557532e-02 9.99574880e-01 -2.21101272e-05 1.96093090e-01] [ 1.51098153e-03 -2.19530352e-05 9.99998858e-01 7.99588558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73864 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:47.76, Y:0.19, Z:0.08 [[ 9.99630086e-01 -2.71552774e-02 -1.51093457e-03 4.77634654e+01] [ 2.71552698e-02 9.99631227e-01 -2.55870240e-05 1.94862578e-01] [ 1.51107220e-03 -1.54522768e-05 9.99998858e-01 7.94980425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76864 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:47.79, Y:0.19, Z:0.08 [[ 9.99630059e-01 -2.71562324e-02 -1.51102649e-03 4.77937940e+01] [ 2.71562358e-02 9.99631201e-01 -1.82853072e-05 1.91408177e-01] [ 1.51096578e-03 -2.27552488e-05 9.99998858e-01 7.75270159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79864 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:47.82, Y:0.19, Z:0.08 [[ 9.99671327e-01 -2.55921014e-02 -1.51091837e-03 4.78247037e+01] [ 2.55920899e-02 9.99672468e-01 -2.69481249e-05 1.90905780e-01] [ 1.51111315e-03 -1.17282908e-05 9.99998858e-01 7.87613933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82864 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:47.86, Y:0.19, Z:0.08 [[ 9.99678738e-01 -2.53009283e-02 -1.51102505e-03 4.78550969e+01] [ 2.53009295e-02 9.99679880e-01 -1.82873410e-05 1.90407474e-01] [ 1.51100403e-03 -1.99488723e-05 9.99998858e-01 7.92537454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85864 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:47.89, Y:0.19, Z:0.08 [[ 9.99683771e-01 -2.51012838e-02 -1.51101198e-03 4.78853894e+01] [ 2.51012832e-02 9.99684913e-01 -1.93550391e-05 1.89311308e-01] [ 1.51102172e-03 -1.85794211e-05 9.99998858e-01 7.81911768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.888639999999995 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:47.92, Y:0.19, Z:0.08 [[ 9.99697599e-01 -2.45443815e-02 -1.51104904e-03 4.79158357e+01] [ 2.45443849e-02 9.99698741e-01 -1.63034180e-05 1.88202392e-01] [ 1.51099398e-03 -2.07892813e-05 9.99998858e-01 7.93091662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.918639999999996 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:47.95, Y:0.19, Z:0.08 [[ 9.99689511e-01 -2.48716490e-02 -1.51101545e-03 4.79460105e+01] [ 2.48716485e-02 9.99690653e-01 -1.90735062e-05 1.87089109e-01] [ 1.51102241e-03 -1.85138610e-05 9.99998858e-01 7.97695495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94864 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:47.98, Y:0.19, Z:0.08 [[ 9.99661324e-01 -2.59798792e-02 -1.51104391e-03 4.79765681e+01] [ 2.59798837e-02 9.99662466e-01 -1.66963151e-05 1.86315435e-01] [ 1.51096765e-03 -2.25660846e-05 9.99998858e-01 7.88151437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:48.01, Y:0.19, Z:0.08 [[ 9.99647584e-01 -2.65033147e-02 -1.51098633e-03 4.80072050e+01] [ 2.65033124e-02 9.99648725e-01 -2.15333426e-05 1.86970455e-01] [ 1.51102626e-03 -1.85203888e-05 9.99998858e-01 7.65096661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00864 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:48.04, Y:0.19, Z:0.08 [[ 9.99650209e-01 -2.64041152e-02 -1.51100078e-03 4.80373450e+01] [ 2.64041147e-02 9.99651350e-01 -2.02668366e-05 1.85520053e-01] [ 1.51100910e-03 -1.96368906e-05 9.99998858e-01 7.80993925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03864 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:48.07, Y:0.18, Z:0.08 [[ 9.99648731e-01 -2.64599904e-02 -1.51092670e-03 4.80678931e+01] [ 2.64599800e-02 9.99649873e-01 -2.68847733e-05 1.84984015e-01] [ 1.51110906e-03 -1.31037609e-05 9.99998858e-01 7.90169385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:48.10, Y:0.19, Z:0.08 [[ 9.99664802e-01 -2.58457187e-02 -1.51095368e-03 4.80977598e+01] [ 2.58457114e-02 9.99665944e-01 -2.44129872e-05 1.85436231e-01] [ 1.51107991e-03 -1.46468687e-05 9.99998858e-01 8.05826138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.098639999999996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:48.13, Y:0.19, Z:0.07 [[ 9.99701827e-01 -2.43715786e-02 -1.51094473e-03 4.81278554e+01] [ 2.43715683e-02 9.99702969e-01 -2.52393121e-05 1.86967134e-01] [ 1.51111106e-03 -1.15923063e-05 9.99998858e-01 6.56122547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12864 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:48.16, Y:0.19, Z:0.08 [[ 9.99694190e-01 -2.46828669e-02 -1.51104256e-03 4.81582141e+01] [ 2.46828709e-02 9.99695331e-01 -1.60017302e-05 1.86919237e-01] [ 1.51097716e-03 -2.13000318e-05 9.99998858e-01 7.92808008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15864 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:48.20, Y:0.20, Z:0.08 [[ 9.99997785e-01 1.46555377e-03 -1.51094373e-03 4.82044820e+01] [-1.46559383e-03 9.99998926e-01 -2.54001697e-05 1.97550792e-01] [ 1.51090488e-03 2.76145432e-05 9.99998858e-01 7.90046555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18864 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:48.22, Y:0.19, Z:0.08 [[ 9.99739117e-01 -2.27905762e-02 -1.51216182e-03 4.82178035e+01] [ 2.27907503e-02 9.99740252e-01 9.80413315e-05 1.87567294e-01] [ 1.50953462e-03 -1.32479057e-04 9.99998852e-01 8.09075926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:48.25, Y:0.19, Z:0.07 [[ 9.99768885e-01 -2.14451635e-02 -1.51060277e-03 4.82489075e+01] [ 2.14451511e-02 9.99770026e-01 -2.43896093e-05 1.89549094e-01] [ 1.51077841e-03 -8.01113230e-06 9.99998859e-01 6.64478305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.248639999999995 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:48.28, Y:0.19, Z:0.08 [[ 9.99744328e-01 -2.25609651e-02 -1.51067279e-03 4.82785197e+01] [ 2.25609626e-02 9.99745469e-01 -1.87472931e-05 1.89371297e-01] [ 1.51071124e-03 -1.53397324e-05 9.99998859e-01 8.21665087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.278639999999996 meters Centerline goodness : 0.996603 Centerline is valid? [True, True] Translation: X:48.31, Y:0.19, Z:0.08 [[ 9.99787423e-01 -2.05627371e-02 -1.51055064e-03 4.83089014e+01] [ 2.05627172e-02 9.99788565e-01 -2.87342486e-05 1.91104545e-01] [ 1.51082211e-03 -2.33288531e-06 9.99998859e-01 8.29782859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30864 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:48.34, Y:0.19, Z:0.08 [[ 9.99804781e-01 -1.97007232e-02 -1.51056952e-03 4.83392882e+01] [ 1.97007046e-02 9.99805922e-01 -2.71359071e-05 1.93050962e-01] [ 1.51081095e-03 -2.62867424e-06 9.99998859e-01 8.13230509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:48.37, Y:0.20, Z:0.07 [[ 9.99857778e-01 -1.67970846e-02 -1.51055664e-03 4.83705128e+01] [ 1.67970611e-02 9.99858919e-01 -2.82529269e-05 1.95645555e-01] [ 1.51081810e-03 2.87599647e-06 9.99998859e-01 6.80289969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:48.40, Y:0.20, Z:0.07 [[ 9.99887994e-01 -1.48901579e-02 -1.51068361e-03 4.84005161e+01] [ 1.48901493e-02 9.99889135e-01 -1.69100393e-05 1.98253143e-01] [ 1.51076792e-03 -5.58615926e-06 9.99998859e-01 6.69977495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39864 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:48.43, Y:0.20, Z:0.08 [[ 9.99879517e-01 -1.54489484e-02 -1.51068251e-03 4.84296057e+01] [ 1.54489403e-02 9.99880658e-01 -1.70078887e-05 1.99491680e-01] [ 1.51076498e-03 -6.33260440e-06 9.99998859e-01 8.30666954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:48.46, Y:0.20, Z:0.08 [[ 9.99882258e-01 -1.52704900e-02 -1.51057199e-03 4.84596068e+01] [ 1.52704667e-02 9.99883399e-01 -2.69681098e-05 1.99896951e-01] [ 1.51080767e-03 3.89779531e-06 9.99998859e-01 8.31125239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.458639999999995 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:48.49, Y:0.20, Z:0.08 [[ 9.99884550e-01 -1.51197067e-02 -1.51057432e-03 4.84897113e+01] [ 1.51196835e-02 9.99885691e-01 -2.67541642e-05 2.01173493e-01] [ 1.51080616e-03 3.91166982e-06 9.99998859e-01 7.82717680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48864 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:48.52, Y:0.20, Z:0.08 [[ 9.99900616e-01 -1.40169645e-02 -1.51058244e-03 4.85203339e+01] [ 1.40169412e-02 9.99901758e-01 -2.59977980e-05 2.03840906e-01] [ 1.51079845e-03 4.82146889e-06 9.99998859e-01 7.81401103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:48.55, Y:0.21, Z:0.07 [[ 9.99913066e-01 -1.30988137e-02 -1.51068173e-03 4.85508796e+01] [ 1.30988034e-02 9.99914207e-01 -1.66565340e-05 2.05181594e-01] [ 1.51077031e-03 -3.13303708e-06 9.99998859e-01 6.64096578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54864 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:48.58, Y:0.21, Z:0.08 [[ 9.99909946e-01 -1.33348512e-02 -1.51068716e-03 4.85799981e+01] [ 1.33348421e-02 9.99911087e-01 -1.61492102e-05 2.07105480e-01] [ 1.51076818e-03 -3.99701879e-06 9.99998859e-01 8.06166222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57864 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:48.61, Y:0.21, Z:0.07 [[ 9.99934331e-01 -1.13600824e-02 -1.51063622e-03 4.86095799e+01] [ 1.13600638e-02 9.99935472e-01 -2.09046285e-05 2.08987775e-01] [ 1.51077622e-03 3.74233197e-06 9.99998859e-01 6.57353581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:48.64, Y:0.21, Z:0.07 [[ 9.99950533e-01 -9.83103729e-03 -1.51068667e-03 4.86390879e+01] [ 9.83102404e-03 9.99951674e-01 -1.62008632e-05 2.11326993e-01] [ 1.51077293e-03 1.34846486e-06 9.99998859e-01 6.62411099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.638639999999995 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:48.67, Y:0.22, Z:0.08 [[ 9.99979739e-01 -6.18386018e-03 -1.51068560e-03 4.86684671e+01] [ 6.18384261e-03 9.99980880e-01 -1.62993871e-05 2.16723945e-01] [ 1.51075751e-03 6.95721484e-06 9.99998859e-01 8.00616928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.668639999999996 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:48.70, Y:0.22, Z:0.08 [[ 9.99991842e-01 -3.74626345e-03 -1.51067657e-03 4.86981032e+01] [ 3.74624184e-03 9.99992983e-01 -1.71371284e-05 2.20262936e-01] [ 1.51073017e-03 1.14776288e-05 9.99998859e-01 8.16759740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:48.73, Y:0.22, Z:0.07 [[ 9.99997698e-01 -1.52373467e-03 -1.51069314e-03 4.87277805e+01] [ 1.52371288e-03 9.99998839e-01 -1.55749541e-05 2.23210419e-01] [ 1.51071512e-03 1.32730556e-05 9.99998859e-01 6.71874813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72864 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:48.76, Y:0.23, Z:0.08 [[ 9.99998735e-01 4.98783865e-04 -1.51068248e-03 4.87575798e+01] [-4.98809432e-04 9.99999875e-01 -1.65476592e-05 2.28816099e-01] [ 1.51067404e-03 1.73011810e-05 9.99998859e-01 7.89668054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75864 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:48.79, Y:0.23, Z:0.08 [[ 9.99998637e-01 6.65525567e-04 -1.51067419e-03 4.87869083e+01] [-6.65552453e-04 9.99999778e-01 -1.72943545e-05 2.31352142e-01] [ 1.51066235e-03 1.82997638e-05 9.99998859e-01 7.96182341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78864 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:48.82, Y:0.24, Z:0.08 [[ 9.99998601e-01 7.18576644e-04 -1.51065958e-03 4.88166922e+01] [-7.18605522e-04 9.99999742e-01 -1.85737685e-05 2.37675232e-01] [ 1.51064584e-03 1.96593109e-05 9.99998859e-01 7.98237354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.818639999999995 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:48.85, Y:0.24, Z:0.08 [[ 9.99998406e-01 9.51546602e-04 -1.51062585e-03 4.88463881e+01] [-9.51580140e-04 9.99999547e-01 -2.14833507e-05 2.41601159e-01] [ 1.51060472e-03 2.29207980e-05 9.99998859e-01 7.96958238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.848639999999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:48.88, Y:0.25, Z:0.07 [[ 9.99994873e-01 2.82327952e-03 -1.51065329e-03 4.88757925e+01] [-2.82331167e-03 9.99996014e-01 -1.91546522e-05 2.45940717e-01] [ 1.51059319e-03 2.34195991e-05 9.99998859e-01 6.89337023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87864 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:48.90, Y:0.25, Z:0.08 [[ 9.99995623e-01 2.54408612e-03 -1.51066665e-03 4.89049503e+01] [-2.54411627e-03 9.99996764e-01 -1.80353975e-05 2.54868826e-01] [ 1.51061588e-03 2.18786302e-05 9.99998859e-01 8.20984161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:48.93, Y:0.26, Z:0.08 [[ 9.99991319e-01 3.88322349e-03 -1.51068104e-03 4.89341859e+01] [-3.88325337e-03 9.99992460e-01 -1.68450966e-05 2.59194569e-01] [ 1.51060424e-03 2.27113076e-05 9.99998859e-01 8.20336011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93864 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:48.96, Y:0.27, Z:0.08 [[ 9.99984616e-01 5.33711561e-03 -1.51068369e-03 4.89627348e+01] [-5.33714682e-03 9.99985757e-01 -1.66287619e-05 2.66898897e-01] [ 1.51057343e-03 2.46912468e-05 9.99998859e-01 8.15948343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96864 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:48.99, Y:0.27, Z:0.08 [[ 9.99982085e-01 5.79204830e-03 -1.51068859e-03 4.89927445e+01] [-5.79207944e-03 9.99983226e-01 -1.62370258e-05 2.71719075e-01] [ 1.51056921e-03 2.49867632e-05 9.99998859e-01 8.03646932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.998639999999995 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:49.02, Y:0.28, Z:0.08 [[ 9.99982973e-01 5.63662057e-03 -1.51068835e-03 4.90222682e+01] [-5.63665156e-03 9.99984114e-01 -1.62567224e-05 2.76112003e-01] [ 1.51057271e-03 2.47716694e-05 9.99998859e-01 8.22739332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.028639999999996 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:49.05, Y:0.28, Z:0.08 [[ 9.99983958e-01 5.45912661e-03 -1.51067708e-03 4.90505709e+01] [-5.45915871e-03 9.99985099e-01 -1.71214158e-05 2.79888935e-01] [ 1.51056110e-03 2.53681671e-05 9.99998859e-01 8.26525848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:49.08, Y:0.29, Z:0.08 [[ 9.99995636e-01 2.53884156e-03 -1.51065538e-03 4.90799092e+01] [-2.53887274e-03 9.99996777e-01 -1.87261342e-05 2.85276521e-01] [ 1.51060297e-03 2.25614143e-05 9.99998859e-01 8.26903344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:49.11, Y:0.29, Z:0.07 [[ 9.99997550e-01 1.61780336e-03 -1.51065021e-03 4.91096798e+01] [-1.61783407e-03 9.99998691e-01 -1.91050773e-05 2.88701674e-01] [ 1.51061733e-03 2.15490119e-05 9.99998859e-01 6.93864293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:49.14, Y:0.29, Z:0.08 [[ 9.99987158e-01 -4.83745289e-03 -1.51063131e-03 4.91385114e+01] [ 4.83742744e-03 9.99988299e-01 -2.04984525e-05 2.93303725e-01] [ 1.51071279e-03 1.31906200e-05 9.99998859e-01 8.25475092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14864 meters Centerline goodness : 0.953679 Centerline is valid? [True, True] Translation: X:49.22, Y:0.33, Z:0.07 [[ 9.97179179e-01 7.50426778e-02 -1.51054219e-03 4.92167653e+01] [-7.50428041e-02 9.97180313e-01 -2.70407360e-05 3.33487366e-01] [ 1.50425373e-03 1.40319781e-04 9.99998859e-01 6.82682040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.178639999999994 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:49.19, Y:0.29, Z:0.08 [[ 9.99871498e-01 -1.59591939e-02 -1.51354839e-03 4.91892495e+01] [ 1.59597524e-02 9.99872571e-01 3.57661561e-04 2.88694324e-01] [ 1.50764753e-03 -3.81771459e-04 9.99998791e-01 8.04494729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.208639999999995 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:49.22, Y:0.29, Z:0.08 [[ 9.99811584e-01 -1.93526924e-02 -1.50672584e-03 4.92206789e+01] [ 1.93526678e-02 9.99812719e-01 -3.08763989e-05 2.88878866e-01] [ 1.50704120e-03 1.71141659e-06 9.99998864e-01 8.00109691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:49.25, Y:0.29, Z:0.07 [[ 9.99795174e-01 -2.01826809e-02 -1.50668090e-03 4.92528594e+01] [ 2.01826534e-02 9.99796309e-01 -3.34906537e-05 2.88950797e-01] [ 1.50704993e-03 3.07497569e-06 9.99998864e-01 6.53255621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:49.28, Y:0.29, Z:0.08 [[ 9.99600219e-01 -2.82335373e-02 -1.50681715e-03 4.92799856e+01] [ 2.82335311e-02 9.99601354e-01 -2.54109791e-05 2.86119382e-01] [ 1.50693391e-03 -1.71419486e-05 9.99998864e-01 8.37485040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:49.31, Y:0.29, Z:0.08 [[ 9.99631854e-01 -2.70903425e-02 -1.50640892e-03 4.93118529e+01] [ 2.70902993e-02 9.99632989e-01 -4.90567173e-05 2.86942061e-01] [ 1.50718502e-03 8.22958866e-06 9.99998864e-01 8.24727647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:49.34, Y:0.29, Z:0.07 [[ 9.99702771e-01 -2.43331084e-02 -1.50665903e-03 4.93439755e+01] [ 2.43330847e-02 9.99703906e-01 -3.40267067e-05 2.85234309e-01] [ 1.50704089e-03 -2.64506886e-06 9.99998864e-01 6.59681866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:49.37, Y:0.28, Z:0.08 [[ 9.99706465e-01 -2.41808640e-02 -1.50681207e-03 4.93748409e+01] [ 2.41808543e-02 9.99707600e-01 -2.46846335e-05 2.83252252e-01] [ 1.50696837e-03 -1.17586154e-05 9.99998864e-01 7.87008167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.388639999999995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:49.41, Y:0.28, Z:0.08 [[ 9.99710179e-01 -2.40267973e-02 -1.50687588e-03 4.94053612e+01] [ 2.40267933e-02 9.99711315e-01 -2.08029569e-05 2.81506389e-01] [ 1.50694070e-03 -1.54084676e-05 9.99998864e-01 8.11463836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.418639999999996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:49.44, Y:0.28, Z:0.08 [[ 9.99751064e-01 -2.22607063e-02 -1.50674726e-03 4.94372609e+01] [ 2.22606883e-02 9.99752200e-01 -2.87837519e-05 2.81725815e-01] [ 1.50701463e-03 -4.76464432e-06 9.99998864e-01 8.19758888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:0.28, Z:0.06 [[ 9.99873511e-01 -1.58332299e-02 -1.50673476e-03 4.94694910e+01] [ 1.58332034e-02 9.99874647e-01 -2.95748504e-05 2.83631633e-01] [ 1.50701416e-03 5.71467155e-06 9.99998864e-01 6.48134795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:0.28, Z:0.06 [[ 9.99904966e-01 -1.37035838e-02 -1.50683349e-03 4.95010343e+01] [ 1.37035645e-02 9.99906101e-01 -2.31485654e-05 2.83763944e-01] [ 1.50700922e-03 2.49737565e-06 9.99998864e-01 6.38782315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.53, Y:0.29, Z:0.07 [[ 9.99949619e-01 -9.92420264e-03 -1.50683496e-03 4.95314284e+01] [ 9.92417917e-03 9.99950754e-01 -2.30522919e-05 2.85173396e-01] [ 1.50698953e-03 8.09703033e-06 9.99998864e-01 6.63480039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:49.56, Y:0.29, Z:0.08 [[ 9.99958951e-01 -8.93454846e-03 -1.50683496e-03 4.95615927e+01] [ 8.93452387e-03 9.99960086e-01 -2.30522919e-05 2.88383794e-01] [ 1.50698078e-03 9.58849267e-06 9.99998864e-01 8.06865653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.568639999999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:49.59, Y:0.29, Z:0.08 [[ 9.99982053e-01 -5.79850028e-03 -1.50687614e-03 4.95919896e+01] [ 5.79847619e-03 9.99983188e-01 -2.03591191e-05 2.92313210e-01] [ 1.50696885e-03 1.16211683e-05 9.99998864e-01 7.86081796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.598639999999996 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:49.62, Y:0.30, Z:0.08 [[ 9.99991525e-01 -3.83121349e-03 -1.50692191e-03 4.96218644e+01] [ 3.83119170e-03 9.99992661e-01 -1.73443346e-05 2.96176545e-01] [ 1.50697730e-03 1.15708809e-05 9.99998864e-01 7.91157573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:49.65, Y:0.30, Z:0.08 [[ 9.99993775e-01 -3.19046582e-03 -1.50686980e-03 4.96517911e+01] [ 3.19043824e-03 9.99994910e-01 -2.07109722e-05 2.98543446e-01] [ 1.50692821e-03 1.59032683e-05 9.99998864e-01 8.06071721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.68, Y:0.30, Z:0.07 [[ 9.99996677e-01 -2.09160001e-03 -1.50685378e-03 4.96821531e+01] [ 2.09156962e-03 9.99997812e-01 -2.17431183e-05 3.02106176e-01] [ 1.50689596e-03 1.85913565e-05 9.99998864e-01 6.68490899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:49.71, Y:0.31, Z:0.08 [[ 9.99998864e-01 2.80661865e-05 -1.50683063e-03 4.97126923e+01] [-2.81012428e-05 9.99999999e-01 -2.32437972e-05 3.08720494e-01] [ 1.50682998e-03 2.32861146e-05 9.99998864e-01 8.00879056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:49.74, Y:0.31, Z:0.08 [[ 9.99998856e-01 1.33762037e-04 -1.50686331e-03 4.97439214e+01] [-1.33794046e-04 9.99999991e-01 -2.11414146e-05 3.10574228e-01] [ 1.50686047e-03 2.13429998e-05 9.99998864e-01 8.02649053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:49.77, Y:0.32, Z:0.08 [[ 9.99998531e-01 8.16203127e-04 -1.50699607e-03 4.97731818e+01] [-8.16223065e-04 9.99999667e-01 -1.26151768e-05 3.15333549e-01] [ 1.50698527e-03 1.38452032e-05 9.99998864e-01 8.03559495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.778639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:49.80, Y:0.32, Z:0.08 [[ 9.99998148e-01 1.19692819e-03 -1.50694229e-03 4.98028541e+01] [-1.19695362e-03 9.99999284e-01 -1.59678172e-05 3.18119974e-01] [ 1.50692209e-03 1.77715277e-05 9.99998864e-01 8.06402749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:49.83, Y:0.32, Z:0.08 [[ 9.99998059e-01 1.26961532e-03 -1.50696689e-03 4.98322863e+01] [-1.26963857e-03 9.99999194e-01 -1.44689757e-05 3.20992026e-01] [ 1.50694731e-03 1.63822509e-05 9.99998864e-01 8.13816214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:49.86, Y:0.33, Z:0.08 [[ 9.99998850e-01 -1.71134968e-04 -1.50692223e-03 4.98606551e+01] [ 1.71109384e-04 9.99999985e-01 -1.71066561e-05 3.26237366e-01] [ 1.50692514e-03 1.68487879e-05 9.99998864e-01 8.28730066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:49.89, Y:0.33, Z:0.08 [[ 9.99998856e-01 -1.29663080e-04 -1.50685362e-03 4.98905601e+01] [ 1.29631465e-04 9.99999991e-01 -2.10786131e-05 3.29273089e-01] [ 1.50685634e-03 2.08832533e-05 9.99998864e-01 8.30398260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:49.92, Y:0.33, Z:0.08 [[ 9.99996682e-01 -2.08923474e-03 -1.50689320e-03 4.99200078e+01] [ 2.08920881e-03 9.99997817e-01 -1.87824954e-05 3.33838261e-01] [ 1.50692916e-03 1.56342185e-05 9.99998864e-01 8.41912854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:49.95, Y:0.34, Z:0.07 [[ 9.99998862e-01 -7.22767185e-05 -1.50679829e-03 4.99504886e+01] [ 7.22402993e-05 9.99999997e-01 -2.42243486e-05 3.36857186e-01] [ 1.50680004e-03 2.41154694e-05 9.99998864e-01 6.74568775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.958639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:0.34, Z:0.07 [[ 9.99998860e-01 -9.93006471e-05 -1.50675696e-03 4.99798869e+01] [ 9.92607275e-05 9.99999995e-01 -2.65684672e-05 3.40554058e-01] [ 1.50675959e-03 2.64188751e-05 9.99998864e-01 6.82097628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:50.01, Y:0.35, Z:0.09 [[ 9.99987461e-01 -4.77576907e-03 -1.50675526e-03 5.00090688e+01] [ 4.77573431e-03 9.99988596e-01 -2.66644902e-05 3.47032463e-01] [ 1.50686542e-03 1.94682930e-05 9.99998864e-01 8.59667223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01864 meters Centerline goodness : 0.852157 Centerline is valid? [True, False] Translation: X:50.00, Y:0.36, Z:0.09 [[ 9.99981508e-01 1.44511467e-03 5.90727474e-03 5.00047322e+01] [-1.35835946e-03 9.99891557e-01 -1.46638879e-02 3.62567231e-01] [-5.92782514e-03 1.46555926e-02 9.99875029e-01 8.65533745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:50.00, Y:0.37, Z:0.09 [[ 9.99979330e-01 -2.67704997e-03 5.84574743e-03 5.00048814e+01] [ 2.79370558e-03 9.99795286e-01 -2.00395058e-02 3.67073797e-01] [-5.79090396e-03 2.00554229e-02 9.99782099e-01 8.73773077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:50.03, Y:0.35, Z:0.10 [[ 9.99950487e-01 -8.15366576e-03 5.70451805e-03 5.00343351e+01] [ 8.15356768e-03 9.99966758e-01 4.04486638e-05 3.47844813e-01] [-5.70465822e-03 6.06551298e-06 9.99983728e-01 9.97861229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:50.07, Y:0.35, Z:0.08 [[ 9.99942262e-01 -9.10677336e-03 5.70424511e-03 5.00675698e+01] [ 9.10646693e-03 9.99958532e-01 7.96898197e-05 3.47675557e-01] [-5.70473428e-03 -2.77396992e-05 9.99983727e-01 8.25654562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.138639999999995 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:50.10, Y:0.35, Z:0.10 [[ 9.99902125e-01 -1.27749444e-02 5.70452177e-03 5.00974747e+01] [ 1.27749425e-02 9.99918396e-01 3.67726529e-05 3.46748173e-01] [-5.70452603e-03 3.61058838e-05 9.99983728e-01 1.00600108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.168639999999996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:50.13, Y:0.35, Z:0.10 [[ 9.99925763e-01 -1.07670296e-02 5.70428919e-03 5.01286140e+01] [ 1.07667858e-02 9.99942034e-01 7.34632056e-05 3.47783944e-01] [-5.70474951e-03 -1.20408923e-05 9.99983728e-01 1.00116220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:50.16, Y:0.35, Z:0.08 [[ 9.99954677e-01 -7.62261161e-03 5.70436824e-03 5.01604318e+01] [ 7.62239078e-03 9.99970947e-01 6.04536658e-05 3.48204323e-01] [-5.70466333e-03 -1.69700020e-05 9.99983728e-01 8.42477326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:50.19, Y:0.35, Z:0.08 [[ 9.99967271e-01 -5.73725980e-03 5.70452725e-03 5.01931688e+01] [ 5.73716605e-03 9.99983542e-01 3.27986718e-05 3.47766662e-01] [-5.70462154e-03 -6.97782627e-08 9.99983729e-01 8.44624310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25864 meters Centerline goodness : 0.927918 Centerline is valid? [True, False] Translation: X:50.21, Y:0.35, Z:0.09 [[ 9.99999691e-01 3.72796005e-04 6.92640908e-04 5.02145322e+01] [-3.71443069e-04 9.99998025e-01 -1.95240437e-03 3.49082802e-01] [-6.93367388e-04 1.95214649e-03 9.99997854e-01 8.85701594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28864 meters Centerline goodness : 0.968360 Centerline is valid? [False, True] Translation: X:50.24, Y:0.36, Z:0.09 [[ 9.99993563e-01 -9.47552759e-04 -3.46057132e-03 5.02364144e+01] [ 8.99388605e-04 9.99903082e-01 -1.38931127e-02 3.58376463e-01] [ 3.47340039e-03 1.38899109e-02 9.99897498e-01 9.36231689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.318639999999995 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:50.23, Y:0.30, Z:0.11 [[ 9.95613939e-01 -9.34305377e-02 -4.85996191e-03 5.02314285e+01] [ 9.34433945e-02 9.95621483e-01 2.48882145e-03 2.97433999e-01] [ 4.60615056e-03 -2.93203666e-03 9.99985093e-01 1.05512506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.348639999999996 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:50.26, Y:0.30, Z:0.11 [[ 9.95669975e-01 -9.28451674e-02 -4.59093334e-03 5.02627989e+01] [ 9.28441675e-02 9.95680559e-01 -4.30911726e-04 3.03342302e-01] [ 4.61111115e-03 2.80448292e-06 9.99989369e-01 1.06177716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:50.29, Y:0.31, Z:0.10 [[ 9.95526751e-01 -9.43685612e-02 -4.58948222e-03 5.02935956e+01] [ 9.43675043e-02 9.95537330e-01 -4.46770367e-04 3.05347677e-01] [ 4.61116195e-03 1.16738687e-05 9.99989368e-01 1.04816914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40864 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:50.34, Y:0.32, Z:0.10 [[ 9.97605943e-01 -6.90022901e-02 -4.58979222e-03 5.03377339e+01] [ 6.90009800e-02 9.97616494e-01 -4.43376056e-04 3.18120541e-01] [ 4.60944639e-03 1.25614427e-04 9.99989369e-01 1.02051652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:50.36, Y:0.31, Z:0.09 [[ 9.95254884e-01 -9.71925969e-02 -4.61691908e-03 5.03570096e+01] [ 9.71929891e-02 9.95265544e-01 -1.39886068e-04 3.07026040e-01] [ 4.60865637e-03 -3.09509873e-04 9.99989332e-01 9.17556234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.39, Y:0.31, Z:0.09 [[ 9.95290881e-01 -9.68244980e-02 -4.59125891e-03 5.03896916e+01] [ 9.68235896e-02 9.95301470e-01 -4.20236266e-04 3.09246077e-01] [ 4.61037591e-03 -2.62848463e-05 9.99989372e-01 9.20584534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.498639999999995 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:50.42, Y:0.31, Z:0.11 [[ 9.95049200e-01 -9.92774320e-02 -4.59135853e-03 5.04167334e+01] [ 9.92765548e-02 9.95059792e-01 -4.19145088e-04 3.10969633e-01] [ 4.61028791e-03 -3.87442714e-05 9.99989372e-01 1.07750391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.528639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:50.45, Y:0.32, Z:0.09 [[ 9.95744065e-01 -9.20475011e-02 -4.58414267e-03 5.04517232e+01] [ 9.20461819e-02 9.95754614e-01 -4.98375687e-04 3.15587960e-01] [ 4.61055545e-03 7.43018024e-05 9.99989369e-01 9.24129065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55864 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:50.48, Y:0.32, Z:0.11 [[ 9.95942282e-01 -8.98770616e-02 -4.59173537e-03 5.04802706e+01] [ 8.98761071e-02 9.95952867e-01 -4.14206053e-04 3.22221125e-01] [ 4.61037963e-03 -1.61977542e-07 9.99989372e-01 1.11103534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:50.51, Y:0.33, Z:0.11 [[ 9.96283529e-01 -8.60121001e-02 -4.58788211e-03 5.05123920e+01] [ 8.60109077e-02 9.96294091e-01 -4.56941388e-04 3.27486366e-01] [ 4.61018233e-03 6.06352739e-05 9.99989371e-01 1.07646917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:50.54, Y:0.33, Z:0.11 [[ 9.96444014e-01 -8.41324440e-02 -4.58898967e-03 5.05447315e+01] [ 8.41312884e-02 9.96454579e-01 -4.44608537e-04 3.31854595e-01] [ 4.61012578e-03 5.69499014e-05 9.99989372e-01 1.07370982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64864 meters Centerline goodness : 0.982900 Centerline is valid? [True, True] Translation: X:50.60, Y:0.37, Z:0.09 [[ 9.99862670e-01 -1.59243383e-02 -4.58873736e-03 5.06022718e+01] [ 1.59224515e-02 9.99873130e-01 -4.47423266e-04 3.70285634e-01] [ 4.59528011e-03 3.74297873e-04 9.99989372e-01 9.42896415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.678639999999994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:50.60, Y:0.34, Z:0.09 [[ 9.96046679e-01 -8.87095215e-02 -4.65118251e-03 5.06018100e+01] [ 8.87116796e-02 9.96057313e-01 2.59332832e-04 3.37253877e-01] [ 4.60983906e-03 -6.70921819e-04 9.99989150e-01 9.39342401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.708639999999995 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:50.63, Y:0.35, Z:0.11 [[ 9.95449081e-01 -9.51845262e-02 -4.58607879e-03 5.06307998e+01] [ 9.51835464e-02 9.95459646e-01 -4.31928879e-04 3.45245459e-01] [ 4.60636931e-03 -6.55603760e-06 9.99989391e-01 1.10210406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73864 meters Centerline goodness : 0.950133 Centerline is valid? [True, True] Translation: X:50.67, Y:0.39, Z:0.09 [[ 9.99977189e-01 -4.96192059e-03 -4.58271724e-03 5.06675946e+01] [ 4.95982872e-03 9.99987591e-01 -4.67722918e-04 3.94458861e-01] [ 4.58498117e-03 4.44982756e-04 9.99989390e-01 8.82522346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:50.69, Y:0.35, Z:0.11 [[ 9.94997920e-01 -9.97896115e-02 -4.60136202e-03 5.06942337e+01] [ 9.97894344e-02 9.95008541e-01 -2.68645015e-04 3.51931414e-01] [ 4.60520249e-03 -1.91866082e-04 9.99989378e-01 1.09463045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:50.73, Y:0.36, Z:0.09 [[ 9.95140040e-01 -9.83631177e-02 -4.58225817e-03 5.07271528e+01] [ 9.83619957e-02 9.95150590e-01 -4.70113665e-04 3.56919074e-01] [ 4.60627876e-03 1.71088735e-05 9.99989391e-01 9.34525663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:50.76, Y:0.36, Z:0.10 [[ 9.95375040e-01 -9.59557204e-02 -4.58577345e-03 5.07601965e+01] [ 9.59547445e-02 9.95385603e-01 -4.32873488e-04 3.63054273e-01] [ 4.60614956e-03 -9.15525424e-06 9.99989392e-01 9.56370795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:50.79, Y:0.37, Z:0.11 [[ 9.95312886e-01 -9.65982832e-02 -4.58598774e-03 5.07892216e+01] [ 9.65973246e-02 9.95323451e-01 -4.30591212e-04 3.66583673e-01] [ 4.60613552e-03 -1.44211650e-05 9.99989392e-01 1.10001798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.888639999999995 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:50.82, Y:0.37, Z:0.11 [[ 9.95301694e-01 -9.67137278e-02 -4.58171362e-03 5.08194665e+01] [ 9.67125603e-02 9.95312239e-01 -4.76207092e-04 3.69044138e-01] [ 4.60629141e-03 3.08604707e-05 9.99989391e-01 1.11277000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.918639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.85, Y:0.37, Z:0.10 [[ 9.95733166e-01 -9.21655451e-02 -4.57985893e-03 5.08533532e+01] [ 9.21642379e-02 9.95743695e-01 -4.96108667e-04 3.71995216e-01] [ 4.60608978e-03 7.18926458e-05 9.99989389e-01 9.66118516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94864 meters Centerline goodness : 0.897397 Centerline is valid? [True, False] Translation: X:50.86, Y:0.38, Z:0.09 [[ 9.96948964e-01 -7.79342160e-02 -4.36136611e-03 5.08550016e+01] [ 7.79091329e-02 9.96944438e-01 -5.65277344e-03 3.76025984e-01] [ 4.78858416e-03 5.29573637e-03 9.99974512e-01 9.48206896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97864 meters Centerline goodness : 0.998771 Centerline is valid? [False, True] Translation: X:50.85, Y:0.38, Z:0.09 [[ 9.98077251e-01 -6.19756192e-02 -9.07182907e-04 5.08524265e+01] [ 6.19651576e-02 9.98038789e-01 -8.88223216e-03 3.80018025e-01] [ 1.45588557e-03 8.80894013e-03 9.99960141e-01 9.46569196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:50.88, Y:0.37, Z:0.08 [[ 9.98155870e-01 -6.06858586e-02 -1.44430036e-03 5.08849689e+01] [ 6.06857318e-02 9.98156914e-01 -1.31491803e-04 3.73888126e-01] [ 1.44961808e-03 4.36008910e-05 9.99998948e-01 7.92876574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:50.92, Y:0.37, Z:0.08 [[ 9.98282441e-01 -5.85668420e-02 -1.44693904e-03 5.09185471e+01] [ 5.85667757e-02 9.98283489e-01 -8.82073671e-05 3.74780551e-01] [ 1.44962138e-03 3.31331182e-06 9.99998949e-01 8.07351051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.068639999999995 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:50.95, Y:0.38, Z:0.08 [[ 9.98366527e-01 -5.71155258e-02 -1.44698305e-03 5.09510936e+01] [ 5.71154590e-02 9.98367576e-01 -8.74793968e-05 3.77502853e-01] [ 1.44961739e-03 4.69140068e-06 9.99998949e-01 8.09727251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.098639999999996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:50.98, Y:0.38, Z:0.08 [[ 9.98425330e-01 -5.60782236e-02 -1.44702124e-03 5.09827988e+01] [ 5.60781567e-02 9.98426378e-01 -8.68429190e-05 3.80038555e-01] [ 1.44961418e-03 5.55988602e-06 9.99998949e-01 7.96905198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:51.02, Y:0.38, Z:0.08 [[ 9.98656368e-01 -5.18012117e-02 -1.44705907e-03 5.10153255e+01] [ 5.18011411e-02 9.98657416e-01 -8.62079488e-05 3.83659370e-01] [ 1.44958195e-03 1.11328057e-05 9.99998949e-01 8.01760397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:51.05, Y:0.39, Z:0.08 [[ 9.98728291e-01 -5.03955040e-02 -1.44710197e-03 5.10485079e+01] [ 5.03954331e-02 9.98729339e-01 -8.54816633e-05 3.86810650e-01] [ 1.44957109e-03 1.24456247e-05 9.99998949e-01 8.04007182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18864 meters Centerline goodness : 0.885501 Centerline is valid? [True, False] Translation: X:51.05, Y:0.40, Z:0.08 [[ 9.99336187e-01 -3.64299175e-02 2.15929790e-04 5.10464535e+01] [ 3.64305533e-02 9.99315718e-01 -6.39614127e-03 3.95015090e-01] [ 1.72288654e-05 6.39976187e-03 9.99979521e-01 8.13527462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21864 meters Centerline goodness : 0.999509 Centerline is valid? [False, True] Translation: X:51.05, Y:0.40, Z:0.08 [[ 9.99781276e-01 -2.07691805e-02 -2.45772457e-03 5.10465623e+01] [ 2.07406068e-02 9.99722931e-01 -1.11304931e-02 4.04079467e-01] [ 2.68821483e-03 1.10770839e-02 9.99935034e-01 8.32094779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.248639999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:51.08, Y:0.40, Z:0.08 [[ 9.99792998e-01 -2.01521330e-02 -2.80210568e-03 5.10785699e+01] [ 2.01519674e-02 9.99796925e-01 -8.73403266e-05 3.95809998e-01] [ 2.80329674e-03 3.08543047e-05 9.99996070e-01 8.23490968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.278639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:51.11, Y:0.40, Z:0.08 [[ 9.99781004e-01 -2.07386692e-02 -2.80211663e-03 5.11107696e+01] [ 2.07385068e-02 9.99784930e-01 -8.69878332e-05 3.98085584e-01] [ 2.80331799e-03 2.88570685e-05 9.99996070e-01 8.29218502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:51.14, Y:0.40, Z:0.10 [[ 9.99637535e-01 -2.67758688e-02 -2.80215469e-03 5.11378385e+01] [ 2.67757336e-02 9.99641462e-01 -8.57438418e-05 4.01650394e-01] [ 2.80344588e-03 1.06830151e-05 9.99996070e-01 9.87478219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:51.17, Y:0.41, Z:0.08 [[ 9.99750494e-01 -2.21608944e-02 -2.80066217e-03 5.11722904e+01] [ 2.21606037e-02 9.99754415e-01 -1.34792895e-04 4.05216046e-01] [ 2.80296150e-03 7.26948986e-05 9.99996069e-01 8.25938866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:51.20, Y:0.41, Z:0.10 [[ 9.99712728e-01 -2.38035481e-02 -2.80219749e-03 5.12015028e+01] [ 2.38034093e-02 9.99716655e-01 -8.28888688e-05 4.07704181e-01] [ 2.80337655e-03 1.61632033e-05 9.99996070e-01 9.85952545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39864 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:51.23, Y:0.41, Z:0.10 [[ 9.99705439e-01 -2.41078481e-02 -2.80140612e-03 5.12315338e+01] [ 2.41076350e-02 9.99709363e-01 -1.09814836e-04 4.12025130e-01] [ 2.80323933e-03 4.22472122e-05 9.99996070e-01 9.83145179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:51.26, Y:0.42, Z:0.10 [[ 9.99741643e-01 -2.25566271e-02 -2.80117264e-03 5.12634885e+01] [ 2.25563855e-02 9.99745565e-01 -1.17849485e-04 4.16050227e-01] [ 2.80311821e-03 5.46347075e-05 9.99996070e-01 1.00539957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.458639999999995 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:51.30, Y:0.42, Z:0.08 [[ 9.99834269e-01 -1.79885349e-02 -2.80119107e-03 5.12973372e+01] [ 1.79882771e-02 9.99838191e-01 -1.17205429e-04 4.21135201e-01] [ 2.80284616e-03 6.67974034e-05 9.99996070e-01 8.36805460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48864 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:51.33, Y:0.46, Z:0.09 [[ 9.98903319e-01 4.67365663e-02 -2.80227623e-03 5.13323488e+01] [-4.67369692e-02 9.98907228e-01 -7.84361220e-05 4.59265723e-01] [ 2.79554814e-03 2.09320000e-04 9.99996071e-01 8.69921341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:51.36, Y:0.43, Z:0.08 [[ 9.99911191e-01 -1.30286124e-02 -2.80469217e-03 5.13560564e+01] [ 1.30286889e-02 9.99915123e-01 9.01165658e-06 4.34498857e-01] [ 2.80433671e-03 -4.55523182e-05 9.99996067e-01 8.49355649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:51.39, Y:0.45, Z:0.09 [[ 9.99971005e-01 -7.08081810e-03 -2.80208445e-03 5.13872947e+01] [ 7.08061865e-03 9.99974929e-01 -8.10943863e-05 4.46989696e-01] [ 2.80258841e-03 6.12515435e-05 9.99996071e-01 8.62150450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57864 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:51.41, Y:0.42, Z:0.09 [[ 9.96882311e-01 -7.88530714e-02 -2.80208950e-03 5.14135924e+01] [ 7.88531547e-02 9.96886239e-01 -8.09196222e-05 4.20348653e-01] [ 2.79974522e-03 -1.40286257e-04 9.99996071e-01 8.66007701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.608639999999994 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:51.44, Y:0.43, Z:0.08 [[ 9.96805500e-01 -7.98182602e-02 -2.80002912e-03 5.14381778e+01] [ 7.98181417e-02 9.96809430e-01 -1.54203591e-04 4.26474117e-01] [ 2.80340369e-03 -6.97821334e-05 9.99996068e-01 8.32854228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.638639999999995 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:51.48, Y:0.47, Z:0.09 [[ 9.99988814e-01 -3.81414622e-03 -2.79733626e-03 5.14807581e+01] [ 3.81346927e-03 9.99992698e-01 -2.47291268e-04 4.65609210e-01] [ 2.79825904e-03 2.36620945e-04 9.99996057e-01 8.66179771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.668639999999996 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:51.51, Y:0.47, Z:0.09 [[ 9.99976365e-01 -6.27838348e-03 -2.80194276e-03 5.15090383e+01] [ 6.27819839e-03 9.99980289e-01 -7.48479936e-05 4.73737325e-01] [ 2.80235746e-03 5.72550720e-05 9.99996072e-01 8.56843605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:51.54, Y:0.48, Z:0.09 [[ 9.99966693e-01 -7.66563136e-03 -2.80193330e-03 5.15382254e+01] [ 7.66545073e-03 9.99970617e-01 -7.52005898e-05 4.79069452e-01] [ 2.80242743e-03 5.37200035e-05 9.99996072e-01 8.66291668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72864 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:51.57, Y:0.49, Z:0.11 [[ 9.99954133e-01 -9.15861165e-03 -2.80192862e-03 5.15691473e+01] [ 9.15843638e-03 9.99958058e-01 -7.53746228e-05 4.86134926e-01] [ 2.80250142e-03 4.97098807e-05 9.99996072e-01 1.11621417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:51.60, Y:0.49, Z:0.09 [[ 9.99949084e-01 -9.69414056e-03 -2.80238998e-03 5.15988215e+01] [ 9.69401529e-03 9.99953010e-01 -5.82809390e-05 4.94378231e-01] [ 2.80282328e-03 3.11115602e-05 9.99996072e-01 8.62610006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:51.63, Y:0.50, Z:0.10 [[ 9.99904167e-01 -1.35574761e-02 -2.80191223e-03 5.16268231e+01] [ 1.35573166e-02 9.99908092e-01 -7.59142920e-05 4.99489117e-01] [ 2.80268392e-03 3.79206058e-05 9.99996072e-01 1.03883465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.818639999999995 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:51.66, Y:0.51, Z:0.10 [[ 9.99929896e-01 -1.15046981e-02 -2.80099436e-03 5.16580876e+01] [ 1.15044350e-02 9.99933816e-01 -1.10019199e-04 5.10190697e-01] [ 2.80207471e-03 7.77876288e-05 9.99996071e-01 1.03687338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.848639999999996 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:51.69, Y:0.51, Z:0.10 [[ 9.99927483e-01 -1.17124480e-02 -2.80119091e-03 5.16897767e+01] [ 1.17122065e-02 9.99931404e-01 -1.02587094e-04 5.14379264e-01] [ 2.80220030e-03 6.97715282e-05 9.99996071e-01 1.00950584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87864 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:51.72, Y:0.52, Z:0.10 [[ 9.99920940e-01 -1.22583343e-02 -2.80133519e-03 5.17202559e+01] [ 1.22581105e-02 9.99924862e-01 -9.70456208e-05 5.17487989e-01] [ 2.80231432e-03 6.26988719e-05 9.99996072e-01 1.02316100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90864 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:51.75, Y:0.52, Z:0.10 [[ 9.99877416e-01 -1.54047967e-02 -2.80109807e-03 5.17515623e+01] [ 1.54045589e-02 9.99881337e-01 -1.06437847e-04 5.21286412e-01] [ 2.80240534e-03 6.32751189e-05 9.99996071e-01 9.79828663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93864 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:51.78, Y:0.52, Z:0.10 [[ 9.99850527e-01 -1.70609655e-02 -2.80131361e-03 5.17837206e+01] [ 1.70607586e-02 9.99854450e-01 -9.77452325e-05 5.24464354e-01] [ 2.80257351e-03 4.99380870e-05 9.99996072e-01 1.00046275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96864 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:51.82, Y:0.53, Z:0.08 [[ 9.99808740e-01 -1.93554484e-02 -2.80170261e-03 5.18155344e+01] [ 1.93552951e-02 9.99812665e-01 -8.17967380e-05 5.26465497e-01] [ 2.80276097e-03 2.75533126e-05 9.99996072e-01 8.30194865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.998639999999995 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:51.85, Y:0.53, Z:0.08 [[ 9.99749858e-01 -2.21894277e-02 -2.80204714e-03 5.18484167e+01] [ 2.21893257e-02 9.99753784e-01 -6.74934256e-05 5.28013066e-01] [ 2.80285487e-03 5.30100626e-06 9.99996072e-01 8.28791911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.028639999999996 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:51.88, Y:0.53, Z:0.10 [[ 9.99569069e-01 -2.92202743e-02 -2.80208007e-03 5.18766677e+01] [ 2.92202039e-02 9.99572996e-01 -6.60971250e-05 5.30026926e-01] [ 2.80281495e-03 -1.58087092e-05 9.99996072e-01 9.85880039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05864 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:51.91, Y:0.53, Z:0.10 [[ 9.99511996e-01 -3.11114470e-02 -2.80143211e-03 5.19088790e+01] [ 3.11113066e-02 9.99515922e-01 -9.36643775e-05 5.31736859e-01] [ 2.80299004e-03 6.46245534e-06 9.99996072e-01 1.01232503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:51.94, Y:0.53, Z:0.09 [[ 9.99531327e-01 -3.04840648e-02 -2.80137858e-03 5.19425154e+01] [ 3.04839155e-02 9.99535253e-01 -9.60009027e-05 5.33292492e-01] [ 2.80300315e-03 1.05589217e-05 9.99996072e-01 8.63425535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11864 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:51.97, Y:0.53, Z:0.10 [[ 9.99410429e-01 -3.42190382e-02 -2.80212914e-03 5.19713048e+01] [ 3.42189984e-02 9.99414357e-01 -6.21735392e-05 5.33374373e-01] [ 2.80261561e-03 -3.37491692e-05 9.99996072e-01 1.02634724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14864 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:52.00, Y:0.54, Z:0.09 [[ 9.99515845e-01 -3.09875582e-02 -2.80139015e-03 5.20048696e+01] [ 3.09874135e-02 9.99519770e-01 -9.50382785e-05 5.35782134e-01] [ 2.80298984e-03 8.18443037e-06 9.99996072e-01 8.77019645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.178639999999994 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:52.03, Y:0.54, Z:0.10 [[ 9.99423815e-01 -3.38258340e-02 -2.80212736e-03 5.20338314e+01] [ 3.38257948e-02 9.99427742e-01 -6.13863113e-05 5.37194910e-01] [ 2.80260027e-03 -3.34332437e-05 9.99996072e-01 1.03736593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.208639999999995 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:52.07, Y:0.54, Z:0.10 [[ 9.99448835e-01 -3.30783690e-02 -2.80140289e-03 5.20669415e+01] [ 3.30782343e-02 9.99452761e-01 -9.44146665e-05 5.37897504e-01] [ 2.80299294e-03 1.69716715e-06 9.99996072e-01 1.03213193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23864 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:52.10, Y:0.54, Z:0.10 [[ 9.99467049e-01 -3.25233546e-02 -2.80153982e-03 5.20987740e+01] [ 3.25232357e-02 9.99470976e-01 -8.80161388e-05 5.38849556e-01] [ 2.80292032e-03 -3.14590919e-06 9.99996072e-01 1.03300484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:52.13, Y:0.54, Z:0.09 [[ 9.99552595e-01 -2.97785284e-02 -2.80156030e-03 5.21321294e+01] [ 2.97784014e-02 9.99556521e-01 -8.70399504e-05 5.40060283e-01] [ 2.80290979e-03 3.57502105e-06 9.99996072e-01 8.80264433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29864 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:52.16, Y:0.54, Z:0.09 [[ 9.99522042e-01 -3.07869491e-02 -2.80216899e-03 5.21648111e+01] [ 3.07869096e-02 9.99525969e-01 -5.72437130e-05 5.41457235e-01] [ 2.80260304e-03 -2.90537705e-05 9.99996072e-01 8.94321564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32864 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:52.19, Y:0.54, Z:0.10 [[ 9.99485503e-01 -3.19511793e-02 -2.80219618e-03 5.21948940e+01] [ 3.19511482e-02 9.99489430e-01 -5.58803851e-05 5.42364684e-01] [ 2.80255091e-03 -3.36817506e-05 9.99996072e-01 1.03511327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.358639999999994 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:52.23, Y:0.54, Z:0.10 [[ 9.99504517e-01 -3.13507429e-02 -2.80203769e-03 5.22270940e+01] [ 3.13506871e-02 9.99508444e-01 -6.38283700e-05 5.43011079e-01] [ 2.80266140e-03 -2.40490626e-05 9.99996072e-01 1.04418945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.388639999999995 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:52.26, Y:0.54, Z:0.10 [[ 9.99596198e-01 -2.82770155e-02 -2.80209134e-03 5.22592739e+01] [ 2.82769554e-02 9.99600125e-01 -6.10719717e-05 5.43379404e-01] [ 2.80269779e-03 -1.81873013e-05 9.99996072e-01 1.04800517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.418639999999996 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:52.29, Y:0.55, Z:0.11 [[ 9.99657914e-01 -2.60039015e-02 -2.80206035e-03 5.22925758e+01] [ 2.60038280e-02 9.99661841e-01 -6.26900736e-05 5.45734893e-01] [ 2.80274299e-03 -1.01956671e-05 9.99996072e-01 1.06872937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44864 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:52.32, Y:0.55, Z:0.11 [[ 9.99806745e-01 -1.94581504e-02 -2.80225091e-03 5.23235720e+01] [ 1.94580798e-02 9.99810672e-01 -5.24542171e-05 5.50029095e-01] [ 2.80274103e-03 -2.08234163e-06 9.99996072e-01 1.05949111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47864 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:52.35, Y:0.55, Z:0.11 [[ 9.99870744e-01 -1.58316895e-02 -2.80214028e-03 5.23543028e+01] [ 1.58315877e-02 9.99874671e-01 -5.84992495e-05 5.51971670e-01] [ 2.80271523e-03 1.41293585e-05 9.99996072e-01 1.05011688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50864 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:52.39, Y:0.55, Z:0.11 [[ 9.99915824e-01 -1.26685942e-02 -2.80210194e-03 5.23865606e+01] [ 1.26684741e-02 9.99919750e-01 -6.06164857e-05 5.53226253e-01] [ 2.80264500e-03 2.51130274e-05 9.99996072e-01 1.07247469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53864 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:52.42, Y:0.56, Z:0.11 [[ 9.99977022e-01 -6.17275812e-03 -2.80215830e-03 5.24182082e+01] [ 6.17262144e-03 9.99980948e-01 -5.74224715e-05 5.56529845e-01] [ 2.80245937e-03 4.01244896e-05 9.99996072e-01 1.07487947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.568639999999995 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:52.45, Y:0.56, Z:0.10 [[ 9.99989767e-01 -3.55153803e-03 -2.80221059e-03 5.24485701e+01] [ 3.55139938e-03 9.99993692e-01 -5.44539164e-05 5.60232228e-01] [ 2.80238631e-03 4.45015903e-05 9.99996072e-01 9.60715138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.598639999999996 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:52.48, Y:0.56, Z:0.11 [[ 9.99993633e-01 -2.20922852e-03 -2.80229180e-03 5.24787769e+01] [ 2.20909738e-03 9.99997559e-01 -4.98931886e-05 5.63320289e-01] [ 2.80239518e-03 4.37023355e-05 9.99996072e-01 1.05687701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62864 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:52.51, Y:0.57, Z:0.10 [[ 9.99995232e-01 -1.29753864e-03 -2.80227753e-03 5.25094919e+01] [ 1.29740167e-03 9.99999157e-01 -5.06953814e-05 5.66967108e-01] [ 2.80234095e-03 4.70594602e-05 9.99996072e-01 9.56049841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65864 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:52.54, Y:0.57, Z:0.10 [[ 9.99995986e-01 4.19205495e-04 -2.80229103e-03 5.25376707e+01] [-4.19347083e-04 9.99999911e-01 -4.99383093e-05 5.73622939e-01] [ 2.80226984e-03 5.11132414e-05 9.99996072e-01 9.56317812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68864 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:52.57, Y:0.58, Z:0.10 [[ 9.99995784e-01 7.60548217e-04 -2.80226880e-03 5.25651084e+01] [-7.60694554e-04 9.99999709e-01 -5.11555229e-05 5.77288125e-01] [ 2.80222908e-03 5.32869779e-05 9.99996072e-01 9.62063409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71864 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:52.59, Y:0.58, Z:0.10 [[ 9.99995989e-01 4.11503693e-04 -2.80224280e-03 5.25926644e+01] [-4.11652546e-04 9.99999914e-01 -5.25424843e-05 5.81362345e-01] [ 2.80222094e-03 5.36958240e-05 9.99996072e-01 9.71369531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.748639999999995 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:52.62, Y:0.59, Z:0.11 [[ 9.99993961e-01 -2.05542292e-03 -2.80223289e-03 5.26208123e+01] [ 2.05528228e-03 9.99997886e-01 -5.30655767e-05 5.88952726e-01] [ 2.80233604e-03 4.73058766e-05 9.99996072e-01 1.09043306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.778639999999996 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:52.65, Y:0.59, Z:0.11 [[ 9.99995597e-01 -9.77099347e-04 -2.80190878e-03 5.26518219e+01] [ 9.76906769e-04 9.99999520e-01 -7.00985788e-05 5.93515201e-01] [ 2.80197593e-03 6.73610665e-05 9.99996072e-01 1.08676239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80864 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:52.68, Y:0.60, Z:0.10 [[ 9.99995945e-01 -5.07074558e-04 -2.80217513e-03 5.26808420e+01] [ 5.06919175e-04 9.99999870e-01 -5.61606962e-05 6.04749937e-01] [ 2.80220325e-03 5.47399922e-05 9.99996072e-01 9.83587910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83864 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:52.71, Y:0.61, Z:0.11 [[ 9.99993797e-01 -2.13406354e-03 -2.80221495e-03 5.27097005e+01] [ 2.13392032e-03 9.99997722e-01 -5.40984583e-05 6.10059571e-01] [ 2.80232401e-03 4.81184193e-05 9.99996072e-01 1.09005040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86864 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:52.74, Y:0.62, Z:0.10 [[ 9.99995449e-01 -1.11770937e-03 -2.80212375e-03 5.27395739e+01] [ 1.11754884e-03 9.99999374e-01 -5.88536464e-05 6.15977315e-01] [ 2.80218777e-03 5.57218684e-05 9.99996072e-01 9.75149620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89864 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:52.77, Y:0.63, Z:0.10 [[ 9.99990514e-01 -3.33463007e-03 -2.80221225e-03 5.27680997e+01] [ 3.33449104e-03 9.99994439e-01 -5.42848794e-05 6.25781123e-01] [ 2.80237769e-03 4.49404128e-05 9.99996072e-01 9.70768134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.928639999999994 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:52.80, Y:0.63, Z:0.10 [[ 9.99980837e-01 -5.52022856e-03 -2.80220556e-03 5.27976512e+01] [ 5.52009715e-03 9.99984763e-01 -5.46284268e-05 6.30643586e-01] [ 2.80246442e-03 3.91589331e-05 9.99996072e-01 9.67644103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.958639999999995 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:52.83, Y:0.63, Z:0.11 [[ 9.99985274e-01 -4.64759406e-03 -2.80220218e-03 5.28314112e+01] [ 4.64745874e-03 9.99989199e-01 -5.48009656e-05 6.34804493e-01] [ 2.80242661e-03 4.17770395e-05 9.99996072e-01 1.06101162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98864 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:52.86, Y:0.64, Z:0.11 [[ 9.99948070e-01 -9.79789145e-03 -2.80320373e-03 5.28607753e+01] [ 9.79792194e-03 9.99951999e-01 -2.85423609e-06 6.37396880e-01] [ 2.80309713e-03 -2.46114834e-05 9.99996071e-01 1.08795723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01864 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:52.89, Y:0.64, Z:0.09 [[ 9.99810302e-01 -1.92744585e-02 -2.80256584e-03 5.28914804e+01] [ 1.92744351e-02 9.99814230e-01 -3.53602742e-05 6.40826588e-01] [ 2.80272676e-03 -1.86643068e-05 9.99996072e-01 9.43185942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04864 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:52.92, Y:0.64, Z:0.11 [[ 9.99773691e-01 -2.10882401e-02 -2.80218428e-03 5.29231450e+01] [ 2.10881692e-02 9.99777618e-01 -5.48527631e-05 6.42796864e-01] [ 2.80271787e-03 -4.25258669e-06 9.99996072e-01 1.06961584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07864 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:52.96, Y:0.64, Z:0.11 [[ 9.99684639e-01 -2.49553356e-02 -2.80230924e-03 5.29553923e+01] [ 2.49552980e-02 9.99688567e-01 -4.84057034e-05 6.43686268e-01] [ 2.80264449e-03 -2.15420240e-05 9.99996072e-01 1.05430335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:52.99, Y:0.64, Z:0.11 [[ 9.99674751e-01 -2.53483697e-02 -2.80237056e-03 5.29877989e+01] [ 2.53483427e-02 9.99678678e-01 -4.51847134e-05 6.42906794e-01] [ 2.80261546e-03 -2.58654323e-05 9.99996072e-01 1.08503101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.138639999999995 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:53.02, Y:0.64, Z:0.11 [[ 9.99684265e-01 -2.49703144e-02 -2.80231868e-03 5.30198472e+01] [ 2.49702781e-02 9.99688193e-01 -4.79235006e-05 6.42386068e-01] [ 2.80264157e-03 -2.20663075e-05 9.99996072e-01 1.09065263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.168639999999996 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:53.05, Y:0.64, Z:0.11 [[ 9.99762324e-01 -2.16204364e-02 -2.80222153e-03 5.30528893e+01] [ 2.16203724e-02 9.99766251e-01 -5.31437639e-05 6.41380231e-01] [ 2.80271550e-03 -7.45394000e-06 9.99996072e-01 1.08296401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19864 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:53.09, Y:0.64, Z:0.11 [[ 9.99821328e-01 -1.86938293e-02 -2.80228478e-03 5.30864711e+01] [ 1.86937635e-02 9.99825255e-01 -4.96691501e-05 6.41255129e-01] [ 2.80272361e-03 -2.72497345e-06 9.99996072e-01 1.05973898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:53.12, Y:0.64, Z:0.11 [[ 9.99841652e-01 -1.75732390e-02 -2.80233014e-03 5.31191358e+01] [ 1.75731760e-02 9.99845579e-01 -4.71203460e-05 6.40245097e-01] [ 2.80272546e-03 -2.13295603e-06 9.99996072e-01 1.07799641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:53.15, Y:0.64, Z:0.09 [[ 9.99896377e-01 -1.41202930e-02 -2.80221004e-03 5.31507303e+01] [ 1.41201970e-02 9.99900304e-01 -5.40362014e-05 6.41610531e-01] [ 2.80269368e-03 1.44628442e-05 9.99996072e-01 9.26105856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:53.18, Y:0.64, Z:0.11 [[ 9.99864516e-01 -1.62202722e-02 -2.80231189e-03 5.31802442e+01] [ 1.62202011e-02 9.99868443e-01 -4.81029916e-05 6.42817224e-01] [ 2.80272347e-03 2.64241198e-06 9.99996072e-01 1.06356585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.318639999999995 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:53.21, Y:0.64, Z:0.11 [[ 9.99735012e-01 -2.28485170e-02 -2.80191953e-03 5.32081866e+01] [ 2.28484079e-02 9.99738939e-01 -7.09432095e-05 6.44262590e-01] [ 2.80280900e-03 6.90501009e-06 9.99996072e-01 1.07308801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.348639999999996 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:53.24, Y:0.65, Z:0.11 [[ 9.99797438e-01 -1.99308168e-02 -2.80106019e-03 5.32439158e+01] [ 1.99305476e-02 9.99801359e-01 -1.23992516e-04 6.45814414e-01] [ 2.80297506e-03 6.81407365e-05 9.99996069e-01 1.11761605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:53.28, Y:0.65, Z:0.11 [[ 9.99750766e-01 -2.21485301e-02 -2.80159308e-03 5.32755267e+01] [ 2.21483722e-02 9.99754691e-01 -8.73868299e-05 6.47390448e-01] [ 2.80284132e-03 2.53143238e-05 9.99996072e-01 1.08179122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40864 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:53.31, Y:0.65, Z:0.11 [[ 9.99794626e-01 -2.00713308e-02 -2.80146692e-03 5.33116038e+01] [ 2.00711399e-02 9.99798550e-01 -9.62327127e-05 6.52011727e-01] [ 2.80283408e-03 3.99843145e-05 9.99996071e-01 1.08663588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:53.34, Y:0.65, Z:0.09 [[ 9.99753447e-01 -2.20271043e-02 -2.80220645e-03 5.33433007e+01] [ 2.20270754e-02 9.99757374e-01 -4.11643265e-05 6.53069318e-01] [ 2.80243329e-03 -2.05702354e-05 9.99996073e-01 9.26506867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46864 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:53.37, Y:0.65, Z:0.11 [[ 9.99588461e-01 -2.85491885e-02 -2.80226282e-03 5.33720736e+01] [ 2.85491973e-02 9.99592388e-01 -3.68812911e-05 6.52697584e-01] [ 2.80217351e-03 -4.31362409e-05 9.99996073e-01 1.10480277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.498639999999995 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:53.41, Y:0.65, Z:0.11 [[ 9.99531917e-01 -3.04646846e-02 -2.80184440e-03 5.34058049e+01] [ 3.04646108e-02 9.99535844e-01 -6.90240398e-05 6.53406297e-01] [ 2.80264670e-03 -1.63653684e-05 9.99996072e-01 1.10280506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.528639999999996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:53.44, Y:0.65, Z:0.09 [[ 9.99439740e-01 -3.33519863e-02 -2.80201350e-03 5.34375175e+01] [ 3.33519617e-02 9.99443667e-01 -5.55189555e-05 6.53947511e-01] [ 2.80230631e-03 -3.79647964e-05 9.99996073e-01 9.31157109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55864 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:53.47, Y:0.65, Z:0.11 [[ 9.99285328e-01 -3.76959073e-02 -2.80227417e-03 5.34665514e+01] [ 3.76959598e-02 9.99289254e-01 -3.40920503e-05 6.52911144e-01] [ 2.80156760e-03 -7.15667291e-05 9.99996073e-01 1.06807743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:53.50, Y:0.65, Z:0.09 [[ 9.99154763e-01 -4.10110677e-02 -2.80194970e-03 5.34994282e+01] [ 4.10110590e-02 9.99158691e-01 -6.05797041e-05 6.46848278e-01] [ 2.80207683e-03 -5.43824244e-05 9.99996073e-01 9.03679783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61864 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:53.53, Y:0.64, Z:0.11 [[ 9.98816113e-01 -4.85645913e-02 -2.80227478e-03 5.35257757e+01] [ 4.85646900e-02 9.98820039e-01 -3.28434642e-05 6.44237766e-01] [ 2.80056323e-03 -1.03287025e-04 9.99996073e-01 1.07183016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64864 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:53.56, Y:0.64, Z:0.11 [[ 9.98620704e-01 -5.24293864e-02 -2.80155635e-03 5.35580031e+01] [ 5.24293352e-02 9.98624632e-01 -9.17797862e-05 6.41302156e-01] [ 2.80251513e-03 -5.52305418e-05 9.99996071e-01 1.08803156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.678639999999994 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:53.59, Y:0.64, Z:0.11 [[ 9.98492964e-01 -5.48083259e-02 -2.80163436e-03 5.35899589e+01] [ 5.48083032e-02 9.98496892e-01 -8.49348462e-05 6.38997446e-01] [ 2.80207834e-03 -6.87459792e-05 9.99996072e-01 1.08625287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.708639999999995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:53.63, Y:0.64, Z:0.09 [[ 9.98695079e-01 -5.09930470e-02 -2.80152636e-03 5.36261378e+01] [ 5.09929815e-02 9.98699007e-01 -9.48197844e-05 6.36402006e-01] [ 2.80271675e-03 -4.81621302e-05 9.99996071e-01 9.04811710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:53.66, Y:0.63, Z:0.09 [[ 9.98619473e-01 -5.24527874e-02 -2.80219335e-03 5.36585912e+01] [ 5.24529151e-02 9.98623398e-01 -2.79500060e-05 6.34038186e-01] [ 2.79980190e-03 -1.19071790e-04 9.99996073e-01 9.03592877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76864 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:53.68, Y:0.63, Z:0.11 [[ 9.98199456e-01 -5.99165484e-02 -2.80220364e-03 5.36848482e+01] [ 5.99167084e-02 9.98203380e-01 -2.68771110e-05 6.29176312e-01] [ 2.79877953e-03 -1.41070101e-04 9.99996073e-01 1.08997883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:53.72, Y:0.63, Z:0.09 [[ 9.98440149e-01 -5.57621697e-02 -2.80161966e-03 5.37206508e+01] [ 5.57621507e-02 9.98444077e-01 -8.49533149e-05 6.26401465e-01] [ 2.80199774e-03 -7.14035373e-05 9.99996072e-01 9.12551735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:53.75, Y:0.62, Z:0.09 [[ 9.98376446e-01 -5.68912950e-02 -2.80215971e-03 5.37527099e+01] [ 5.68914473e-02 9.98380370e-01 -2.54187710e-05 6.22122705e-01] [ 2.79906736e-03 -1.34041419e-04 9.99996074e-01 8.94674638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.858639999999994 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:53.78, Y:0.61, Z:0.11 [[ 9.98227266e-01 -5.94514391e-02 -2.80216911e-03 5.37829888e+01] [ 5.94516044e-02 9.98231189e-01 -2.43364692e-05 6.14280088e-01] [ 2.79865944e-03 -1.42300122e-04 9.99996074e-01 1.06980510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.888639999999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:53.82, Y:0.61, Z:0.09 [[ 9.98180514e-01 -6.02313008e-02 -2.80209660e-03 5.38150354e+01] [ 6.02314456e-02 9.98184438e-01 -3.27417671e-05 6.12154971e-01] [ 2.79898129e-03 -1.36092135e-04 9.99996074e-01 9.07261043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.918639999999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:53.85, Y:0.60, Z:0.09 [[ 9.98066081e-01 -6.20986751e-02 -2.80217598e-03 5.38472402e+01] [ 6.20988542e-02 9.98070003e-01 -2.31213520e-05 6.01681993e-01] [ 2.79820359e-03 -1.50935280e-04 9.99996074e-01 9.14585329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:53.87, Y:0.59, Z:0.11 [[ 9.97856640e-01 -6.53779304e-02 -2.80218429e-03 5.38748962e+01] [ 6.53781253e-02 9.97860562e-01 -2.20650110e-05 5.94296779e-01] [ 2.79763176e-03 -1.61183838e-04 9.99996074e-01 1.08024599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:53.91, Y:0.59, Z:0.09 [[ 9.98026298e-01 -6.27348261e-02 -2.80183653e-03 5.39107240e+01] [ 6.27348913e-02 9.98030225e-01 -6.46767241e-05 5.89025613e-01] [ 2.80037502e-03 -1.11223839e-04 9.99996073e-01 9.21352059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00864 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:53.94, Y:0.58, Z:0.11 [[ 9.98009361e-01 -6.30036819e-02 -2.80215967e-03 5.39397961e+01] [ 6.30038720e-02 9.98013282e-01 -2.04939685e-05 5.83517462e-01] [ 2.79788376e-03 -1.56093737e-04 9.99996074e-01 1.08344943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:53.97, Y:0.57, Z:0.09 [[ 9.98291173e-01 -5.83685178e-02 -2.80194297e-03 5.39735324e+01] [ 5.83686076e-02 9.98295098e-01 -4.98121152e-05 5.72853703e-01] [ 2.80007339e-03 -1.13818515e-04 9.99996073e-01 9.12844479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.068639999999995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:54.01, Y:0.57, Z:0.09 [[ 9.98504461e-01 -5.45984405e-02 -2.80215148e-03 5.40058258e+01] [ 5.45986019e-02 9.98508384e-01 -1.89018303e-05 5.67111725e-01] [ 2.79900375e-03 -1.34119991e-04 9.99996074e-01 9.25080269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.098639999999996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:54.04, Y:0.56, Z:0.09 [[ 9.98888674e-01 -4.70485457e-02 -2.80215838e-03 5.40376780e+01] [ 4.70486805e-02 9.98892598e-01 -1.78157127e-05 5.57258819e-01] [ 2.79989347e-03 -1.14041941e-04 9.99996074e-01 9.40949987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12864 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:54.07, Y:0.55, Z:0.11 [[ 9.99066670e-01 -4.31037972e-02 -2.80216204e-03 5.40682007e+01] [ 4.31039183e-02 9.99070594e-01 -1.72208648e-05 5.53732511e-01] [ 2.80029998e-03 -1.03579371e-04 9.99996074e-01 1.06734095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15864 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:54.10, Y:0.55, Z:0.11 [[ 9.99087846e-01 -4.26101463e-02 -2.80213707e-03 5.41008589e+01] [ 4.26102536e-02 9.99091770e-01 -2.14345828e-05 5.54235293e-01] [ 2.80050541e-03 -9.79847399e-05 9.99996074e-01 1.06826817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:54.13, Y:0.55, Z:0.09 [[ 9.99306905e-01 -3.71195104e-02 -2.80214458e-03 5.41328919e+01] [ 3.71196000e-02 9.99310830e-01 -2.00515604e-05 5.50158192e-01] [ 2.80095773e-03 -8.39768232e-05 9.99996074e-01 9.33299734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:54.17, Y:0.54, Z:0.09 [[ 9.99551555e-01 -2.98133791e-02 -2.80217317e-03 5.41661128e+01] [ 2.98134554e-02 9.99555480e-01 -1.45432279e-05 5.41765160e-01] [ 2.80136113e-03 -6.90057588e-05 9.99996074e-01 9.34565882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.248639999999995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:54.20, Y:0.54, Z:0.10 [[ 9.99659022e-01 -2.59612776e-02 -2.80217602e-03 5.41983410e+01] [ 2.59613404e-02 9.99662948e-01 -1.39702514e-05 5.39637383e-01] [ 2.80159423e-03 -5.87827578e-05 9.99996074e-01 9.50255494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.278639999999996 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:54.23, Y:0.53, Z:0.11 [[ 9.99679709e-01 -2.51520624e-02 -2.80218131e-03 5.42252292e+01] [ 2.51521252e-02 9.99683635e-01 -1.28153198e-05 5.34639215e-01] [ 2.80161713e-03 -5.76695999e-05 9.99996074e-01 1.12162812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:54.26, Y:0.53, Z:0.11 [[ 9.99793759e-01 -2.01143754e-02 -2.80195790e-03 5.42581256e+01] [ 2.01142813e-02 9.99797685e-01 -6.17876824e-05 5.33091344e-01] [ 2.80263385e-03 5.41556986e-06 9.99996073e-01 1.08328729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:54.29, Y:0.53, Z:0.10 [[ 9.99904311e-01 -1.35468902e-02 -2.80202867e-03 5.42915151e+01] [ 1.35468216e-02 9.99908237e-01 -4.34686311e-05 5.31850805e-01] [ 2.80236041e-03 5.50588915e-06 9.99996073e-01 9.51915697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:54.32, Y:0.53, Z:0.10 [[ 9.99928830e-01 -1.15966663e-02 -2.80213845e-03 5.43222454e+01] [ 1.15966869e-02 9.99932756e-01 -8.89863381e-06 5.30574670e-01] [ 2.80205322e-03 -2.35975218e-05 9.99996074e-01 9.59685799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39864 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:54.35, Y:0.53, Z:0.10 [[ 9.99970974e-01 -7.08515324e-03 -2.80213841e-03 5.43527129e+01] [ 7.08515609e-03 9.99974900e-01 -8.91175671e-06 5.28820303e-01] [ 2.80213122e-03 -1.09420900e-05 9.99996074e-01 9.50490242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.428639999999994 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:54.38, Y:0.53, Z:0.10 [[ 9.99985126e-01 -4.67927768e-03 -2.80213841e-03 5.43825235e+01] [ 4.67927108e-03 9.99989052e-01 -8.91175671e-06 5.28248740e-01] [ 2.80214943e-03 -4.20034108e-06 9.99996074e-01 9.61251697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.458639999999995 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:54.41, Y:0.53, Z:0.10 [[ 9.99994404e-01 -1.82731758e-03 -2.80213785e-03 5.44123852e+01] [ 1.82729930e-03 9.99998330e-01 -9.08391679e-06 5.28481976e-01] [ 2.80214977e-03 3.96352144e-06 9.99996074e-01 9.62657721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48864 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:54.44, Y:0.53, Z:0.11 [[ 9.99995531e-01 1.04221651e-03 -2.80213728e-03 5.44408458e+01] [-1.04224654e-03 9.99999457e-01 -9.25701469e-06 5.30097065e-01] [ 2.80212611e-03 1.21774912e-05 9.99996074e-01 1.12704663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:54.47, Y:0.53, Z:0.10 [[ 9.99982170e-01 5.27331143e-03 -2.80206021e-03 5.44718304e+01] [-5.27341866e-03 9.99986095e-01 -3.08826475e-05 5.31307863e-01] [ 2.80185840e-03 4.56585335e-05 9.99996074e-01 9.78409829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54864 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:54.50, Y:0.53, Z:0.10 [[ 9.99960523e-01 8.43210766e-03 -2.80213499e-03 5.45000559e+01] [-8.43216897e-03 9.99964449e-01 -1.00665129e-05 5.33393561e-01] [ 2.80195049e-03 3.36941913e-05 9.99996074e-01 9.80687107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57864 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:54.53, Y:0.53, Z:0.10 [[ 9.99950541e-01 9.54267769e-03 -2.80212927e-03 5.45277015e+01] [-9.54274729e-03 9.99954467e-01 -1.14660434e-05 5.34589767e-01] [ 2.80189226e-03 3.82054878e-05 9.99996074e-01 9.92535073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.608639999999994 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:54.56, Y:0.54, Z:0.10 [[ 9.99951532e-01 9.43826125e-03 -2.80212282e-03 5.45557166e+01] [-9.43833436e-03 9.99955458e-01 -1.28707581e-05 5.36254627e-01] [ 2.80187653e-03 3.93175064e-05 9.99996074e-01 9.93608919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.638639999999995 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:54.58, Y:0.54, Z:0.10 [[ 9.99948033e-01 9.80202709e-03 -2.80211564e-03 5.45845007e+01] [-9.80210558e-03 9.99951958e-01 -1.42788396e-05 5.38493276e-01] [ 2.80184106e-03 4.17447309e-05 9.99996074e-01 9.90443533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.668639999999996 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:54.61, Y:0.54, Z:0.11 [[ 9.99961529e-01 8.31191703e-03 -2.80210885e-03 5.46130155e+01] [-8.31199311e-03 9.99965455e-01 -1.55061545e-05 5.42701502e-01] [ 2.80188316e-03 3.87966675e-05 9.99996074e-01 1.11945814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69864 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:54.64, Y:0.55, Z:0.10 [[ 9.99940577e-01 1.05352092e-02 -2.80203644e-03 5.46430231e+01] [-1.05353287e-02 9.99944501e-01 -2.79010086e-05 5.46190228e-01] [ 2.80158699e-03 5.74197255e-05 9.99996074e-01 9.88462353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72864 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:54.67, Y:0.55, Z:0.10 [[ 9.99937610e-01 1.08131869e-02 -2.80210331e-03 5.46719220e+01] [-1.08132760e-02 9.99941535e-01 -1.66420890e-05 5.49213226e-01] [ 2.80175953e-03 4.69409671e-05 9.99996074e-01 9.85061421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75864 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:54.70, Y:0.56, Z:0.10 [[ 9.99930803e-01 1.14252613e-02 -2.80209553e-03 5.46998147e+01] [-1.14253562e-02 9.99934728e-01 -1.78625988e-05 5.55419215e-01] [ 2.80170855e-03 4.98763024e-05 9.99996074e-01 9.82470577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78864 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:54.73, Y:0.56, Z:0.11 [[ 9.99946656e-01 9.94147951e-03 -2.80208591e-03 5.47293943e+01] [-9.94157251e-03 9.99950581e-01 -1.92614978e-05 5.58133054e-01] [ 2.80175595e-03 4.71176106e-05 9.99996074e-01 1.12533080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.818639999999995 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:54.76, Y:0.56, Z:0.10 [[ 9.99970560e-01 7.14331082e-03 -2.80208990e-03 5.47596799e+01] [-7.14339123e-03 9.99974485e-01 -1.86903228e-05 5.63966950e-01] [ 2.80188489e-03 3.87061970e-05 9.99996074e-01 9.68460738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.848639999999996 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:54.79, Y:0.57, Z:0.10 [[ 9.99987699e-01 4.09261467e-03 -2.80208282e-03 5.47883890e+01] [-4.09268592e-03 9.99991625e-01 -1.96966091e-05 5.65717414e-01] [ 2.80197874e-03 3.11644117e-05 9.99996074e-01 9.59929388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87864 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:54.82, Y:0.57, Z:0.11 [[ 9.99996069e-01 1.05892129e-04 -2.80208033e-03 5.48173358e+01] [-1.05948711e-04 9.99999994e-01 -2.00444653e-05 5.66694919e-01] [ 2.80207820e-03 2.03412633e-05 9.99996074e-01 1.13389245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:54.85, Y:0.57, Z:0.10 [[ 9.99992913e-01 -2.51437298e-03 -2.80202224e-03 5.48486830e+01] [ 2.51430417e-03 9.99996839e-01 -2.80799758e-05 5.70108315e-01] [ 2.80208399e-03 2.10346406e-05 9.99996074e-01 9.60499911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93864 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:54.88, Y:0.57, Z:0.10 [[ 9.99989647e-01 -3.58518558e-03 -2.80207998e-03 5.48770928e+01] [ 3.58514365e-03 9.99993573e-01 -1.99838393e-05 5.71592308e-01] [ 2.80213362e-03 9.93777315e-06 9.99996074e-01 9.70211687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96864 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:54.91, Y:0.57, Z:0.10 [[ 9.99987895e-01 -4.04453813e-03 -2.80207749e-03 5.49068800e+01] [ 4.04449705e-03 9.99991821e-01 -2.03273111e-05 5.73072979e-01] [ 2.80213678e-03 8.99407089e-06 9.99996074e-01 9.72789155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.998639999999995 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:54.94, Y:0.58, Z:0.10 [[ 9.99993141e-01 -2.42212841e-03 -2.80207623e-03 5.49364548e+01] [ 2.42208048e-03 9.99997067e-01 -2.04989104e-05 5.78398647e-01] [ 2.80211766e-03 1.37119156e-05 9.99996074e-01 9.66456911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.028639999999996 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:54.96, Y:0.58, Z:0.10 [[ 9.99994337e-01 -1.86397969e-03 -2.80207496e-03 5.49648875e+01] [ 1.86392908e-03 9.99998263e-01 -2.06715969e-05 5.80925622e-01] [ 2.80210862e-03 1.54486109e-05 9.99996074e-01 9.77227612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05864 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:54.99, Y:0.58, Z:0.10 [[ 9.99993701e-01 -2.17849107e-03 -2.80207238e-03 5.49937229e+01] [ 2.17844073e-03 9.99997627e-01 -2.10153765e-05 5.81725362e-01] [ 2.80211151e-03 1.49110955e-05 9.99996074e-01 9.56948152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08864 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:55.02, Y:0.58, Z:0.10 [[ 9.99989676e-01 -3.57708219e-03 -2.80206978e-03 5.50226616e+01] [ 3.57703639e-03 9.99993602e-01 -2.13570010e-05 5.81631930e-01] [ 2.80212825e-03 1.13336750e-05 9.99996074e-01 9.57566188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11864 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:55.05, Y:0.58, Z:0.11 [[ 9.99981550e-01 -5.38963716e-03 -2.80206712e-03 5.50517043e+01] [ 5.38959751e-03 9.99985476e-01 -2.17002834e-05 5.82022910e-01] [ 2.80214338e-03 6.59786905e-06 9.99996074e-01 1.12639872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14864 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:55.08, Y:0.58, Z:0.11 [[ 9.99964621e-01 -7.93126973e-03 -2.80196250e-03 5.50816779e+01] [ 7.93120312e-03 9.99968547e-01 -3.48835526e-05 5.83175783e-01] [ 2.80215104e-03 1.26593847e-05 9.99996074e-01 1.12051779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.178639999999994 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:55.11, Y:0.58, Z:0.11 [[ 9.99954134e-01 -9.15862014e-03 -2.80186787e-03 5.51119625e+01] [ 9.15852218e-03 9.99958059e-01 -4.77928168e-05 5.83785293e-01] [ 2.80218807e-03 2.21296557e-05 9.99996074e-01 1.12781492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.208639999999995 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:55.15, Y:0.59, Z:0.10 [[ 9.99982067e-01 -5.29291016e-03 -2.80181472e-03 5.51452102e+01] [ 5.29277505e-03 9.99985992e-01 -5.56348923e-05 5.85013363e-01] [ 2.80206994e-03 4.08045196e-05 9.99996073e-01 9.69507808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23864 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:55.17, Y:0.59, Z:0.10 [[ 9.99986279e-01 -4.42608890e-03 -2.80205335e-03 5.51744364e+01] [ 4.42605706e-03 9.99990205e-01 -1.75628765e-05 5.87762900e-01] [ 2.80210364e-03 5.16058750e-06 9.99996074e-01 9.65892496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26864 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:55.20, Y:0.59, Z:0.10 [[ 9.99986877e-01 -4.28892230e-03 -2.80205227e-03 5.52039814e+01] [ 4.28888944e-03 9.99990803e-01 -1.77335526e-05 5.89152245e-01] [ 2.80210255e-03 5.71562752e-06 9.99996074e-01 9.76375316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29864 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:55.23, Y:0.59, Z:0.11 [[ 9.99976307e-01 -6.28760951e-03 -2.80205117e-03 5.52324602e+01] [ 6.28758402e-03 9.99980233e-01 -1.79055528e-05 5.91584737e-01] [ 2.80210836e-03 2.86996386e-07 9.99996074e-01 1.13673192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32864 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:55.26, Y:0.59, Z:0.11 [[ 9.99982489e-01 -5.21266296e-03 -2.80184679e-03 5.52627746e+01] [ 5.21254540e-03 9.99986413e-01 -4.92592611e-05 5.94211589e-01] [ 2.80206549e-03 3.46536449e-05 9.99996074e-01 1.11570829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.358639999999994 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:55.30, Y:0.60, Z:0.10 [[ 9.99995580e-01 -9.94596829e-04 -2.80182449e-03 5.52952427e+01] [ 9.94452066e-04 9.99999504e-01 -5.30600295e-05 5.97225480e-01] [ 2.80187587e-03 5.02735148e-05 9.99996073e-01 9.51265280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.388639999999995 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:55.32, Y:0.60, Z:0.11 [[ 9.99979067e-01 -5.83223569e-03 -2.80203506e-03 5.53220272e+01] [ 5.83221415e-03 9.99982992e-01 -1.58615016e-05 5.99956339e-01] [ 2.80207991e-03 -4.80898932e-07 9.99996074e-01 1.13000481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.418639999999996 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:55.35, Y:0.60, Z:0.12 [[ 9.99963535e-01 -8.06712599e-03 -2.80179453e-03 5.53530684e+01] [ 8.06699778e-03 9.99967460e-01 -5.70550184e-05 6.03989334e-01] [ 2.80216362e-03 3.44508677e-05 9.99996073e-01 1.15308149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:55.38, Y:0.61, Z:0.12 [[ 9.99953272e-01 -9.25221675e-03 -2.80181772e-03 5.53838619e+01] [ 9.25210608e-03 9.99957197e-01 -5.24583674e-05 6.05537307e-01] [ 2.80218315e-03 2.65332013e-05 9.99996074e-01 1.15839819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:55.42, Y:0.61, Z:0.09 [[ 9.99941661e-01 -1.04319063e-02 -2.80183040e-03 5.54162939e+01] [ 1.04318082e-02 9.99945586e-01 -4.96079063e-05 6.06818679e-01] [ 2.80219544e-03 2.03768548e-05 9.99996074e-01 9.48387572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:55.45, Y:0.61, Z:0.10 [[ 9.99912829e-01 -1.29028535e-02 -2.80198322e-03 5.54477723e+01] [ 1.29028730e-02 9.99916754e-01 -1.11284939e-05 6.06538234e-01] [ 2.80189356e-03 -2.50261099e-05 9.99996074e-01 9.51067975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:55.48, Y:0.61, Z:0.10 [[ 9.99881335e-01 -1.51480648e-02 -2.80198389e-03 5.54801580e+01] [ 1.51480936e-02 9.99885261e-01 -1.09593774e-05 6.06291818e-01] [ 2.80182840e-03 -3.14866372e-05 9.99996074e-01 9.61797506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.568639999999995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:55.51, Y:0.60, Z:0.11 [[ 9.99714783e-01 -2.37171273e-02 -2.80198797e-03 5.55084236e+01] [ 2.37171929e-02 9.99718708e-01 -9.79095018e-06 6.03805561e-01] [ 2.80143200e-03 -5.66671317e-05 9.99996074e-01 1.13962545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.598639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:55.54, Y:0.60, Z:0.10 [[ 9.99729120e-01 -2.31049127e-02 -2.80187783e-03 5.55425159e+01] [ 2.31048892e-02 9.99733046e-01 -4.07715179e-05 6.02723964e-01] [ 2.80207187e-03 -2.39766029e-05 9.99996074e-01 9.62784773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:55.58, Y:0.60, Z:0.10 [[ 9.99677251e-01 -2.52496045e-02 -2.80197204e-03 5.55752459e+01] [ 2.52496810e-02 9.99681176e-01 -8.07371599e-06 5.99639075e-01] [ 2.80128257e-03 -6.26777900e-05 9.99996074e-01 9.63522471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:55.60, Y:0.59, Z:0.11 [[ 9.99491435e-01 -3.17650799e-02 -2.80197520e-03 5.56023692e+01] [ 3.17651856e-02 9.99495359e-01 -6.76680824e-06 5.91747760e-01] [ 2.80077616e-03 -8.22418955e-05 9.99996074e-01 1.14653666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:55.64, Y:0.59, Z:0.12 [[ 9.99527804e-01 -3.05993070e-02 -2.80186853e-03 5.56354552e+01] [ 3.05992814e-02 9.99531731e-01 -5.20069301e-05 5.89795052e-01] [ 2.80214788e-03 -3.37527911e-05 9.99996073e-01 1.15827474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:55.67, Y:0.59, Z:0.12 [[ 9.99562867e-01 -2.94316803e-02 -2.80187875e-03 5.56672310e+01] [ 2.94316693e-02 9.99566794e-01 -4.51636194e-05 5.88491464e-01] [ 2.80199420e-03 -3.73200918e-05 9.99996074e-01 1.17305113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.748639999999995 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:55.70, Y:0.58, Z:0.11 [[ 9.99726819e-01 -2.32042575e-02 -2.80187136e-03 5.56999820e+01] [ 2.32041988e-02 9.99730745e-01 -5.34649228e-05 5.84788909e-01] [ 2.80235756e-03 -1.15648631e-05 9.99996073e-01 1.11777916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.778639999999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:55.73, Y:0.58, Z:0.11 [[ 9.99776386e-01 -2.09601594e-02 -2.80187135e-03 5.57314170e+01] [ 2.09601407e-02 9.99780311e-01 -3.60422282e-05 5.81620015e-01] [ 2.80201126e-03 -2.26934491e-05 9.99996074e-01 1.14663471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:0.58, Z:0.10 [[ 9.99922781e-01 -1.21070919e-02 -2.80187852e-03 5.57661539e+01] [ 1.21070115e-02 9.99926706e-01 -4.56473199e-05 5.76720435e-01] [ 2.80222582e-03 1.17214196e-05 9.99996074e-01 9.80266935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:55.79, Y:0.58, Z:0.11 [[ 9.99903388e-01 -1.36148293e-02 -2.80180181e-03 5.57943735e+01] [ 1.36148948e-02 9.99907313e-01 4.30314416e-06 5.75015501e-01] [ 2.80148353e-03 -4.24489653e-05 9.99996075e-01 1.11733094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.83, Y:0.57, Z:0.10 [[ 9.99956048e-01 -8.94713754e-03 -2.80184797e-03 5.58270637e+01] [ 8.94709607e-03 9.99959974e-01 -2.73344291e-05 5.74347894e-01] [ 2.80198038e-03 2.26482477e-06 9.99996074e-01 9.96414896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:55.86, Y:0.57, Z:0.11 [[ 9.99942494e-01 -1.03517865e-02 -2.80179083e-03 5.58562429e+01] [ 1.03518410e-02 9.99946418e-01 4.95739212e-06 5.71135331e-01] [ 2.80158939e-03 -3.39608002e-05 9.99996075e-01 1.10985653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.928639999999994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:55.89, Y:0.57, Z:0.11 [[ 9.99969387e-01 -7.30584476e-03 -2.80184801e-03 5.58872074e+01] [ 7.30579629e-03 9.99973312e-01 -2.75341312e-05 5.69775502e-01] [ 2.80197440e-03 7.06355753e-06 9.99996074e-01 1.13629929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.958639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:55.92, Y:0.57, Z:0.10 [[ 9.99978307e-01 -5.96108828e-03 -2.80180610e-03 5.59184268e+01] [ 5.96108686e-03 9.99982233e-01 -8.85965906e-06 5.68990285e-01] [ 2.80180913e-03 -7.84234265e-06 9.99996075e-01 1.00168514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:55.95, Y:0.57, Z:0.12 [[ 9.99974641e-01 -6.54728874e-03 -2.80176890e-03 5.59463983e+01] [ 6.54733321e-03 9.99978566e-01 6.69921002e-06 5.68592550e-01] [ 2.80166498e-03 -2.50431547e-05 9.99996075e-01 1.15029894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.98, Y:0.57, Z:0.10 [[ 9.99996074e-01 -2.38064953e-05 -2.80187455e-03 5.59798623e+01] [ 2.37086178e-05 9.99999999e-01 -3.49660774e-05 5.69416244e-01] [ 2.80187538e-03 3.48995116e-05 9.99996074e-01 1.02035588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.01, Y:0.57, Z:0.10 [[ 9.99996054e-01 -2.06871191e-04 -2.80175220e-03 5.60082986e+01] [ 2.06894367e-04 9.99999979e-01 7.98213844e-06 5.69237520e-01] [ 2.80175049e-03 -8.56177369e-06 9.99996075e-01 1.02102941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:56.04, Y:0.57, Z:0.12 [[ 9.99985580e-01 4.58155857e-03 -2.80175357e-03 5.60367165e+01] [-4.58155563e-03 9.99989505e-01 7.46889509e-06 5.69475431e-01] [ 2.80175838e-03 5.36760242e-06 9.99996075e-01 1.15454678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.108639999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:0.57, Z:0.10 [[ 9.99978717e-01 5.89205937e-03 -2.80175687e-03 5.60662839e+01] [-5.89206571e-03 9.99982642e-01 5.99366556e-06 5.70951348e-01] [ 2.80174355e-03 1.05145976e-05 9.99996075e-01 1.01275015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.138639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.09, Y:0.57, Z:0.10 [[ 9.99965736e-01 7.78959256e-03 -2.80175664e-03 5.60948028e+01] [-7.78960604e-03 9.99969661e-01 6.10101705e-06 5.72697273e-01] [ 2.80171916e-03 1.57237724e-05 9.99996075e-01 1.02368645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.168639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:0.57, Z:0.10 [[ 9.99953686e-01 9.20743683e-03 -2.80175875e-03 5.61225999e+01] [-9.20745927e-03 9.99957610e-01 4.88929442e-06 5.74128276e-01] [ 2.80168500e-03 2.09080116e-05 9.99996075e-01 1.02604810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:56.15, Y:0.58, Z:0.12 [[ 9.99937494e-01 1.08239974e-02 -2.80176049e-03 5.61507008e+01] [-1.08240301e-02 9.99941418e-01 3.50137230e-06 5.76222100e-01] [ 2.80163425e-03 2.68251863e-05 9.99996075e-01 1.15403111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:56.18, Y:0.58, Z:0.12 [[ 9.99912310e-01 1.29430306e-02 -2.80176678e-03 5.61813914e+01] [-1.29430889e-02 9.99916235e-01 -2.65227515e-06 5.78573490e-01] [ 2.80149776e-03 3.89155590e-05 9.99996075e-01 1.16022429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:56.21, Y:0.58, Z:0.12 [[ 9.99921846e-01 1.21840680e-02 -2.80174371e-03 5.62088659e+01] [-1.21840619e-02 9.99925771e-01 1.92457469e-05 5.83883743e-01] [ 2.80177023e-03 1.48923760e-05 9.99996075e-01 1.15944941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.24, Y:0.59, Z:0.10 [[ 9.99943965e-01 1.02087131e-02 -2.80175473e-03 5.62383723e+01] [-1.02087438e-02 9.99947889e-01 3.34721346e-06 5.86089016e-01] [ 2.80164290e-03 2.52553704e-05 9.99996075e-01 1.02080167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.318639999999995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:56.27, Y:0.59, Z:0.12 [[ 9.99961563e-01 8.30804822e-03 -2.80175571e-03 5.62681158e+01] [-8.30807550e-03 9.99965487e-01 1.90095579e-06 5.86636613e-01] [ 2.80167481e-03 2.13763152e-05 9.99996075e-01 1.16087137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.348639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.30, Y:0.59, Z:0.10 [[ 9.99996074e-01 4.75234061e-05 -2.80175830e-03 5.62984710e+01] [-4.75324962e-05 9.99999999e-01 -3.17784811e-06 5.85432647e-01] [ 2.80175814e-03 3.31101020e-06 9.99996075e-01 1.02203188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:56.33, Y:0.58, Z:0.12 [[ 9.99984147e-01 -4.88420307e-03 -2.80175693e-03 5.63264189e+01] [ 4.88422486e-03 9.99988072e-01 9.34113414e-07 5.83979693e-01] [ 2.80171895e-03 -1.46185094e-05 9.99996075e-01 1.16555178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:56.36, Y:0.58, Z:0.12 [[ 9.99885338e-01 -1.48815445e-02 -2.80175795e-03 5.63562911e+01] [ 1.48815547e-02 9.99889263e-01 -1.72115239e-05 5.79698622e-01] [ 2.80170383e-03 -2.44849637e-05 9.99996075e-01 1.19420623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.39, Y:0.58, Z:0.10 [[ 9.99870086e-01 -1.58733112e-02 -2.80176850e-03 5.63895364e+01] [ 1.58732732e-02 9.99874011e-01 -3.57820074e-05 5.77078078e-01] [ 2.80198348e-03 -8.69587799e-06 9.99996074e-01 1.01935286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:0.57, Z:0.10 [[ 9.99820614e-01 -1.87320579e-02 -2.80172793e-03 5.64222676e+01] [ 1.87321397e-02 9.99824538e-01 2.93585237e-06 5.74064422e-01] [ 2.80118134e-03 -5.54176846e-05 9.99996075e-01 1.02335130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.498639999999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:56.45, Y:0.57, Z:0.10 [[ 9.99737508e-01 -2.27390737e-02 -2.80172624e-03 5.64546571e+01] [ 2.27391744e-02 9.99741432e-01 4.09016649e-06 5.68546878e-01] [ 2.80090880e-03 -6.77980345e-05 9.99996075e-01 1.02744159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.528639999999996 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:56.48, Y:0.56, Z:0.12 [[ 9.99718889e-01 -2.35434532e-02 -2.80172409e-03 5.64837390e+01] [ 2.35435603e-02 9.99722812e-01 5.23973859e-06 5.64038926e-01] [ 2.80082413e-03 -7.12008257e-05 9.99996075e-01 1.20052819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:56.52, Y:0.56, Z:0.12 [[ 9.99752616e-01 -2.20648342e-02 -2.80176252e-03 5.65164261e+01] [ 2.20648750e-02 9.99756541e-01 -1.63732620e-05 5.60026823e-01] [ 2.80144168e-03 -4.54513282e-05 9.99996075e-01 1.18919826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:56.55, Y:0.55, Z:0.10 [[ 9.99827342e-01 -1.83694638e-02 -2.80175233e-03 5.65493060e+01] [ 1.83695028e-02 9.99831266e-01 -1.18050135e-05 5.53714859e-01] [ 2.80149643e-03 -3.96638221e-05 9.99996075e-01 1.01033101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.58, Y:0.55, Z:0.10 [[ 9.99860741e-01 -1.64514113e-02 -2.80169972e-03 5.65818089e+01] [ 1.64514972e-02 9.99864665e-01 7.59728123e-06 5.51726167e-01] [ 2.80119557e-03 -5.36883783e-05 9.99996075e-01 1.01014096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:56.61, Y:0.55, Z:0.12 [[ 9.99886901e-01 -1.47761955e-02 -2.80169610e-03 5.66114723e+01] [ 1.47762781e-02 9.99890825e-01 8.75636334e-06 5.47790596e-01] [ 2.80126084e-03 -5.01540136e-05 9.99996075e-01 1.19387664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.678639999999994 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:56.64, Y:0.55, Z:0.12 [[ 9.99917878e-01 -1.25054796e-02 -2.80176722e-03 5.66431441e+01] [ 1.25054895e-02 9.99921803e-01 -1.40126717e-05 5.46061282e-01] [ 2.80172337e-03 -2.10259495e-05 9.99996075e-01 1.20444092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.708639999999995 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:56.68, Y:0.54, Z:0.10 [[ 9.99935553e-01 -1.10018689e-02 -2.80173063e-03 5.66751103e+01] [ 1.10019014e-02 9.99939477e-01 -3.81675242e-06 5.44570238e-01] [ 2.80160305e-03 -2.70078577e-05 9.99996075e-01 1.01995180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:56.70, Y:0.54, Z:0.12 [[ 9.99946752e-01 -9.93198295e-03 -2.80167533e-03 5.67044104e+01] [ 9.93205186e-03 9.99950676e-01 1.06837797e-05 5.40979696e-01] [ 2.80143103e-03 -3.85095955e-05 9.99996075e-01 1.21452961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:56.74, Y:0.54, Z:0.10 [[ 9.99959190e-01 -8.58885905e-03 -2.80172519e-03 5.67356189e+01] [ 8.58888432e-03 9.99963115e-01 -3.01293549e-06 5.40019543e-01] [ 2.80164773e-03 -2.10508811e-05 9.99996075e-01 1.00553274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.77, Y:0.54, Z:0.10 [[ 9.99973415e-01 -6.73201215e-03 -2.80167125e-03 5.67664940e+01] [ 6.73206905e-03 9.99977339e-01 1.08793064e-05 5.39161921e-01] [ 2.80153452e-03 -2.97400615e-05 9.99996075e-01 1.01057179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:0.54, Z:0.10 [[ 9.99988099e-01 -3.99404086e-03 -2.80167125e-03 5.67961960e+01] [ 3.99408702e-03 9.99992024e-01 1.08793064e-05 5.37287970e-01] [ 2.80160545e-03 -2.20692957e-05 9.99996075e-01 1.01025779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.858639999999994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:56.82, Y:0.54, Z:0.12 [[ 9.99986783e-01 -4.31092059e-03 -2.80167189e-03 5.68243261e+01] [ 4.31096752e-03 9.99990708e-01 1.07103473e-05 5.36824516e-01] [ 2.80159969e-03 -2.27881223e-05 9.99996075e-01 1.23281973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.888639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.86, Y:0.54, Z:0.10 [[ 9.99992027e-01 2.84531616e-03 -2.80178064e-03 5.68568336e+01] [-2.84537640e-03 9.99995952e-01 -1.75119408e-05 5.37346733e-01] [ 2.80171947e-03 2.54839217e-05 9.99996075e-01 1.00887331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.918639999999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:56.88, Y:0.53, Z:0.12 [[ 9.99990081e-01 -3.46234037e-03 -2.80166536e-03 5.68809459e+01] [ 3.46238544e-03 9.99994006e-01 1.12350587e-05 5.31719775e-01] [ 2.80160967e-03 -2.09353926e-05 9.99996075e-01 1.21441350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.92, Y:0.54, Z:0.10 [[ 9.99973726e-01 6.68551001e-03 -2.80200482e-03 5.69178609e+01] [-6.68574896e-03 9.99977647e-01 -7.59186234e-05 5.36376894e-01] [ 2.80143464e-03 9.46501295e-05 9.99996071e-01 1.00436890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.95, Y:0.54, Z:0.10 [[ 9.99973492e-01 6.72065487e-03 -2.80157182e-03 5.69464979e+01] [-6.72064326e-03 9.99977416e-01 1.35578619e-05 5.36369832e-01] [ 2.80159967e-03 5.27086227e-06 9.99996075e-01 1.00163894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.98, Y:0.54, Z:0.10 [[ 9.99983837e-01 4.94738889e-03 -2.80157725e-03 5.69750546e+01] [-4.94737378e-03 9.99987762e-01 1.23248858e-05 5.35630525e-01] [ 2.80160394e-03 1.53576317e-06 9.99996075e-01 1.00056535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:57.01, Y:0.53, Z:0.12 [[ 9.99976701e-01 6.22484035e-03 -2.80158208e-03 5.70054879e+01] [-6.22483366e-03 9.99980625e-01 1.11065378e-05 5.34089241e-01] [ 2.80159694e-03 6.33310342e-06 9.99996075e-01 1.17269722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.068639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:0.53, Z:0.10 [[ 9.99995678e-01 8.92133562e-04 -2.80151777e-03 5.70343127e+01] [-8.92059170e-04 9.99999602e-01 2.78037299e-05 5.27663054e-01] [ 2.80154146e-03 -2.53044901e-05 9.99996075e-01 9.93097532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.098639999999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:57.06, Y:0.53, Z:0.10 [[ 9.99996044e-01 -2.49776073e-04 -2.80158203e-03 5.70626891e+01] [ 2.49805809e-04 9.99999969e-01 1.02639638e-05 5.25323915e-01] [ 2.80157938e-03 -1.09637747e-05 9.99996076e-01 9.92570337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.09, Y:0.52, Z:0.10 [[ 9.99994634e-01 -1.69812518e-03 -2.80158325e-03 5.70915266e+01] [ 1.69815963e-03 9.99998558e-01 9.91837484e-06 5.23129769e-01] [ 2.80156237e-03 -1.46758572e-05 9.99996076e-01 1.00350812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:0.52, Z:0.10 [[ 9.99992792e-01 -2.56278240e-03 -2.80158443e-03 5.71200624e+01] [ 2.56281928e-03 9.99996716e-01 9.57353782e-06 5.20742499e-01] [ 2.80155069e-03 -1.67534234e-05 9.99996076e-01 9.94442900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:57.15, Y:0.51, Z:0.12 [[ 9.99987903e-01 -4.04284689e-03 -2.80158556e-03 5.71491113e+01] [ 4.04288862e-03 9.99991827e-01 9.23012635e-06 5.12769808e-01] [ 2.80152535e-03 -2.05565131e-05 9.99996076e-01 1.18528650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:57.18, Y:0.51, Z:0.10 [[ 9.99978911e-01 -5.85911594e-03 -2.80161757e-03 5.71795506e+01] [ 5.85913757e-03 9.99982835e-01 -4.87577435e-07 5.09420080e-01] [ 2.80157233e-03 -1.59274956e-05 9.99996075e-01 9.86137013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.248639999999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:57.21, Y:0.51, Z:0.12 [[ 9.99962219e-01 -8.22877286e-03 -2.80157932e-03 5.72081844e+01] [ 8.22883348e-03 9.99966143e-01 1.01102157e-05 5.05498129e-01] [ 2.80140127e-03 -3.31635634e-05 9.99996076e-01 1.18618032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.278639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:0.50, Z:0.10 [[ 9.99944744e-01 -1.01320740e-02 -2.80167607e-03 5.72405896e+01] [ 1.01320633e-02 9.99948669e-01 -1.80255222e-05 4.97906202e-01] [ 2.80171489e-03 -1.03622330e-05 9.99996075e-01 9.76722689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:57.27, Y:0.49, Z:0.12 [[ 9.99944653e-01 -1.01410665e-02 -2.80156503e-03 5.72700783e+01] [ 1.01411365e-02 9.99948577e-01 1.07939882e-05 4.93016610e-01] [ 2.80131150e-03 -3.92044442e-05 9.99996076e-01 1.15064512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:0.49, Z:0.10 [[ 9.99917424e-01 -1.25417525e-02 -2.80158889e-03 5.73000502e+01] [ 1.25418152e-02 9.99921348e-01 4.81804479e-06 4.88913425e-01] [ 2.80130812e-03 -3.99546571e-05 9.99996076e-01 9.82783578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:57.33, Y:0.48, Z:0.12 [[ 9.99933153e-01 -1.12178503e-02 -2.80156141e-03 5.73305108e+01] [ 1.12179265e-02 9.99937077e-01 1.15079744e-05 4.81223146e-01] [ 2.80125604e-03 -4.29349153e-05 9.99996076e-01 1.16267908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:57.36, Y:0.48, Z:0.11 [[ 9.99960117e-01 -8.48026678e-03 -2.80157771e-03 5.73610670e+01] [ 8.48032160e-03 9.99964041e-01 7.68587168e-06 4.77133058e-01] [ 2.80141179e-03 -3.14438451e-05 9.99996076e-01 1.11056673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.428639999999994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:57.39, Y:0.47, Z:0.10 [[ 9.99966740e-01 -7.65971095e-03 -2.80148944e-03 5.73893576e+01] [ 7.65981703e-03 9.99970663e-01 2.71363933e-05 4.68491627e-01] [ 2.80119940e-03 -4.85943873e-05 9.99996075e-01 9.59379381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.458639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:57.42, Y:0.47, Z:0.10 [[ 9.99981049e-01 -5.48200668e-03 -2.80155456e-03 5.74190019e+01] [ 5.48206259e-03 9.99984973e-01 1.22767992e-05 4.66493348e-01] [ 2.80144516e-03 -2.76348640e-05 9.99996076e-01 9.69259403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:57.45, Y:0.46, Z:0.12 [[ 9.99991734e-01 -2.94659842e-03 -2.80155531e-03 5.74486072e+01] [ 2.94664390e-03 9.99995659e-01 1.21043952e-05 4.64912352e-01] [ 2.80150748e-03 -2.03594810e-05 9.99996076e-01 1.15621344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:57.48, Y:0.46, Z:0.12 [[ 9.99995313e-01 -1.23459232e-03 -2.80158039e-03 5.74786880e+01] [ 1.23461427e-03 9.99999238e-01 6.10327017e-06 4.61229145e-01] [ 2.80157072e-03 -9.56211268e-06 9.99996076e-01 1.15656922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:0.46, Z:0.10 [[ 9.99995954e-01 -4.92777295e-04 -2.80159940e-03 5.75086577e+01] [ 4.92783310e-04 9.99999879e-01 1.45668486e-06 4.61299396e-01] [ 2.80159835e-03 -2.83726040e-06 9.99996076e-01 9.65826310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.54, Y:0.46, Z:0.10 [[ 9.99996067e-01 1.32689701e-04 -2.80155935e-03 5.75378402e+01] [-1.32658434e-04 9.99999991e-01 1.13461449e-05 4.58005203e-01] [ 2.80156083e-03 -1.09744498e-05 9.99996076e-01 9.65860086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.608639999999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:57.57, Y:0.46, Z:0.11 [[ 9.99994131e-01 1.97189952e-03 -2.80156374e-03 5.75689540e+01] [-1.97187887e-03 9.99998056e-01 1.01325897e-05 4.55929111e-01] [ 2.80157827e-03 -4.60818589e-06 9.99996076e-01 1.12403305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.638639999999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:57.60, Y:0.45, Z:0.11 [[ 9.99993927e-01 -2.07329047e-03 -2.80148189e-03 5.75957360e+01] [ 2.07338934e-03 9.99997850e-01 3.23912811e-05 4.53322192e-01] [ 2.80140871e-03 -3.81996471e-05 9.99996075e-01 1.14927541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.668639999999996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:57.63, Y:0.45, Z:0.11 [[ 9.99995999e-01 -3.91997636e-04 -2.80163940e-03 5.76282047e+01] [ 3.91965422e-04 9.99999923e-01 -1.20472711e-05 4.48933764e-01] [ 2.80164391e-03 1.09490771e-05 9.99996075e-01 1.14365152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:57.66, Y:0.45, Z:0.11 [[ 9.99995424e-01 -1.14185161e-03 -2.80151051e-03 5.76569470e+01] [ 1.14192256e-03 9.99999348e-01 2.37240415e-05 4.46732286e-01] [ 2.80148159e-03 -2.69230409e-05 9.99996075e-01 1.14517015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:57.69, Y:0.44, Z:0.11 [[ 9.99991988e-01 -2.85934158e-03 -2.80151225e-03 5.76856802e+01] [ 2.85941781e-03 9.99995912e-01 2.32058695e-05 4.42658228e-01] [ 2.80143444e-03 -3.12163776e-05 9.99996075e-01 1.14160302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:57.71, Y:0.44, Z:0.11 [[ 9.99988147e-01 -3.98214200e-03 -2.80155894e-03 5.77143108e+01] [ 3.98218360e-03 9.99992071e-01 9.27105045e-06 4.39550660e-01] [ 2.80149981e-03 -2.04272626e-05 9.99996076e-01 1.12504236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:57.74, Y:0.44, Z:0.11 [[ 9.99989798e-01 -3.54336552e-03 -2.80163235e-03 5.77444634e+01] [ 3.54334004e-03 9.99993722e-01 -1.40576401e-05 4.37159705e-01] [ 2.80166457e-03 4.13036063e-06 9.99996075e-01 1.11090014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.818639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:57.78, Y:0.44, Z:0.10 [[ 9.99995784e-01 7.63398430e-04 -2.80163493e-03 5.77765271e+01] [-7.63442899e-04 9.99999708e-01 -1.48030671e-05 4.35599147e-01] [ 2.80162281e-03 1.69418930e-05 9.99996075e-01 9.97959410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.848639999999996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:57.81, Y:0.44, Z:0.12 [[ 9.99992583e-01 2.64286021e-03 -2.80154204e-03 5.78061024e+01] [-2.64284159e-03 9.99996508e-01 1.03468413e-05 4.35264119e-01] [ 2.80155960e-03 -2.94273273e-06 9.99996076e-01 1.15839314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.84, Y:0.43, Z:0.10 [[ 9.99991735e-01 2.94644621e-03 -2.80154232e-03 5.78362038e+01] [-2.94642900e-03 9.99995659e-01 1.02717136e-05 4.34253581e-01] [ 2.80156042e-03 -2.01708315e-06 9.99996076e-01 1.00362750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:0.43, Z:0.10 [[ 9.99995756e-01 7.99525703e-04 -2.80154302e-03 5.78649547e+01] [-7.99500611e-04 9.99999680e-01 1.00765903e-05 4.29711399e-01] [ 2.80155018e-03 -7.83671219e-06 9.99996076e-01 9.98651231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:57.89, Y:0.43, Z:0.11 [[ 9.99996052e-01 -2.17888964e-04 -2.80154426e-03 5.78938758e+01] [ 2.17917044e-04 9.99999976e-01 9.71773929e-06 4.27183418e-01] [ 2.80154208e-03 -1.03282052e-05 9.99996076e-01 1.14867545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:0.42, Z:0.10 [[ 9.99989931e-01 -3.50550639e-03 -2.80155434e-03 5.79237480e+01] [ 3.50553923e-03 9.99993856e-01 6.81085285e-06 4.23808765e-01] [ 2.80151325e-03 -1.66317429e-05 9.99996076e-01 9.84403608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.998639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:0.42, Z:0.10 [[ 9.99989485e-01 -3.63073339e-03 -2.80154194e-03 5.79530477e+01] [ 3.63077625e-03 9.99993409e-01 1.02116858e-05 4.23663673e-01] [ 2.80148640e-03 -2.03833503e-05 9.99996076e-01 9.85219491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:57.98, Y:0.42, Z:0.12 [[ 9.99987573e-01 -4.12369789e-03 -2.80154318e-03 5.79821454e+01] [ 4.12374170e-03 9.99991497e-01 9.86082526e-06 4.21134170e-01] [ 2.80147869e-03 -2.14135431e-05 9.99996076e-01 1.15187355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:58.01, Y:0.42, Z:0.11 [[ 9.99984323e-01 -4.84815210e-03 -2.80155114e-03 5.80131361e+01] [ 4.84819246e-03 9.99988247e-01 7.61576219e-06 4.15965140e-01] [ 2.80148129e-03 -2.11981019e-05 9.99996076e-01 1.13191953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:58.04, Y:0.41, Z:0.10 [[ 9.99969841e-01 -7.24354240e-03 -2.80147464e-03 5.80424677e+01] [ 7.24364849e-03 9.99973764e-01 2.77243397e-05 4.14582514e-01] [ 2.80120032e-03 -4.80164011e-05 9.99996075e-01 1.01014339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:58.07, Y:0.41, Z:0.12 [[ 9.99979612e-01 -5.73828224e-03 -2.80153840e-03 5.80728650e+01] [ 5.73833330e-03 9.99983536e-01 1.01857374e-05 4.13909022e-01] [ 2.80143383e-03 -2.62616909e-05 9.99996076e-01 1.16626640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:58.10, Y:0.41, Z:0.11 [[ 9.99973910e-01 -6.65810270e-03 -2.80150116e-03 5.81012391e+01] [ 6.65818651e-03 9.99977834e-01 2.05898032e-05 4.12951441e-01] [ 2.80130198e-03 -3.92421833e-05 9.99996076e-01 1.11804822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:58.13, Y:0.41, Z:0.12 [[ 9.99992305e-01 -2.74593528e-03 -2.80158010e-03 5.81315281e+01] [ 2.74593821e-03 9.99996230e-01 -2.79943769e-06 4.12091229e-01] [ 2.80157722e-03 -4.89354969e-06 9.99996076e-01 1.17252796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:58.16, Y:0.41, Z:0.12 [[ 9.99995605e-01 -9.70213292e-04 -2.80151244e-03 5.81607559e+01] [ 9.70267265e-04 9.99999529e-01 1.79067093e-05 4.12027660e-01] [ 2.80149375e-03 -2.06248464e-05 9.99996076e-01 1.15616820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:58.19, Y:0.41, Z:0.12 [[ 9.99994518e-01 1.76529879e-03 -2.80150322e-03 5.81897924e+01] [-1.76524696e-03 9.99998442e-01 2.09724397e-05 4.14908381e-01] [ 2.80153587e-03 -1.60269797e-05 9.99996076e-01 1.18307238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:58.22, Y:0.42, Z:0.12 [[ 9.99994001e-01 2.03692810e-03 -2.80153064e-03 5.82183089e+01] [-2.03690799e-03 9.99997925e-01 1.00326790e-05 4.16903207e-01] [ 2.80154527e-03 -4.32615865e-06 9.99996076e-01 1.16411745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29863999999999 meters Centerline goodness : 0.872505 Centerline is valid? [True, False] Translation: X:58.22, Y:0.42, Z:0.12 [[ 9.99993325e-01 -2.05037511e-03 -3.02438594e-03 5.82189475e+01] [ 2.03364864e-03 9.99982679e-01 -5.52327909e-03 4.22836397e-01] [ 3.03565835e-03 5.51709168e-03 9.99980173e-01 1.16566383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters Centerline goodness : 0.856244 Centerline is valid? [False, False] Translation: X:58.24, Y:0.43, Z:0.12 [[ 9.99971239e-01 -3.06887576e-03 -6.93559230e-03 5.82410264e+01] [ 2.94371696e-03 9.99833931e-01 -1.79845951e-02 4.34204862e-01] [ 6.98963300e-03 1.79636614e-02 9.99814209e-01 1.21552756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35864 meters Centerline goodness : 0.999361 Centerline is valid? [False, True] Translation: X:58.23, Y:0.44, Z:0.12 [[ 9.99976636e-01 -1.24475939e-03 6.72140666e-03 5.82335261e+01] [ 1.36511245e-03 9.99838292e-01 -1.79311363e-02 4.35135345e-01] [-6.69799981e-03 1.79398929e-02 9.99816632e-01 1.20509758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:58.27, Y:0.42, Z:0.12 [[ 9.99974009e-01 -2.57671961e-03 6.73362267e-03 5.82656107e+01] [ 2.57691677e-03 9.99996680e-01 -2.06043368e-05 4.21822402e-01] [-6.73354722e-03 3.79557865e-05 9.99977329e-01 1.18010221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:58.30, Y:0.42, Z:0.12 [[ 9.99970123e-01 -3.79616674e-03 6.73362753e-03 5.82977472e+01] [ 3.79634965e-03 9.99992794e-01 -1.43820873e-05 4.21524295e-01] [-6.73352441e-03 3.99448621e-05 9.99977329e-01 1.17020471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:58.33, Y:0.42, Z:0.12 [[ 9.99947471e-01 -7.72750138e-03 6.73363833e-03 5.83298795e+01] [ 7.72770617e-03 9.99970141e-01 -4.39400996e-06 4.20462402e-01] [-6.73340331e-03 5.64293576e-05 9.99977329e-01 1.17783293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:0.42, Z:0.10 [[ 9.99938095e-01 -8.85794788e-03 6.73366364e-03 5.83620583e+01] [ 8.85807080e-03 9.99960766e-01 1.15698878e-05 4.21575263e-01] [-6.73350194e-03 4.80780977e-05 9.99977329e-01 1.02493460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:0.42, Z:0.10 [[ 9.99922701e-01 -1.04522963e-02 6.73361102e-03 5.83939830e+01] [ 1.04526269e-02 9.99945370e-01 -1.39081622e-05 4.22043716e-01] [-6.73309779e-03 8.42910110e-05 9.99977329e-01 1.01314022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:58.43, Y:0.42, Z:0.12 [[ 9.99926696e-01 -1.00628742e-02 6.73360373e-03 5.84265390e+01] [ 1.00632156e-02 9.99949364e-01 -1.68256898e-05 4.19491984e-01] [-6.73309345e-03 8.45861627e-05 9.99977329e-01 1.16275029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.46, Y:0.42, Z:0.10 [[ 9.99891216e-01 -1.31231590e-02 6.73346676e-03 5.84569595e+01] [ 1.31239230e-02 9.99913875e-01 -6.92879269e-05 4.18092451e-01] [-6.73197757e-03 1.57649889e-04 9.99977328e-01 1.01649269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:58.49, Y:0.42, Z:0.10 [[ 9.99869482e-01 -1.46859334e-02 6.73360425e-03 5.84890277e+01] [ 1.46863881e-02 9.99892149e-01 -1.80777873e-05 4.16672001e-01] [-6.73261254e-03 1.16967753e-04 9.99977329e-01 1.02077125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62864 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:58.52, Y:0.41, Z:0.12 [[ 9.99861685e-01 -1.52075534e-02 6.73359535e-03 5.85196762e+01] [ 1.52080391e-02 9.99884351e-01 -2.09411503e-05 4.14969411e-01] [-6.73249815e-03 1.23343035e-04 9.99977329e-01 1.18345692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65863999999999 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:58.55, Y:0.41, Z:0.12 [[ 9.99839153e-01 -1.66230405e-02 6.73363111e-03 5.85526502e+01] [ 1.66234855e-02 9.99861820e-01 -1.01195696e-05 4.10814143e-01] [-6.73253245e-03 1.22054361e-04 9.99977329e-01 1.18151486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:58.58, Y:0.41, Z:0.10 [[ 9.99785531e-01 -1.95844558e-02 6.73353446e-03 5.85835168e+01] [ 1.95851424e-02 9.99808192e-01 -3.60343109e-05 4.09399651e-01] [-6.73153720e-03 1.67903814e-04 9.99977329e-01 1.01434094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:58.62, Y:0.41, Z:0.10 [[ 9.99768052e-01 -2.04572866e-02 6.73357246e-03 5.86167768e+01] [ 2.04579275e-02 9.99790714e-01 -2.63061204e-05 4.07874074e-01] [-6.73162507e-03 1.64054956e-04 9.99977329e-01 1.01737668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:58.65, Y:0.40, Z:0.10 [[ 9.99740289e-01 -2.17718542e-02 6.73355821e-03 5.86490007e+01] [ 2.17725468e-02 9.99762950e-01 -2.95534046e-05 4.02067414e-01] [-6.73131859e-03 1.76152440e-04 9.99977329e-01 1.01833594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:58.68, Y:0.40, Z:0.10 [[ 9.99748244e-01 -2.14034683e-02 6.73354455e-03 5.86818952e+01] [ 2.14041716e-02 9.99770904e-01 -3.23936573e-05 3.97812291e-01] [-6.73130858e-03 1.76511445e-04 9.99977329e-01 1.01458362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:58.71, Y:0.39, Z:0.10 [[ 9.99766207e-01 -2.05472745e-02 6.73352727e-03 5.87143613e+01] [ 2.05479803e-02 9.99788867e-01 -3.56559502e-05 3.91093650e-01] [-6.73137297e-03 1.74008000e-04 9.99977329e-01 9.99030677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:58.75, Y:0.39, Z:0.10 [[ 9.99803792e-01 -1.86289174e-02 6.73351102e-03 5.87469812e+01] [ 1.86295989e-02 9.99826453e-01 -3.84994821e-05 3.88622853e-01] [-6.73162523e-03 1.63934538e-04 9.99977329e-01 9.98666432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86864 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:58.78, Y:0.38, Z:0.11 [[ 9.99855471e-01 -1.56107886e-02 6.73349096e-03 5.87780426e+01] [ 1.56114235e-02 9.99878133e-01 -4.17351993e-05 3.84561569e-01] [-6.73201885e-03 1.46848547e-04 9.99977329e-01 1.13644219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:58.81, Y:0.38, Z:0.11 [[ 9.99889065e-01 -1.32859808e-02 6.73357521e-03 5.88104657e+01] [ 1.32864715e-02 9.99911731e-01 -2.81442435e-05 3.80181325e-01] [-6.73260692e-03 1.17606576e-04 9.99977329e-01 1.14243869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92864 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:58.85, Y:0.37, Z:0.11 [[ 9.99956555e-01 -6.44564058e-03 6.73368175e-03 5.88454815e+01] [ 6.44586982e-03 9.99979225e-01 -1.23408718e-05 3.72692263e-01] [-6.73346231e-03 5.57447716e-05 9.99977328e-01 1.09832529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:58.88, Y:0.37, Z:0.10 [[ 9.99958741e-01 -6.09763738e-03 6.73309389e-03 5.88760099e+01] [ 6.09841078e-03 9.99981400e-01 -9.43402171e-05 3.69798981e-01] [-6.73239340e-03 1.35397497e-04 9.99977328e-01 9.84634961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:58.91, Y:0.36, Z:0.10 [[ 9.99972228e-01 -3.19449951e-03 6.73342411e-03 5.89084484e+01] [ 3.19489804e-03 9.99994895e-01 -4.84308747e-05 3.62613275e-01] [-6.73323502e-03 6.99421332e-05 9.99977329e-01 9.78324389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01863999999999 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:58.94, Y:0.36, Z:0.11 [[ 9.99977220e-01 -4.69376458e-04 6.73341788e-03 5.89390983e+01] [ 4.69718941e-04 9.99999888e-01 -4.92818422e-05 3.58717495e-01] [-6.73339400e-03 5.24435335e-05 9.99977329e-01 1.12920261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:58.97, Y:0.36, Z:0.10 [[ 9.99976644e-01 1.17176613e-03 6.73333343e-03 5.89708094e+01] [-1.17138527e-03 9.99999312e-01 -6.05070543e-05 3.56892698e-01] [-6.73339970e-03 5.26183136e-05 9.99977329e-01 9.78224032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:59.00, Y:0.36, Z:0.11 [[ 9.99962446e-01 5.45608489e-03 6.73339815e-03 5.90009350e+01] [-5.45585741e-03 9.99985115e-01 -5.21518310e-05 3.56880075e-01] [-6.73358247e-03 1.54134123e-05 9.99977329e-01 1.09537576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:59.03, Y:0.36, Z:0.10 [[ 9.99927239e-01 1.00087819e-02 6.73350687e-03 5.90321096e+01] [-1.00087533e-02 9.99949910e-01 -3.79508255e-05 3.56473971e-01] [-6.73354944e-03 -2.94459449e-05 9.99977329e-01 9.70881260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:59.06, Y:0.36, Z:0.11 [[ 9.99883180e-01 1.37217866e-02 6.73338842e-03 5.90628426e+01] [-1.37217408e-02 9.99905851e-01 -5.29996228e-05 3.55158437e-01] [-6.73348173e-03 -3.94003791e-05 9.99977329e-01 1.11373327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:59.09, Y:0.36, Z:0.11 [[ 9.99735533e-01 2.19892351e-02 6.73338487e-03 5.90940624e+01] [-2.19893738e-02 9.99758203e-01 -5.34473632e-05 3.55810622e-01] [-6.73293202e-03 -9.46296888e-05 9.99977329e-01 1.06921763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19864 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:59.13, Y:0.36, Z:0.11 [[ 9.99641590e-01 2.59104784e-02 6.73337798e-03 5.91267100e+01] [-2.59107002e-02 9.99664260e-01 -5.43057056e-05 3.58635183e-01] [-6.73252440e-03 -1.20180297e-04 9.99977329e-01 1.07018457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22864 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:59.16, Y:0.36, Z:0.11 [[ 9.99412758e-01 3.35976171e-02 6.73338475e-03 5.91593259e+01] [-3.35980188e-02 9.99435426e-01 -5.34798484e-05 3.64882623e-01] [-6.73138005e-03 -1.72779945e-04 9.99977329e-01 1.08655424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25864 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:59.19, Y:0.37, Z:0.11 [[ 9.99321683e-01 3.62054964e-02 6.73314175e-03 5.91899489e+01] [-3.62057551e-02 9.99344353e-01 -8.35064062e-05 3.66873708e-01] [-6.73175058e-03 -1.60328719e-04 9.99977329e-01 1.09960228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28864 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:59.22, Y:0.37, Z:0.10 [[ 9.99192402e-01 3.96131972e-02 6.73330692e-03 5.92210572e+01] [-3.96136730e-02 9.99215068e-01 -6.27418565e-05 3.68359573e-01] [-6.73050714e-03 -2.04039832e-04 9.99977329e-01 9.58225757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:59.25, Y:0.38, Z:0.10 [[ 9.99032250e-01 4.34652060e-02 6.73338687e-03 5.92526593e+01] [-4.34658382e-02 9.99054912e-01 -5.24841679e-05 3.77731909e-01] [-6.72930447e-03 -2.40238928e-04 9.99977329e-01 9.57543512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34864 meters Centerline goodness : 0.983911 Centerline is valid? [True, True] Translation: X:59.33, Y:0.41, Z:0.09 [[ 9.94766152e-01 1.01955699e-01 6.73338348e-03 5.93300753e+01] [-1.01957656e-01 9.94788738e-01 -5.29161647e-05 4.06617944e-01] [-6.70368916e-03 -6.33880788e-04 9.99977329e-01 9.40708788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:59.30, Y:0.38, Z:0.09 [[ 9.99004133e-01 4.41105893e-02 6.70810834e-03 5.93049732e+01] [-4.41003242e-02 9.99025711e-01 -1.67062117e-03 3.82399904e-01] [-6.77526478e-03 1.37312770e-03 9.99976105e-01 9.39341834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40863999999999 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:59.34, Y:0.39, Z:0.10 [[ 9.99049686e-01 4.30649642e-02 6.71823722e-03 5.93363722e+01] [-4.30656559e-02 9.99072243e-01 -4.17392620e-05 3.88010743e-01] [-6.71380183e-03 -2.47625695e-04 9.99977432e-01 1.04462846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43863999999999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:59.37, Y:0.39, Z:0.09 [[ 9.99049404e-01 4.30715051e-02 6.71809987e-03 5.93663717e+01] [-4.30720478e-02 9.99071967e-01 -6.39449732e-05 3.91824534e-01] [-6.71461945e-03 -2.25478131e-04 9.99977431e-01 9.39394950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:59.40, Y:0.40, Z:0.09 [[ 9.99170081e-01 4.01747877e-02 6.71823935e-03 5.93975262e+01] [-4.01754177e-02 9.99192641e-01 -4.12011515e-05 4.00019607e-01] [-6.71447057e-03 -2.28741115e-04 9.99977432e-01 9.36178821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49864 meters Centerline goodness : 0.829210 Centerline is valid? [True, False] Translation: X:59.39, Y:0.40, Z:0.09 [[ 9.99586776e-01 2.49134303e-02 1.43387022e-02 5.93932187e+01] [-2.49515953e-02 9.99685562e-01 2.48893807e-03 3.98870954e-01] [-1.42721856e-02 -2.84568307e-03 9.99894098e-01 9.19108985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters Centerline goodness : 0.996163 Centerline is valid? [False, True] Translation: X:59.40, Y:0.39, Z:0.09 [[ 9.99916087e-01 1.02073852e-02 7.97668466e-03 5.94039845e+01] [-1.02911282e-02 9.99891611e-01 1.05289138e-02 3.91970103e-01] [-7.86834740e-03 -1.06101193e-02 9.99912753e-01 9.18350820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55864 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:59.44, Y:0.41, Z:0.09 [[ 9.99938081e-01 7.54906441e-03 8.17592688e-03 5.94364748e+01] [-7.55032881e-03 9.99971488e-01 1.23794144e-04 4.06467578e-01] [-8.17475924e-03 -1.85517415e-04 9.99966569e-01 9.24561887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58864 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:59.47, Y:0.41, Z:0.09 [[ 9.99951665e-01 5.46132770e-03 8.17564769e-03 5.94682461e+01] [-5.46264431e-03 9.99985070e-01 1.38718123e-04 4.09070319e-01] [-8.17476804e-03 -1.83372073e-04 9.99966569e-01 9.14004514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61864 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:59.50, Y:0.41, Z:0.09 [[ 9.99963951e-01 2.29353697e-03 8.17535958e-03 5.95016014e+01] [-2.29487613e-03 9.99997355e-01 1.54427881e-04 4.11305827e-01] [-8.17498377e-03 -1.73183752e-04 9.99966569e-01 9.13554392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64864 meters Centerline goodness : 0.963376 Centerline is valid? [True, True] Translation: X:59.52, Y:0.37, Z:0.07 [[ 9.96076616e-01 -8.81165801e-02 8.17580903e-03 5.95168451e+01] [ 8.81184718e-02 9.96109993e-01 1.29260445e-04 3.72917486e-01] [-8.15539507e-03 5.91686491e-04 9.99966569e-01 6.63759805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67864 meters Centerline goodness : 0.833161 Centerline is valid? [True, False] Translation: X:59.52, Y:0.38, Z:0.07 [[ 9.97061998e-01 -7.65294879e-02 3.25729539e-03 5.95191251e+01] [ 7.65541746e-02 9.97031002e-01 -8.28486925e-03 3.80899063e-01] [-2.61358769e-03 8.50988784e-03 9.99960375e-01 6.72604792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70864 meters Centerline goodness : 0.996358 Centerline is valid? [False, True] Translation: X:59.52, Y:0.39, Z:0.07 [[ 9.97961738e-01 -6.37884193e-02 -1.84580705e-03 5.95228471e+01] [ 6.37528250e-02 9.97848141e-01 -1.53187843e-02 3.87620276e-01] [ 2.81899616e-03 1.51698852e-02 9.99880957e-01 6.71683931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73864 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:59.56, Y:0.37, Z:0.07 [[ 9.97606744e-01 -6.90790713e-02 -2.97771949e-03 5.95557623e+01] [ 6.90787091e-02 9.97611188e-01 -2.24439604e-04 3.72778988e-01] [ 2.98611035e-03 1.82054438e-05 9.99995541e-01 6.61640554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76863999999999 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:59.59, Y:0.37, Z:0.07 [[ 9.97352963e-01 -7.26512174e-02 -2.97792175e-03 5.95893419e+01] [ 7.26508792e-02 9.97357409e-01 -2.21725775e-04 3.69883118e-01] [ 2.98616097e-03 4.79022501e-06 9.99995541e-01 6.56196410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79863999999999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:59.62, Y:0.37, Z:0.06 [[ 9.97428052e-01 -7.16129305e-02 -2.97818570e-03 5.96220700e+01] [ 7.16125983e-02 9.97432498e-01 -2.18164430e-04 3.70072046e-01] [ 2.98616260e-03 4.32770625e-06 9.99995541e-01 6.44304056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:59.65, Y:0.37, Z:0.05 [[ 9.97386078e-01 -7.21951642e-02 -2.97833346e-03 5.96536291e+01] [ 7.21948406e-02 9.97390524e-01 -2.16159584e-04 3.71181795e-01] [ 2.98616725e-03 5.74249739e-07 9.99995541e-01 5.12319832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:59.69, Y:0.37, Z:0.05 [[ 9.97422735e-01 -7.16869506e-02 -2.97812518e-03 5.96870906e+01] [ 7.16866163e-02 9.97427181e-01 -2.18992092e-04 3.73957908e-01] [ 2.98616188e-03 4.93597414e-06 9.99995541e-01 5.13326157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:59.72, Y:0.37, Z:0.06 [[ 9.97413796e-01 -7.18112121e-02 -2.97823599e-03 5.97183392e+01] [ 7.18108829e-02 9.97418242e-01 -2.17474541e-04 3.72745841e-01] [ 2.98616402e-03 3.04235122e-06 9.99995541e-01 6.30366535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:59.75, Y:0.37, Z:0.06 [[ 9.97519052e-01 -7.03340027e-02 -2.97819567e-03 5.97517958e+01] [ 7.03336653e-02 9.97523497e-01 -2.18026958e-04 3.73737606e-01] [ 2.98615487e-03 8.01862773e-06 9.99995541e-01 6.41594925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:59.78, Y:0.37, Z:0.05 [[ 9.97349566e-01 -7.26978129e-02 -2.97861289e-03 5.97833628e+01] [ 7.26975032e-02 9.97354013e-01 -2.12283515e-04 3.72103804e-01] [ 2.98616407e-03 -4.81684882e-06 9.99995541e-01 5.18363233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:59.82, Y:0.37, Z:0.05 [[ 9.97300777e-01 -7.33640932e-02 -2.97835946e-03 5.98158480e+01] [ 7.33637759e-02 9.97305224e-01 -2.15781614e-04 3.71968553e-01] [ 2.98616407e-03 -3.30452466e-06 9.99995541e-01 5.18712712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:59.85, Y:0.37, Z:0.07 [[ 9.97247945e-01 -7.40787779e-02 -2.97845505e-03 5.98473177e+01] [ 7.40784678e-02 9.97252393e-01 -2.14453987e-04 3.71412502e-01] [ 2.98615791e-03 -6.77558830e-06 9.99995541e-01 6.56854584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:59.88, Y:0.37, Z:0.05 [[ 9.97079693e-01 -7.63099733e-02 -2.97875826e-03 5.98787936e+01] [ 7.63096858e-02 9.97084143e-01 -2.10226253e-04 3.68511820e-01] [ 2.98611499e-03 -1.76957790e-05 9.99995541e-01 5.31328282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06864 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:59.91, Y:0.37, Z:0.06 [[ 9.97095419e-01 -7.61042325e-02 -2.97855467e-03 5.99110152e+01] [ 7.61039356e-02 9.97099867e-01 -2.13072263e-04 3.68270214e-01] [ 2.98613217e-03 -1.42263560e-05 9.99995541e-01 6.49424103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:59.94, Y:0.37, Z:0.05 [[ 9.97126031e-01 -7.57020870e-02 -2.97872569e-03 5.99426480e+01] [ 7.57017954e-02 9.97130480e-01 -2.10679470e-04 3.68797315e-01] [ 2.98612706e-03 -1.54208997e-05 9.99995541e-01 5.37400979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12864 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:60.01, Y:0.39, Z:0.01 [[ 9.99991995e-01 -2.67159064e-03 -2.97859976e-03 6.00113057e+01] [ 2.67096964e-03 9.99996410e-01 -2.12445143e-04 3.87890216e-01] [ 2.97915663e-03 2.04487693e-04 9.99995541e-01 1.47933223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15863999999999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:60.00, Y:0.36, Z:0.07 [[ 9.96962963e-01 -7.78188063e-02 -3.01408703e-03 5.99999478e+01] [ 7.78200495e-02 9.96967377e-01 2.97229791e-04 3.63358584e-01] [ 2.98181638e-03 -5.30883496e-04 9.99995413e-01 6.70824789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18863999999999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:60.03, Y:0.36, Z:0.05 [[ 9.97019411e-01 -7.70937749e-02 -2.97394656e-03 6.00320956e+01] [ 7.70934405e-02 9.97023846e-01 -2.27062696e-04 3.63757542e-01] [ 2.98260076e-03 -2.88585649e-06 9.99995552e-01 5.31572518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21864 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:60.06, Y:0.36, Z:0.05 [[ 9.97084961e-01 -7.62413029e-02 -2.97393032e-03 6.00647601e+01] [ 7.62409641e-02 9.97089396e-01 -2.27275215e-04 3.64080966e-01] [ 2.98260214e-03 -1.22615763e-07 9.99995552e-01 5.39070278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:60.10, Y:0.36, Z:0.05 [[ 9.97122028e-01 -7.57549771e-02 -2.97403281e-03 6.00973325e+01] [ 7.57546402e-02 9.97126463e-01 -2.25926044e-04 3.64807781e-01] [ 2.98260184e-03 -2.09505895e-08 9.99995552e-01 5.40161511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:60.13, Y:0.37, Z:0.05 [[ 9.97140662e-01 -7.55092977e-02 -2.97413398e-03 6.01301144e+01] [ 7.55089637e-02 9.97145098e-01 -2.24586228e-04 3.65228839e-01] [ 2.98260147e-03 -6.29715038e-07 9.99995552e-01 5.47358575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:60.16, Y:0.37, Z:0.07 [[ 9.97147666e-01 -7.54167467e-02 -2.97424881e-03 6.01615200e+01] [ 7.54164168e-02 9.97152102e-01 -2.23055127e-04 3.66519015e-01] [ 2.98260054e-03 -1.88828813e-06 9.99995552e-01 6.99669083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:60.19, Y:0.37, Z:0.07 [[ 9.97006293e-01 -7.72632318e-02 -2.97416510e-03 6.01934947e+01] [ 7.72629068e-02 9.97010729e-01 -2.24173854e-04 3.66046595e-01] [ 2.98259491e-03 -6.28989781e-06 9.99995552e-01 7.05174397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:60.23, Y:0.37, Z:0.07 [[ 9.96984324e-01 -7.75461757e-02 -2.97469003e-03 6.02255773e+01] [ 7.75458730e-02 9.96988761e-01 -2.17140694e-04 3.66405533e-01] [ 2.98257096e-03 -1.41890670e-05 9.99995552e-01 6.90348752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:60.26, Y:0.37, Z:0.06 [[ 9.96983980e-01 -7.75505826e-02 -2.97494009e-03 6.02570826e+01] [ 7.75502899e-02 9.96988419e-01 -2.13776375e-04 3.66102054e-01] [ 2.98255930e-03 -1.75758451e-05 9.99995552e-01 5.57466899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:60.29, Y:0.36, Z:0.06 [[ 9.96971349e-01 -7.77128192e-02 -2.97446744e-03 6.02900745e+01] [ 7.77125082e-02 9.96975786e-01 -2.20162000e-04 3.61069962e-01] [ 2.98258143e-03 -1.16581195e-05 9.99995552e-01 5.52090018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:60.32, Y:0.36, Z:0.07 [[ 9.96932165e-01 -7.82138799e-02 -2.97456523e-03 6.03216202e+01] [ 7.82135751e-02 9.96936602e-01 -2.18832874e-04 3.59693199e-01] [ 2.98256872e-03 -1.44898495e-05 9.99995552e-01 6.84069820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:60.35, Y:0.36, Z:0.07 [[ 9.97014221e-01 -7.71608351e-02 -2.97462212e-03 6.03537517e+01] [ 7.71605279e-02 9.97018658e-01 -2.18059344e-04 3.60268234e-01] [ 2.98257940e-03 -1.21151462e-05 9.99995552e-01 7.14443468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:60.39, Y:0.36, Z:0.07 [[ 9.97037645e-01 -7.68575718e-02 -2.97472776e-03 6.03873545e+01] [ 7.68572676e-02 9.97042082e-01 -2.16614308e-04 3.58546124e-01] [ 2.98257721e-03 -1.26568280e-05 9.99995552e-01 6.92364523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:60.41, Y:0.36, Z:0.07 [[ 9.97176565e-01 -7.50335276e-02 -2.97803256e-03 6.04146841e+01] [ 7.50333502e-02 9.97181010e-01 -1.71400508e-04 3.58731794e-01] [ 2.98249830e-03 -5.25351896e-05 9.99995551e-01 7.19976413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:60.45, Y:0.36, Z:0.07 [[ 9.97465381e-01 -7.10912724e-02 -2.97399686e-03 6.04465765e+01] [ 7.10909139e-02 9.97469814e-01 -2.26229483e-04 3.57889581e-01] [ 2.98255504e-03 1.42319229e-05 9.99995552e-01 6.97672185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:60.48, Y:0.36, Z:0.07 [[ 9.97422958e-01 -7.16839782e-02 -2.97479572e-03 6.04782891e+01] [ 7.16836548e-02 9.97427394e-01 -2.15309555e-04 3.58214093e-01] [ 2.98257699e-03 1.51046433e-06 9.99995552e-01 6.85842088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:60.51, Y:0.36, Z:0.07 [[ 9.97771418e-01 -6.66584566e-02 -2.97447071e-03 6.05099727e+01] [ 6.66580977e-02 9.97775851e-01 -2.19763647e-04 3.61848921e-01] [ 2.98250416e-03 2.10013263e-05 9.99995552e-01 6.85923423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66864 meters Centerline goodness : 0.883123 Centerline is valid? [True, False] Translation: X:60.51, Y:0.37, Z:0.07 [[ 9.98471138e-01 -5.52068692e-02 -2.75478658e-03 6.05086605e+01] [ 5.51778528e-02 9.98429578e-01 -9.68411311e-03 3.70737586e-01] [ 3.28508997e-03 9.51730422e-03 9.99949313e-01 6.92629831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69864 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:60.51, Y:0.38, Z:0.07 [[ 9.99180383e-01 -4.04749177e-02 5.85755992e-04 6.05065050e+01] [ 4.04791557e-02 9.99074105e-01 -1.45729375e-02 3.76508939e-01] [ 4.62480186e-06 1.45847042e-02 9.99893638e-01 6.91035260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:0.36, Z:0.07 [[ 9.99162310e-01 -4.09226945e-02 -1.04621282e-04 6.05398993e+01] [ 4.09226970e-02 9.99162315e-01 2.16354329e-05 3.64164634e-01] [ 1.03648262e-04 -2.58986941e-05 9.99999994e-01 6.67256173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.57, Y:0.37, Z:0.07 [[ 9.99218328e-01 -3.95312812e-02 -1.03387717e-04 6.05722430e+01] [ 3.95312809e-02 9.99218333e-01 -4.62864017e-06 3.65925768e-01] [ 1.03489878e-04 5.37973209e-07 9.99999995e-01 6.71326154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.61, Y:0.37, Z:0.07 [[ 9.99265736e-01 -3.83141997e-02 -1.03392936e-04 6.06054538e+01] [ 3.83141995e-02 9.99265741e-01 -4.51660824e-06 3.68427949e-01] [ 1.03490070e-04 5.51874267e-07 9.99999995e-01 6.77581749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81864 meters Centerline goodness : 0.964386 Centerline is valid? [True, True] Translation: X:60.62, Y:0.33, Z:0.05 [[ 9.91522526e-01 -1.29934868e-01 -1.03400710e-04 6.06208003e+01] [ 1.29934869e-01 9.91522531e-01 -4.34903263e-06 3.32281433e-01] [ 1.03089224e-04 -9.12319379e-06 9.99999995e-01 4.98643021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:60.66, Y:0.35, Z:0.05 [[ 9.94853801e-01 -1.01320793e-01 -1.03026524e-04 6.06551374e+01] [ 1.01320792e-01 9.94853807e-01 -1.23550703e-05 3.49606714e-01] [ 1.03748155e-04 1.85275967e-06 9.99999995e-01 5.33163887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.70, Y:0.38, Z:0.07 [[ 9.99491790e-01 -3.18771156e-02 -1.03084534e-04 6.06955630e+01] [ 3.18771147e-02 9.99491796e-01 -1.10831114e-05 3.81580909e-01] [ 1.03385444e-04 7.79144131e-06 9.99999995e-01 6.79870941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:60.73, Y:0.38, Z:0.07 [[ 9.99535080e-01 -3.04895426e-02 -1.03382660e-04 6.07279546e+01] [ 3.04895423e-02 9.99535086e-01 -4.22085590e-06 3.84549392e-01] [ 1.03463288e-04 1.06680356e-06 9.99999995e-01 6.77442669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:0.39, Z:0.07 [[ 9.99543674e-01 -3.02065064e-02 -1.03395596e-04 6.07602468e+01] [ 3.02065061e-02 9.99543679e-01 -3.92279250e-06 3.87635782e-01] [ 1.03466908e-04 7.97782725e-07 9.99999995e-01 6.83667630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.79, Y:0.39, Z:0.07 [[ 9.99448507e-01 -3.32064949e-02 -1.03402588e-04 6.07902281e+01] [ 3.32064947e-02 9.99448512e-01 -3.76114110e-06 3.91577343e-01] [ 1.03470457e-04 3.25429371e-07 9.99999995e-01 6.64158262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:0.39, Z:0.05 [[ 9.99401749e-01 -3.45851625e-02 -1.03379739e-04 6.08210923e+01] [ 3.45851623e-02 9.99401754e-01 -4.28967547e-06 3.93173244e-01] [ 1.03466252e-04 7.11704103e-07 9.99999995e-01 5.33300369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:0.40, Z:0.05 [[ 9.99377743e-01 -3.52720348e-02 -1.03372952e-04 6.08540473e+01] [ 3.52720345e-02 9.99377748e-01 -4.44744929e-06 3.95211141e-01] [ 1.03465498e-04 7.98507516e-07 9.99999995e-01 5.32562102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:0.40, Z:0.05 [[ 9.99351548e-01 -3.60065548e-02 -1.03375247e-04 6.08865599e+01] [ 3.60065545e-02 9.99351554e-01 -4.39343687e-06 3.98481997e-01] [ 1.03466406e-04 6.68401467e-07 9.99999995e-01 5.34443935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.92, Y:0.41, Z:0.07 [[ 9.99381088e-01 -3.51771193e-02 -1.03377225e-04 6.09191105e+01] [ 3.51771191e-02 9.99381094e-01 -4.34638489e-06 4.05977328e-01] [ 1.03466138e-04 7.07181903e-07 9.99999995e-01 6.90515377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:60.95, Y:0.41, Z:0.07 [[ 9.99327782e-01 -3.66602413e-02 -1.03400460e-04 6.09497801e+01] [ 3.66602411e-02 9.99327787e-01 -3.78962789e-06 4.09227370e-01] [ 1.03469882e-04 -3.60536678e-09 9.99999995e-01 6.91542066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:60.98, Y:0.41, Z:0.07 [[ 9.99255045e-01 -3.85920203e-02 -1.03389923e-04 6.09818991e+01] [ 3.85920201e-02 9.99255051e-01 -4.04339900e-06 4.10582548e-01] [ 1.03468945e-04 5.03608794e-08 9.99999995e-01 6.76704100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:0.41, Z:0.05 [[ 9.99160265e-01 -4.09726014e-02 -1.03391495e-04 6.10129932e+01] [ 4.09726012e-02 9.99160270e-01 -4.00515349e-06 4.12073121e-01] [ 1.03468776e-04 -2.34428279e-07 9.99999995e-01 5.31011931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.04, Y:0.41, Z:0.07 [[ 9.99154099e-01 -4.11226892e-02 -1.03382473e-04 6.10438687e+01] [ 4.11226890e-02 9.99154104e-01 -4.22588703e-06 4.13531512e-01] [ 1.03468802e-04 -2.90529220e-08 9.99999995e-01 6.97575785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.08, Y:0.41, Z:0.07 [[ 9.99067728e-01 -4.31701694e-02 -1.03374267e-04 6.10764145e+01] [ 4.31701692e-02 9.99067734e-01 -4.42808236e-06 4.13814054e-01] [ 1.03469055e-04 -3.87303968e-08 9.99999995e-01 6.88984329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:61.11, Y:0.41, Z:0.07 [[ 9.99012861e-01 -4.44217632e-02 -1.03372935e-04 6.11071972e+01] [ 4.44217630e-02 9.99012866e-01 -4.46113986e-06 4.14527772e-01] [ 1.03469064e-04 -1.35271916e-07 9.99999995e-01 7.13847474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:0.42, Z:0.05 [[ 9.99042567e-01 -4.37485794e-02 -1.03369366e-04 6.11397815e+01] [ 4.37485792e-02 9.99042573e-01 -4.55030055e-06 4.16430447e-01] [ 1.03469466e-04 2.36810622e-08 9.99999995e-01 5.46119773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:61.17, Y:0.42, Z:0.07 [[ 9.99009024e-01 -4.45079676e-02 -1.03387489e-04 6.11699958e+01] [ 4.45079674e-02 9.99009029e-01 -4.09245820e-06 4.16294701e-01] [ 1.03467182e-04 -5.13164309e-07 9.99999995e-01 7.08998501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.20, Y:0.41, Z:0.07 [[ 9.99064224e-01 -4.32511898e-02 -1.03369226e-04 6.12014865e+01] [ 4.32511895e-02 9.99064229e-01 -4.55521838e-06 4.14636724e-01] [ 1.03469514e-04 8.01137481e-08 9.99999995e-01 7.03777483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:0.41, Z:0.05 [[ 9.99104723e-01 -4.23053461e-02 -1.03368634e-04 6.12348742e+01] [ 4.23053459e-02 9.99104728e-01 -4.57028589e-06 4.09265219e-01] [ 1.03469438e-04 1.93148416e-07 9.99999995e-01 5.37468000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.27, Y:0.41, Z:0.07 [[ 9.99103266e-01 -4.23397421e-02 -1.03390008e-04 6.12661268e+01] [ 4.23397420e-02 9.99103271e-01 -4.02066038e-06 4.07841496e-01] [ 1.03467529e-04 -3.60451335e-07 9.99999995e-01 6.84120819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:0.41, Z:0.05 [[ 9.99098923e-01 -4.24421028e-02 -1.03378120e-04 6.12987445e+01] [ 4.24421026e-02 9.99098928e-01 -4.32673229e-06 4.08070552e-01] [ 1.03468604e-04 -6.47511950e-08 9.99999995e-01 5.33154235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:0.40, Z:0.07 [[ 9.99101704e-01 -4.23765684e-02 -1.03392113e-04 6.13285372e+01] [ 4.23765682e-02 9.99101710e-01 -3.96153222e-06 4.03333442e-01] [ 1.03467113e-04 -4.23429311e-07 9.99999995e-01 6.83920446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:61.36, Y:0.40, Z:0.07 [[ 9.99127417e-01 -4.17659417e-02 -1.03378333e-04 6.13605591e+01] [ 4.17659415e-02 9.99127422e-01 -4.32146258e-06 4.01554764e-01] [ 1.03468617e-04 -1.66613137e-12 9.99999995e-01 6.99046035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:61.39, Y:0.40, Z:0.07 [[ 9.99244281e-01 -3.88697454e-02 -1.03378713e-04 6.13934191e+01] [ 3.88697452e-02 9.99244286e-01 -4.31145880e-06 3.97606559e-01] [ 1.03468174e-04 2.89896307e-07 9.99999995e-01 6.77758231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:61.43, Y:0.40, Z:0.07 [[ 9.99307851e-01 -3.71995749e-02 -1.03387629e-04 6.14255647e+01] [ 3.71995747e-02 9.99307856e-01 -4.07478345e-06 3.95814895e-01] [ 1.03467650e-04 2.25987277e-07 9.99999995e-01 7.01410873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:61.46, Y:0.39, Z:0.07 [[ 9.99374089e-01 -3.53754174e-02 -1.03390674e-04 6.14580166e+01] [ 3.53754172e-02 9.99374094e-01 -3.99283559e-06 3.93512894e-01] [ 1.03467209e-04 3.32848222e-07 9.99999995e-01 6.91577362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62864 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:61.49, Y:0.39, Z:0.07 [[ 9.99531884e-01 -3.05941412e-02 -1.03389272e-04 6.14905678e+01] [ 3.05941410e-02 9.99531890e-01 -4.03078403e-06 3.89438784e-01] [ 1.03464193e-04 8.65791196e-07 9.99999995e-01 6.90602865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65863999999999 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:61.52, Y:0.39, Z:0.07 [[ 9.99600656e-01 -2.82580641e-02 -1.03403971e-04 6.15218110e+01] [ 2.82580639e-02 9.99600661e-01 -3.62791669e-06 3.88641927e-01] [ 1.03465196e-04 7.04471884e-07 9.99999995e-01 7.09213796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:61.55, Y:0.39, Z:0.07 [[ 9.99658728e-01 -2.61231087e-02 -1.03414551e-04 6.15526464e+01] [ 2.61231085e-02 9.99658733e-01 -3.33755206e-06 3.88273424e-01] [ 1.03466447e-04 6.34903505e-07 9.99999995e-01 6.74423581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71864 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:61.58, Y:0.39, Z:0.07 [[ 9.99811139e-01 -1.94338675e-02 -1.03408623e-04 6.15841677e+01] [ 1.94338672e-02 9.99811145e-01 -3.50058521e-06 3.88316891e-01] [ 1.03457123e-04 1.49029464e-06 9.99999995e-01 7.10067550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:61.61, Y:0.39, Z:0.07 [[ 9.99871474e-01 -1.60319892e-02 -1.03425074e-04 6.16143791e+01] [ 1.60319889e-02 9.99871479e-01 -3.04479877e-06 3.90178234e-01] [ 1.03460596e-04 1.38629779e-06 9.99999995e-01 6.93796312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77864 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:61.65, Y:0.39, Z:0.07 [[ 9.99869759e-01 -1.61385856e-02 -1.03416633e-04 6.16451968e+01] [ 1.61385854e-02 9.99869765e-01 -3.27885304e-06 3.91231950e-01] [ 1.03456080e-04 1.60942785e-06 9.99999995e-01 6.93828303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80864 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:61.68, Y:0.39, Z:0.07 [[ 9.99961118e-01 -8.81770902e-03 -1.03416560e-04 6.16763251e+01] [ 8.81770873e-03 9.99961123e-01 -3.28087534e-06 3.94930784e-01] [ 1.03441469e-04 2.36885067e-06 9.99999995e-01 7.02975531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83864 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:61.71, Y:0.40, Z:0.06 [[ 9.99977851e-01 -6.65479436e-03 -1.03426420e-04 6.17057390e+01] [ 6.65479408e-03 9.99977857e-01 -3.00871730e-06 3.98533824e-01] [ 1.03444152e-04 2.32036913e-06 9.99999995e-01 5.68349172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86864 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:61.74, Y:0.41, Z:0.06 [[ 9.99998219e-01 -1.88450587e-03 -1.03398947e-04 6.17360076e+01] [ 1.88450549e-03 9.99998224e-01 -3.76352237e-06 4.08631082e-01] [ 1.03405855e-04 3.56865978e-06 9.99999995e-01 5.62048125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89864 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:61.77, Y:0.41, Z:0.07 [[ 9.99999766e-01 6.76349764e-04 -1.03398947e-04 6.17689668e+01] [-6.76350157e-04 9.99999771e-01 -3.76352237e-06 4.14548999e-01] [ 1.03396378e-04 3.83345538e-06 9.99999995e-01 6.92351973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92864 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:61.80, Y:0.42, Z:0.07 [[ 9.99999950e-01 2.98403265e-04 -1.03448237e-04 6.17992166e+01] [-2.98403516e-04 9.99999955e-01 -2.41452523e-06 4.19475363e-01] [ 1.03447512e-04 2.44539443e-06 9.99999995e-01 6.98002000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95864 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:61.83, Y:0.42, Z:0.06 [[ 9.99995238e-01 -3.08447918e-03 -1.03447689e-04 6.18265407e+01] [ 3.08447895e-03 9.99995243e-01 -2.42931768e-06 4.24152860e-01] [ 1.03454690e-04 2.11022389e-06 9.99999995e-01 5.71746693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98864 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:61.82, Y:0.40, Z:0.06 [[ 9.97036289e-01 -7.69326215e-02 -1.03394188e-04 6.18219825e+01] [ 7.69326216e-02 9.97036294e-01 -3.86174898e-06 4.02081418e-01] [ 1.03384852e-04 -4.10408204e-06 9.99999995e-01 6.05513272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01863999999999 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:61.88, Y:0.44, Z:0.07 [[ 9.99999323e-01 -1.15897829e-03 -1.02853842e-04 6.18845257e+01] [ 1.15897644e-03 9.99999328e-01 -1.80428153e-05 4.40595293e-01] [ 1.02874685e-04 1.79235979e-05 9.99999995e-01 7.12514757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:61.91, Y:0.45, Z:0.07 [[ 9.99956819e-01 -9.29244696e-03 -1.03356880e-04 6.19147587e+01] [ 9.29244680e-03 9.99956824e-01 -1.98297777e-06 4.46416336e-01] [ 1.03370844e-04 1.02245384e-06 9.99999995e-01 6.78707314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07864 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:61.94, Y:0.42, Z:0.05 [[ 9.96796015e-01 -7.99855860e-02 -1.03338580e-04 6.19402141e+01] [ 7.99855861e-02 9.96796020e-01 -2.56153721e-06 4.22822101e-01] [ 1.03212371e-04 -5.71226680e-06 9.99999995e-01 5.47704693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters Centerline goodness : 0.934659 Centerline is valid? [True, False] Translation: X:61.94, Y:0.44, Z:0.06 [[ 9.97168555e-01 -7.50777389e-02 -4.26677803e-03 6.19398077e+01] [ 7.49935384e-02 9.97033815e-01 -1.73072331e-02 4.41658342e-01] [ 5.55350991e-03 1.69382478e-02 9.99841115e-01 5.78283389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13864 meters Centerline goodness : 0.994585 Centerline is valid? [False, True] Translation: X:61.94, Y:0.45, Z:0.06 [[ 9.98140137e-01 -6.09376939e-02 1.69232446e-03 6.19355726e+01] [ 6.09604820e-02 9.97877536e-01 -2.28963284e-02 4.53038378e-01] [-2.93483115e-04 2.29569093e-02 9.99736412e-01 5.89213164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:61.97, Y:0.43, Z:0.04 [[ 9.97956412e-01 -6.38983046e-02 -7.58955566e-05 6.19665897e+01] [ 6.38983139e-02 9.97956406e-01 1.27778701e-04 4.34426336e-01] [ 6.75756146e-05 -1.32367172e-04 9.99999989e-01 4.29284428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19864 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:62.00, Y:0.44, Z:0.04 [[ 9.97717389e-01 -6.75278205e-02 -6.57068453e-05 6.19986441e+01] [ 6.75278203e-02 9.97717392e-01 -5.04044874e-06 4.37525682e-01] [ 6.58972328e-05 5.91903322e-07 9.99999998e-01 4.27607252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22864 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:62.03, Y:0.44, Z:0.04 [[ 9.97617306e-01 -6.89906279e-02 -6.57091553e-05 6.20310247e+01] [ 6.89906277e-02 9.97617308e-01 -5.01015262e-06 4.40073592e-01] [ 6.58982442e-05 4.64899096e-07 9.99999998e-01 4.29001237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25864 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:62.06, Y:0.44, Z:0.04 [[ 9.97509597e-01 -7.05308432e-02 -6.57114146e-05 6.20645182e+01] [ 7.05308430e-02 9.97509599e-01 -4.98034274e-06 4.41701098e-01] [ 6.58990346e-05 3.33258215e-07 9.99999998e-01 4.19186000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28864 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:62.10, Y:0.44, Z:0.04 [[ 9.97238851e-01 -7.42608158e-02 -6.57139872e-05 6.20982185e+01] [ 7.42608156e-02 9.97238854e-01 -4.94616289e-06 4.40043211e-01] [ 6.58998474e-05 5.25315041e-08 9.99999998e-01 4.08618232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31864 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:62.13, Y:0.44, Z:0.04 [[ 9.97150236e-01 -7.54413884e-02 -6.57165635e-05 6.21312323e+01] [ 7.54413882e-02 9.97150238e-01 -4.91169361e-06 4.41199913e-01] [ 6.58998319e-05 -6.00523397e-08 9.99999998e-01 4.12993620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34864 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:62.16, Y:0.44, Z:0.06 [[ 9.96985211e-01 -7.75917764e-02 -6.57190796e-05 6.21634619e+01] [ 7.75917763e-02 9.96985214e-01 -4.87779442e-06 4.39611658e-01] [ 6.58994273e-05 -2.36171219e-07 9.99999998e-01 5.55473197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:62.19, Y:0.44, Z:0.04 [[ 9.96870691e-01 -7.90494877e-02 -6.57316282e-05 6.21949289e+01] [ 7.90494875e-02 9.96870693e-01 -4.70841499e-06 4.39602456e-01] [ 6.58981316e-05 -5.02370624e-07 9.99999998e-01 4.05442522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:62.23, Y:0.44, Z:0.06 [[ 9.96881751e-01 -7.89098828e-02 -6.57212645e-05 6.22264367e+01] [ 7.89098827e-02 9.96881753e-01 -4.84888348e-06 4.38496650e-01] [ 6.58989542e-05 -3.52293815e-07 9.99999998e-01 5.52664867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43863999999999 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:62.26, Y:0.44, Z:0.04 [[ 9.96939186e-01 -7.81809136e-02 -6.57458777e-05 6.22567655e+01] [ 7.81809135e-02 9.96939188e-01 -4.51495318e-06 4.38340298e-01] [ 6.58976251e-05 -6.38939032e-07 9.99999998e-01 4.13900496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:62.29, Y:0.44, Z:0.05 [[ 9.97130511e-01 -7.57016526e-02 -6.57221167e-05 6.22886016e+01] [ 7.57016525e-02 9.97130513e-01 -4.83775211e-06 4.40777935e-01] [ 6.58997538e-05 -1.51402610e-07 9.99999998e-01 5.41506657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49864 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:62.32, Y:0.44, Z:0.06 [[ 9.97211270e-01 -7.46302844e-02 -6.57502723e-05 6.23208888e+01] [ 7.46302843e-02 9.97211272e-01 -4.45392664e-06 4.43125255e-01] [ 6.58993104e-05 -4.65455674e-07 9.99999998e-01 5.57448757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:62.35, Y:0.44, Z:0.04 [[ 9.97298296e-01 -7.34581848e-02 -6.57574465e-05 6.23517875e+01] [ 7.34581846e-02 9.97298298e-01 -4.35624852e-06 4.43312981e-01] [ 6.58997916e-05 -4.85943421e-07 9.99999998e-01 4.19267147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55864 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:62.38, Y:0.45, Z:0.06 [[ 9.97502471e-01 -7.06315517e-02 -6.57229193e-05 6.23836182e+01] [ 7.06315515e-02 9.97502473e-01 -4.82641682e-06 4.45446584e-01] [ 6.58996719e-05 1.72250940e-07 9.99999998e-01 5.63681345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58864 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:62.42, Y:0.45, Z:0.06 [[ 9.97663664e-01 -6.83169715e-02 -6.57346971e-05 6.24159476e+01] [ 6.83169713e-02 9.97663666e-01 -4.66561115e-06 4.49401166e-01] [ 6.58998593e-05 1.63915306e-07 9.99999998e-01 5.59422227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61864 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:62.45, Y:0.45, Z:0.04 [[ 9.97660658e-01 -6.83608621e-02 -6.57301440e-05 6.24477381e+01] [ 6.83608620e-02 9.97660660e-01 -4.72794843e-06 4.52521147e-01] [ 6.58995854e-05 2.23518843e-07 9.99999998e-01 4.14673903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64864 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:62.48, Y:0.46, Z:0.04 [[ 9.97724751e-01 -6.74189652e-02 -6.57253569e-05 6.24809811e+01] [ 6.74189650e-02 9.97724753e-01 -4.79358475e-06 4.55798627e-01] [ 6.58989940e-05 3.51542619e-07 9.99999998e-01 4.13323832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67864 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:62.52, Y:0.46, Z:0.02 [[ 9.95894763e-01 -9.05186004e-02 -6.57278385e-05 6.25163458e+01] [ 9.05186003e-02 9.95894765e-01 -4.75931257e-06 4.60397054e-01] [ 6.58888166e-05 -1.20981747e-06 9.99999998e-01 1.82363852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70864 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:62.54, Y:0.46, Z:0.06 [[ 9.97503865e-01 -7.06118619e-02 -6.58298967e-05 6.25441566e+01] [ 7.06118618e-02 9.97503867e-01 -3.34803099e-06 4.61516090e-01] [ 6.59019872e-05 -1.30869772e-06 9.99999998e-01 5.56816958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73864 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:62.54, Y:0.45, Z:0.04 [[ 9.97406913e-01 -7.19683604e-02 -6.57577229e-05 6.25396063e+01] [ 7.19683602e-02 9.97406916e-01 -4.33774338e-06 4.49932966e-01] [ 6.58993879e-05 -4.05980252e-07 9.99999998e-01 3.79071875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters Centerline goodness : 0.909001 Centerline is valid? [True, False] Translation: X:62.54, Y:0.46, Z:0.04 [[ 9.98238517e-01 -5.93087639e-02 -1.52760146e-03 6.25403265e+01] [ 5.92956183e-02 9.98211872e-01 -7.55573521e-03 4.56015573e-01] [ 1.97299122e-03 7.45184584e-03 9.99970288e-01 3.87919153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79863999999999 meters Centerline goodness : 0.885933 Centerline is valid? [False, False] Translation: X:62.54, Y:0.46, Z:0.04 [[ 9.98974035e-01 -4.52827701e-02 5.89857582e-04 6.25391787e+01] [ 4.52866071e-02 9.98883298e-01 -1.34640278e-02 4.62943227e-01] [ 2.04895890e-05 1.34769268e-02 9.99909182e-01 3.83822146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82864 meters Centerline goodness : 0.998030 Centerline is valid? [False, True] Translation: X:62.54, Y:0.47, Z:0.04 [[ 9.99507785e-01 -3.09516246e-02 5.11704226e-03 6.25365765e+01] [ 3.10435887e-02 9.99337563e-01 -1.89928965e-02 4.72261465e-01] [-4.52579154e-03 1.91423993e-02 9.99806524e-01 3.85316495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:62.57, Y:0.46, Z:0.04 [[ 9.99514037e-01 -3.08262584e-02 4.62940998e-03 6.25697756e+01] [ 3.08255409e-02 9.99524754e-01 2.26277982e-04 4.55861866e-01] [-4.63418518e-03 -8.34639524e-05 9.99989259e-01 3.67636258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:62.60, Y:0.46, Z:0.03 [[ 9.99483236e-01 -3.18086939e-02 4.63325350e-03 6.26017040e+01] [ 3.18086897e-02 9.99493973e-01 7.46212684e-05 4.55653080e-01] [-4.63328255e-03 7.27950159e-05 9.99989264e-01 3.49004569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:62.63, Y:0.45, Z:0.04 [[ 9.99476523e-01 -3.20190204e-02 4.63278543e-03 6.26338722e+01] [ 3.20189330e-02 9.99487258e-01 9.30437944e-05 4.54768198e-01] [-4.63338918e-03 5.53417585e-05 9.99989264e-01 3.69073940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:62.67, Y:0.45, Z:0.04 [[ 9.99475445e-01 -3.20526545e-02 4.63279667e-03 6.26656997e+01] [ 3.20525696e-02 9.99486180e-01 9.25968158e-05 4.53457102e-01] [-4.63338422e-03 5.59447939e-05 9.99989264e-01 3.56134939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:0.45, Z:0.02 [[ 9.99409457e-01 -3.40481245e-02 4.63273879e-03 6.26963251e+01] [ 3.40480504e-02 9.99420193e-01 9.48996611e-05 4.54159843e-01] [-4.63328385e-03 6.28921050e-05 9.99989264e-01 2.14505963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:62.73, Y:0.45, Z:0.04 [[ 9.99509328e-01 -3.09781494e-02 4.63221321e-03 6.27297109e+01] [ 3.09779449e-02 9.99520062e-01 1.15904892e-04 4.53945507e-01] [-4.63358055e-03 2.76484252e-05 9.99989265e-01 3.66437118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:62.76, Y:0.45, Z:0.04 [[ 9.99484643e-01 -3.17644583e-02 4.63320969e-03 6.27587571e+01] [ 3.17644485e-02 9.99495380e-01 7.57219043e-05 4.53261612e-01] [-4.63327694e-03 7.14884701e-05 9.99989264e-01 3.97293718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:62.79, Y:0.45, Z:0.04 [[ 9.99534668e-01 -3.01494290e-02 4.63242888e-03 6.27898380e+01] [ 3.01492573e-02 9.99545402e-01 1.06908327e-04 4.52847647e-01] [-4.63354622e-03 3.28057110e-05 9.99989265e-01 3.69049138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09864 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:62.82, Y:0.45, Z:0.04 [[ 9.99585766e-01 -2.84048938e-02 4.63242177e-03 6.28224422e+01] [ 2.84047021e-02 9.99596499e-01 1.07192647e-04 4.53930694e-01] [-4.63359738e-03 2.44343164e-05 9.99989265e-01 3.60668847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.85, Y:0.46, Z:0.02 [[ 9.99638497e-01 -2.64842836e-02 4.63232590e-03 6.28540253e+01] [ 2.64840533e-02 9.99649230e-01 1.11057825e-04 4.55317050e-01] [-4.63364230e-03 1.16650888e-05 9.99989265e-01 2.12588756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15863999999999 meters Centerline goodness : 0.752227 Centerline is valid? [True, False] Translation: X:62.85, Y:0.46, Z:0.02 [[ 9.99917239e-01 -1.20742118e-02 4.44176061e-03 6.28548835e+01] [ 1.20990909e-02 9.99911023e-01 -5.61761851e-03 4.62509431e-01] [-4.37353708e-03 5.67089486e-03 9.99974356e-01 2.06913119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters Centerline goodness : 0.999753 Centerline is valid? [False, True] Translation: X:62.86, Y:0.48, Z:0.02 [[ 9.99979565e-01 -5.78193852e-03 -2.72756824e-03 6.28597581e+01] [ 5.72371741e-03 9.99765376e-01 -2.08909481e-02 4.78614321e-01] [ 2.84771847e-03 2.08749094e-02 9.99778040e-01 2.25403688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:62.89, Y:0.46, Z:0.02 [[ 9.99990789e-01 -3.09455129e-03 -2.97432228e-03 6.28887959e+01] [ 3.09466305e-03 9.99995211e-01 3.29759556e-05 4.61783871e-01] [ 2.97420599e-03 -4.21801771e-05 9.99995576e-01 2.27860612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:62.92, Y:0.46, Z:0.02 [[ 9.99995574e-01 -1.01701290e-04 -2.97363712e-03 6.29179383e+01] [ 1.01632076e-04 9.99999995e-01 -2.34272078e-05 4.64656139e-01] [ 2.97363949e-03 2.31248872e-05 9.99995578e-01 2.06595793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27864 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:62.95, Y:0.47, Z:0.02 [[ 9.99994630e-01 1.37714884e-03 -2.97366626e-03 6.29464181e+01] [-1.37721766e-03 9.99999051e-01 -2.10969483e-05 4.67146907e-01] [ 2.97363439e-03 2.51922207e-05 9.99995578e-01 2.21090501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:62.97, Y:0.47, Z:0.02 [[ 9.99992679e-01 2.40820949e-03 -2.97373007e-03 6.29745743e+01] [-2.40826823e-03 9.99997100e-01 -1.61728679e-05 4.70082614e-01] [ 2.97368250e-03 2.33342892e-05 9.99995578e-01 2.16206597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:63.00, Y:0.48, Z:0.02 [[ 9.99974761e-01 6.45240757e-03 -2.97369091e-03 6.30035588e+01] [-6.45249267e-03 9.99979182e-01 -1.90248702e-05 4.78232667e-01] [ 2.97350625e-03 3.82121089e-05 9.99995578e-01 1.99455570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:63.03, Y:0.48, Z:0.02 [[ 9.99956830e-01 8.80315380e-03 -2.97369895e-03 6.30319695e+01] [-8.80324758e-03 9.99961250e-01 -1.84483996e-05 4.82621051e-01] [ 2.97342131e-03 4.46258112e-05 9.99995578e-01 2.09542135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:63.06, Y:0.49, Z:0.02 [[ 9.99896752e-01 1.40585328e-02 -2.97364162e-03 6.30593411e+01] [-1.40586615e-02 9.99901172e-01 -2.23951655e-05 4.93201395e-01] [ 2.97303290e-03 6.41982743e-05 9.99995578e-01 2.30285451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:63.09, Y:0.50, Z:0.02 [[ 9.99864175e-01 1.62107917e-02 -2.97348520e-03 6.30889024e+01] [-1.62109604e-02 9.99868593e-01 -3.26382386e-05 4.98766142e-01] [ 2.97256537e-03 8.08368564e-05 9.99995579e-01 2.30673147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.12, Y:0.50, Z:0.01 [[ 9.99803453e-01 1.96013717e-02 -2.97342256e-03 6.31179644e+01] [-1.96015673e-02 9.99807870e-01 -3.66519052e-05 5.04374211e-01] [ 2.97213285e-03 9.49284438e-05 9.99995579e-01 1.05678653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.15, Y:0.52, Z:0.02 [[ 9.99753804e-01 2.19884151e-02 -2.97326346e-03 6.31474995e+01] [-2.19886513e-02 9.99758219e-01 -4.67667711e-05 5.15690551e-01] [ 2.97151626e-03 1.12133311e-04 9.99995579e-01 2.15660745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51863999999999 meters Centerline goodness : 0.840138 Centerline is valid? [True, False] Translation: X:63.14, Y:0.52, Z:0.02 [[ 9.99974882e-01 6.78854475e-03 2.03725899e-03 6.31446615e+01] [-6.79549772e-03 9.99971043e-01 3.42561239e-03 5.16454271e-01] [-2.01394507e-03 -3.43937054e-03 9.99992057e-01 2.00456410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:63.12, Y:0.53, Z:0.02 [[ 9.99956565e-01 8.85751661e-03 2.90031104e-03 6.31223495e+01] [-8.83250497e-03 9.99924645e-01 -8.52591766e-03 5.31201036e-01] [-2.97561094e-03 8.49993033e-03 9.99959448e-01 2.05072929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:0.53, Z:0.03 [[ 9.99988202e-01 -4.09431070e-03 2.61401824e-03 6.31523356e+01] [ 4.09409747e-03 9.99991615e-01 8.69200853e-05 5.32608170e-01] [-2.61435221e-03 -7.62170143e-05 9.99996580e-01 2.81612362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:63.18, Y:0.54, Z:0.03 [[ 9.99991623e-01 3.15024551e-03 2.61327223e-03 6.31845282e+01] [-3.15054222e-03 9.99995031e-01 1.09429434e-04 5.41014367e-01] [-2.61291451e-03 -1.17661742e-04 9.99996579e-01 3.32492599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:63.21, Y:0.55, Z:0.02 [[ 9.99996274e-01 -7.85370095e-04 2.61435728e-03 6.32145445e+01] [ 7.85173052e-04 9.99999689e-01 7.63952696e-05 5.50873799e-01] [-2.61441646e-03 -7.43422621e-05 9.99996580e-01 2.13326847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:63.25, Y:0.55, Z:0.02 [[ 9.99996410e-01 -5.89343111e-04 2.61404277e-03 6.32480549e+01] [ 5.89120419e-04 9.99999823e-01 8.59595509e-05 5.52007593e-01] [-2.61409296e-03 -8.44192563e-05 9.99996580e-01 2.12434417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.28, Y:0.56, Z:0.02 [[ 9.99994433e-01 -2.07373050e-03 2.61405952e-03 6.32802156e+01] [ 2.07351421e-03 9.99997847e-01 8.54470557e-05 5.57650309e-01] [-2.61423108e-03 -8.00262904e-05 9.99996580e-01 2.08974847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:0.56, Z:0.02 [[ 9.99989631e-01 -3.72886569e-03 2.61409768e-03 6.33125637e+01] [ 3.72865814e-03 9.99993045e-01 8.42631306e-05 5.62754867e-01] [-2.61439371e-03 -7.45151802e-05 9.99996580e-01 2.13488526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.34, Y:0.57, Z:0.02 [[ 9.99973362e-01 -6.81487359e-03 2.61413484e-03 6.33442566e+01] [ 6.81467964e-03 9.99976776e-01 8.30941132e-05 5.70116713e-01] [-2.61464041e-03 -6.52774083e-05 9.99996580e-01 2.02264390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:63.38, Y:0.57, Z:0.03 [[ 9.99963151e-01 -8.17692312e-03 2.61417203e-03 6.33751368e+01] [ 8.17673692e-03 9.99966567e-01 8.19072211e-05 5.74899067e-01] [-2.61475438e-03 -6.05288060e-05 9.99996580e-01 3.43139762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:0.58, Z:0.02 [[ 9.99957020e-01 -8.89515637e-03 2.61414458e-03 6.34067978e+01] [ 8.89497032e-03 9.99960436e-01 8.27856076e-05 5.80243545e-01] [-2.61477754e-03 -5.95293110e-05 9.99996580e-01 2.09737392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.44, Y:0.59, Z:0.03 [[ 9.99941849e-01 -1.04624970e-02 2.61420823e-03 6.34373659e+01] [ 1.04623217e-02 9.99945265e-01 8.07242231e-05 5.88627417e-01] [-2.61490972e-03 -5.33688415e-05 9.99996580e-01 3.25942142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:0.59, Z:0.03 [[ 9.99851123e-01 -1.70557250e-02 2.61415935e-03 6.34707984e+01] [ 1.70555681e-02 9.99854540e-01 8.23135784e-05 5.89841405e-01] [-2.61518301e-03 -3.77153511e-05 9.99996580e-01 2.83545032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:0.60, Z:0.03 [[ 9.99885299e-01 -1.49182578e-02 2.61431047e-03 6.35024635e+01] [ 1.49181066e-02 9.99888716e-01 7.73445350e-05 5.98725652e-01] [-2.61517339e-03 -3.83351013e-05 9.99996580e-01 3.27972150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:0.60, Z:0.02 [[ 9.99828001e-01 -1.83612104e-02 2.61435865e-03 6.35336621e+01] [ 1.83610751e-02 9.99831418e-01 7.57403956e-05 6.03747875e-01] [-2.61530860e-03 -2.77249328e-05 9.99996580e-01 2.11186726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters Centerline goodness : 0.985358 Centerline is valid? [True, True] Translation: X:63.58, Y:0.65, Z:0.02 [[ 9.98155270e-01 6.06565971e-02 2.61428966e-03 6.35761479e+01] [-6.06570079e-02 9.98158665e-01 7.80511836e-05 6.45198446e-01] [-2.60474155e-03 -2.36482189e-04 9.99996580e-01 1.95134726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.59, Y:0.61, Z:0.04 [[ 9.99650336e-01 -2.63124296e-02 2.61968801e-03 6.35929212e+01] [ 2.63127974e-02 9.99653753e-01 -1.06054018e-04 6.06730586e-01] [-2.61599041e-03 1.74948254e-04 9.99996563e-01 3.79554867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.62, Y:0.61, Z:0.03 [[ 9.99450379e-01 -3.30470874e-02 2.61349974e-03 6.36242615e+01] [ 3.30469692e-02 9.99453796e-01 8.83907225e-05 6.05971840e-01] [-2.61499329e-03 -1.97389573e-06 9.99996581e-01 3.18068220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.65, Y:0.61, Z:0.03 [[ 9.99409524e-01 -3.42603885e-02 2.61328504e-03 6.36541113e+01] [ 3.42602565e-02 9.99412941e-01 9.52567691e-05 6.07306211e-01] [-2.61501442e-03 -5.66870648e-06 9.99996581e-01 3.44551167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08864 meters Centerline goodness : 0.756394 Centerline is valid? [True, False] Translation: X:63.66, Y:0.61, Z:0.03 [[ 9.99745540e-01 -2.25113061e-02 1.44802898e-03 6.36556628e+01] [ 2.25228243e-02 9.99710176e-01 -8.50214840e-03 6.14950097e-01] [-1.25621484e-03 8.53259864e-03 9.99962808e-01 3.42229448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11864 meters Centerline goodness : 0.999804 Centerline is valid? [False, True] Translation: X:63.66, Y:0.62, Z:0.03 [[ 9.99965131e-01 -8.34254281e-03 -3.73243190e-04 6.36582376e+01] [ 8.33650708e-03 9.99867429e-01 -1.39866962e-02 6.20407174e-01] [ 4.89878320e-04 1.39830970e-02 9.99902112e-01 3.33992519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.69, Y:0.61, Z:0.02 [[ 9.99972391e-01 -7.42127690e-03 -3.76876436e-04 6.36902309e+01] [ 7.42123109e-03 9.99972455e-01 -1.22815025e-04 6.06992984e-01] [ 3.77777499e-04 1.20014747e-04 9.99999921e-01 1.54948187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:0.60, Z:0.03 [[ 9.99994884e-01 -3.17646918e-03 -3.76868925e-04 6.37200690e+01] [ 3.17646942e-03 9.99994955e-01 2.30522658e-08 6.03780790e-01] [ 3.76866951e-04 -1.22016476e-06 9.99999929e-01 3.01369096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:0.60, Z:0.02 [[ 9.99998314e-01 -1.79738439e-03 -3.76869041e-04 6.37504753e+01] [ 1.79738476e-03 9.99998385e-01 6.43028862e-07 6.01471668e-01] [ 3.76867276e-04 -1.32040645e-06 9.99999929e-01 1.52013454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:0.60, Z:0.03 [[ 9.99990474e-01 4.34852321e-03 -3.76868916e-04 6.37803608e+01] [-4.34852354e-03 9.99990545e-01 -6.60053805e-08 5.97769021e-01] [ 3.76865066e-04 1.70482811e-06 9.99999929e-01 2.63388407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters Centerline goodness : 0.901436 Centerline is valid? [True, False] Translation: X:63.80, Y:0.61, Z:0.03 [[ 9.99978709e-01 1.49511537e-03 -6.35190382e-03 6.38016672e+01] [-1.57137693e-03 9.99926545e-01 -1.20181171e-02 6.07000758e-01] [ 6.33346877e-03 1.20278424e-02 9.99907605e-01 3.15033303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:63.80, Y:0.61, Z:0.03 [[ 9.99978583e-01 1.53789631e-03 -6.36148220e-03 6.38017204e+01] [-1.61377678e-03 9.99927411e-01 -1.19402279e-02 6.06720838e-01] [ 6.34265760e-03 1.19502382e-02 9.99908477e-01 3.14336035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters Centerline goodness : 0.692092 Centerline is valid? [True, False] Translation: X:63.80, Y:0.60, Z:0.03 [[ 9.99962856e-01 5.74002388e-03 -6.42946857e-03 6.38019583e+01] [-5.78447291e-03 9.99959352e-01 -6.91620079e-03 6.03186604e-01] [ 6.38950807e-03 6.95313499e-03 9.99955413e-01 3.08126024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35864 meters Centerline goodness : 0.951634 Centerline is valid? [False, True] Translation: X:63.80, Y:0.61, Z:0.03 [[ 9.99979328e-01 1.56061526e-03 -6.23759878e-03 6.38014118e+01] [-1.63484951e-03 9.99927692e-01 -1.19137672e-02 6.06596084e-01] [ 6.21855494e-03 1.19237185e-02 9.99909573e-01 3.15414328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.87, Y:0.58, Z:0.05 [[ 9.98055111e-01 -6.19472954e-02 -6.96625229e-03 6.38666596e+01] [ 6.19213617e-02 9.98073493e-01 -3.87899123e-03 5.81273437e-01] [ 7.19312477e-03 3.44008719e-03 9.99968212e-01 5.21021421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:0.59, Z:0.04 [[ 9.98207179e-01 -5.94129411e-02 -7.24783663e-03 6.38963135e+01] [ 5.94106814e-02 9.98233486e-01 -5.26869115e-04 5.87013433e-01] [ 7.26633607e-03 9.53256199e-05 9.99973595e-01 4.08822330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:63.93, Y:0.59, Z:0.05 [[ 9.98452621e-01 -5.51355795e-02 -7.24100410e-03 6.39289524e+01] [ 5.51326173e-02 9.98478855e-01 -6.08213198e-04 5.92974230e-01] [ 7.26352367e-03 2.08056553e-04 9.99973599e-01 5.33936996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:63.96, Y:0.60, Z:0.05 [[ 9.98543625e-01 -5.34612427e-02 -7.24733937e-03 6.39599527e+01] [ 5.34587868e-02 9.98569915e-01 -5.32306756e-04 5.98923198e-01] [ 7.26543284e-03 1.44097548e-04 9.99973596e-01 5.29091366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:63.99, Y:0.61, Z:0.05 [[ 9.98508831e-01 -5.41074458e-02 -7.24559889e-03 6.39911153e+01] [ 5.41048554e-02 9.98535106e-01 -5.53189129e-04 6.05473345e-01] [ 7.26491651e-03 1.60342150e-04 9.99973597e-01 5.13385363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:64.02, Y:0.62, Z:0.05 [[ 9.98538010e-01 -5.35663915e-02 -7.24462346e-03 6.40213791e+01] [ 5.35637020e-02 9.98564275e-01 -5.64895467e-04 6.18476611e-01] [ 7.26448158e-03 1.76020744e-04 9.99973598e-01 4.65495778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:64.05, Y:0.63, Z:0.06 [[ 9.98514474e-01 -5.40036768e-02 -7.24216159e-03 6.40541411e+01] [ 5.40007845e-02 9.98540716e-01 -5.94462143e-04 6.25099209e-01] [ 7.26369636e-03 2.02496646e-04 9.99973599e-01 5.52844986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:64.09, Y:0.63, Z:0.05 [[ 9.98382453e-01 -5.63914277e-02 -7.24459054e-03 6.40850051e+01] [ 5.63888120e-02 9.98408725e-01 -5.64961807e-04 6.30325797e-01] [ 7.26492140e-03 1.55534101e-04 9.99973598e-01 4.96561253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:64.12, Y:0.64, Z:0.06 [[ 9.98002087e-01 -6.27645266e-02 -7.24211288e-03 6.41177477e+01] [ 6.27618601e-02 9.98028354e-01 -5.95102910e-04 6.37525946e-01] [ 7.26518534e-03 1.39385471e-04 9.99973598e-01 5.92066958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65863999999999 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:64.15, Y:0.64, Z:0.04 [[ 9.97574461e-01 -6.92294089e-02 -7.24453438e-03 6.41482044e+01] [ 6.92271261e-02 9.97600764e-01 -5.65704893e-04 6.42056905e-01] [ 7.26631645e-03 6.28144585e-05 9.99973598e-01 4.26501903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:64.18, Y:0.65, Z:0.06 [[ 9.97241309e-01 -7.38737103e-02 -7.24204207e-03 6.41792074e+01] [ 7.38713300e-02 9.97267603e-01 -5.95989725e-04 6.45781099e-01] [ 7.26628191e-03 5.93662936e-05 9.99973598e-01 5.89352267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71864 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:64.21, Y:0.65, Z:0.06 [[ 9.96493066e-01 -8.33613817e-02 -7.24214336e-03 6.42094963e+01] [ 8.33592607e-02 9.96519383e-01 -5.94758665e-04 6.48437539e-01] [ 7.26651613e-03 -1.10268304e-05 9.99973598e-01 6.04926320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:64.24, Y:0.65, Z:0.06 [[ 9.96162925e-01 -8.72182816e-02 -7.23859539e-03 6.42421194e+01] [ 8.72159485e-02 9.96189225e-01 -6.37963497e-04 6.50793646e-01] [ 7.26665281e-03 4.19462167e-06 9.99973598e-01 6.10835003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:64.28, Y:0.65, Z:0.05 [[ 9.95823959e-01 -9.10068457e-02 -7.23861904e-03 6.42758618e+01] [ 9.10046147e-02 9.95850267e-01 -6.37674363e-04 6.51835746e-01] [ 7.26661343e-03 -2.37363281e-05 9.99973598e-01 4.56574893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:64.31, Y:0.65, Z:0.05 [[ 9.95854839e-01 -9.06679899e-02 -7.24262553e-03 6.43089295e+01] [ 9.06661085e-02 9.95881173e-01 -5.88354685e-04 6.53677963e-01] [ 7.26613935e-03 -7.07448118e-05 9.99973599e-01 4.59133194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83864 meters Centerline goodness : 0.986462 Centerline is valid? [True, True] Translation: X:64.32, Y:0.61, Z:0.05 [[ 9.85686739e-01 -1.68431569e-01 -7.24291236e-03 6.43154956e+01] [ 1.68431783e-01 9.85713139e-01 -5.84802289e-04 6.11323198e-01] [ 7.23793304e-03 -6.43504783e-04 9.99973599e-01 4.86300663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:64.37, Y:0.65, Z:0.05 [[ 9.95931868e-01 -8.98233265e-02 -7.17531387e-03 6.43680779e+01] [ 8.98156964e-02 9.95957448e-01 -1.37927978e-03 6.54455143e-01] [ 7.27019879e-03 7.29212870e-04 9.99973306e-01 4.61098561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:64.40, Y:0.66, Z:0.05 [[ 9.96096612e-01 -8.79723249e-02 -7.23939180e-03 6.44003761e+01] [ 8.79704232e-02 9.96122917e-01 -5.81312381e-04 6.55335479e-01] [ 7.26246348e-03 -5.78090669e-05 9.99973626e-01 4.59855842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92864 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:64.43, Y:0.66, Z:0.06 [[ 9.96266430e-01 -8.60278293e-02 -7.23963988e-03 6.44307118e+01] [ 8.60258989e-02 9.96292733e-01 -5.78206181e-04 6.56230019e-01] [ 7.26254243e-03 -4.67491213e-05 9.99973626e-01 6.36488453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95864 meters Centerline goodness : 0.842931 Centerline is valid? [True, False] Translation: X:64.43, Y:0.66, Z:0.06 [[ 9.97316978e-01 -7.27804108e-02 -7.86497662e-03 6.44323564e+01] [ 7.27280868e-02 9.97328991e-01 -6.74610240e-03 6.59285215e-01] [ 8.33495330e-03 6.15599775e-03 9.99946315e-01 6.37544118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98864 meters Centerline goodness : 0.997734 Centerline is valid? [False, True] Translation: X:64.43, Y:0.66, Z:0.06 [[ 9.98285258e-01 -5.83135241e-02 -5.10659456e-03 6.44304765e+01] [ 5.82527110e-02 9.98237435e-01 -1.13422052e-02 6.62667295e-01] [ 5.75899781e-03 1.10252833e-02 9.99922636e-01 6.39852746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01863999999999 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:64.46, Y:0.65, Z:0.08 [[ 9.98357587e-01 -5.70037425e-02 -5.71847627e-03 6.44619922e+01] [ 5.70028607e-02 9.98373965e-01 -3.17190628e-04 6.48804564e-01] [ 5.72725887e-03 -9.29983585e-06 9.99983599e-01 7.83279191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:64.49, Y:0.65, Z:0.08 [[ 9.98349843e-01 -5.71392835e-02 -5.71785415e-03 6.44944555e+01] [ 5.71383398e-02 9.98366217e-01 -3.28398667e-04 6.48944883e-01] [ 5.72727688e-03 1.14806403e-06 9.99983599e-01 7.84527597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:64.53, Y:0.65, Z:0.08 [[ 9.98460509e-01 -5.51717964e-02 -5.71710526e-03 6.45280462e+01] [ 5.51707423e-02 9.98476876e-01 -3.42046320e-04 6.49364513e-01] [ 5.72726871e-03 2.61028017e-05 9.99983599e-01 7.78142371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters Centerline goodness : 0.867810 Centerline is valid? [True, False] Translation: X:64.53, Y:0.65, Z:0.08 [[ 9.99072938e-01 -4.27424759e-02 -5.13269025e-03 6.45281997e+01] [ 4.27022566e-02 9.99058129e-01 -7.70532224e-03 6.54944277e-01] [ 5.45720047e-03 7.47900148e-03 9.99957141e-01 7.80706687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13864 meters Centerline goodness : 0.997738 Centerline is valid? [False, True] Translation: X:64.53, Y:0.66, Z:0.08 [[ 9.99555188e-01 -2.91022002e-02 -6.51835148e-03 6.45305016e+01] [ 2.90138757e-02 9.99491082e-01 -1.32578861e-02 6.57366687e-01] [ 6.90086784e-03 1.30628662e-02 9.99890864e-01 7.75196690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16864 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:64.57, Y:0.67, Z:0.08 [[ 9.99603037e-01 2.73064786e-02 -6.93722158e-03 6.45676386e+01] [-2.73086787e-02 9.99627024e-01 -2.22603334e-04 6.70726438e-01] [ 6.92855565e-03 4.11961324e-04 9.99975912e-01 7.63939573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19864 meters Centerline goodness : 0.970049 Centerline is valid? [True, True] Translation: X:64.59, Y:0.67, Z:0.06 [[ 9.97618703e-01 6.86198968e-02 -6.94494370e-03 6.45890297e+01] [-6.86213300e-02 9.97642778e-01 3.20010182e-05 6.72172272e-01] [ 6.93076883e-03 4.44646459e-04 9.99975883e-01 6.07312111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22864 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:64.58, Y:0.67, Z:0.06 [[ 9.98784631e-01 4.87969251e-02 -6.93692871e-03 6.45840534e+01] [-4.87996247e-02 9.98808564e-01 -2.20340264e-04 6.67046235e-01] [ 6.91791188e-03 5.58591986e-04 9.99975915e-01 5.79895584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25864 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:64.64, Y:0.67, Z:0.09 [[ 9.99862564e-01 1.50584433e-02 -6.93516112e-03 6.46430883e+01] [-1.50635696e-02 9.99886302e-01 -6.87542090e-04 6.65550886e-01] [ 6.92401929e-03 7.91915879e-04 9.99975715e-01 9.25237796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28864 meters Centerline goodness : 0.945394 Centerline is valid? [True, False] Translation: X:64.64, Y:0.67, Z:0.09 [[ 9.99952181e-01 6.76184013e-03 -7.06486419e-03 6.46433071e+01] [-6.83655253e-03 9.99920393e-01 -1.06051253e-02 6.72541052e-01] [ 6.99259162e-03 1.06529175e-02 9.99918806e-01 9.34310780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31864 meters Centerline goodness : 0.997152 Centerline is valid? [False, True] Translation: X:64.64, Y:0.68, Z:0.09 [[ 9.99971796e-01 2.55644859e-03 -7.06202639e-03 6.46432819e+01] [-2.66595143e-03 9.99875689e-01 -1.55402193e-02 6.75616546e-01] [ 7.02142074e-03 1.55586080e-02 9.99854304e-01 9.39897868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34864 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:64.67, Y:0.66, Z:0.08 [[ 9.99972677e-01 1.21948388e-03 -7.29096884e-03 6.46720975e+01] [-1.21913597e-03 9.99999255e-01 5.21626959e-05 6.61202177e-01] [ 7.29102702e-03 -4.32725883e-05 9.99973419e-01 7.75633553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37863999999999 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:64.68, Y:0.66, Z:0.08 [[ 9.99970398e-01 2.46561999e-03 -7.28855418e-03 6.46757640e+01] [-2.46648084e-03 9.99996952e-01 -1.09123312e-04 6.55022589e-01] [ 7.28826291e-03 1.27097161e-04 9.99973432e-01 8.09272124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40863999999999 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:64.73, Y:0.66, Z:0.09 [[ 9.99971068e-01 2.20711191e-03 -7.27958813e-03 6.47301159e+01] [-2.21253485e-03 9.99997281e-01 -7.36982057e-04 6.62372620e-01] [ 7.27794174e-03 7.53067077e-04 9.99973232e-01 9.04374733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43863999999999 meters Centerline goodness : 0.904909 Centerline is valid? [True, False] Translation: X:64.74, Y:0.66, Z:0.09 [[ 9.99966667e-01 -1.66273234e-04 -8.16311798e-03 6.47352894e+01] [ 1.39469623e-04 9.99994598e-01 -3.28396114e-03 6.63170296e-01] [ 8.16361991e-03 3.28271317e-03 9.99961289e-01 8.62461455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters Centerline goodness : 0.996704 Centerline is valid? [False, True] Translation: X:64.76, Y:0.67, Z:0.09 [[ 9.99950528e-01 -4.79634670e-04 -9.93537799e-03 6.47567950e+01] [ 3.43304292e-04 9.99905833e-01 -1.37188737e-02 6.67675521e-01] [ 9.94102245e-03 1.37147842e-02 9.99856530e-01 9.01190860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49864 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:64.79, Y:0.65, Z:0.09 [[ 9.99948324e-01 -1.65229493e-03 -1.00309551e-02 6.47855238e+01] [ 1.65381463e-03 9.99998622e-01 1.43207622e-04 6.53030304e-01] [ 1.00307046e-02 -1.59789562e-04 9.99949678e-01 8.73414604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:64.81, Y:0.64, Z:0.09 [[ 9.99752422e-01 -1.98618340e-02 -1.00300367e-02 6.48077669e+01] [ 1.98630245e-02 9.99802710e-01 1.90786748e-05 6.43659342e-01] [ 1.00276789e-02 -2.18300816e-04 9.99949698e-01 8.53289624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55864 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:64.84, Y:0.65, Z:0.09 [[ 9.99923259e-01 -7.27554907e-03 -1.00270939e-02 6.48441046e+01] [ 7.27231779e-03 9.99973492e-01 -3.58678887e-04 6.45280466e-01] [ 1.00294377e-02 2.85731148e-04 9.99949663e-01 8.68115615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58864 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:64.87, Y:0.65, Z:0.09 [[ 9.99921149e-01 -7.55715492e-03 -1.00292557e-02 6.48723791e+01] [ 7.55702005e-03 9.99971444e-01 -5.13449410e-05 6.45062166e-01] [ 1.00293573e-02 -2.44503938e-05 9.99949704e-01 8.70382335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61864 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:64.90, Y:0.64, Z:0.09 [[ 9.99918440e-01 -7.90747929e-03 -1.00292305e-02 6.49006951e+01] [ 7.90732758e-03 9.99968735e-01 -5.47807865e-05 6.42201626e-01] [ 1.00293502e-02 -2.45280927e-05 9.99949705e-01 8.74014832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64864 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:64.93, Y:0.64, Z:0.09 [[ 9.99918988e-01 -7.83762988e-03 -1.00293567e-02 6.49292905e+01] [ 7.83763799e-03 9.99969285e-01 -3.84961619e-05 6.39808026e-01] [ 1.00293504e-02 -4.01134239e-05 9.99949704e-01 8.81883676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:64.96, Y:0.63, Z:0.09 [[ 9.99906272e-01 -9.31965181e-03 -1.00295302e-02 6.49583703e+01] [ 9.31995441e-03 9.99956568e-01 -1.65681622e-05 6.33193950e-01] [ 1.00292490e-02 -7.69081545e-05 9.99949703e-01 8.84353460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70864 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:64.99, Y:0.63, Z:0.09 [[ 9.99908673e-01 -9.05857385e-03 -1.00293881e-02 6.49882990e+01] [ 9.05869445e-03 9.99958969e-01 -3.34039262e-05 6.31170203e-01] [ 1.00292792e-02 -5.74522870e-05 9.99949704e-01 9.19139865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:65.02, Y:0.63, Z:0.09 [[ 9.99917318e-01 -8.04816088e-03 -1.00291576e-02 6.50190584e+01] [ 8.04796412e-03 9.99967613e-01 -5.99774504e-05 6.27898866e-01] [ 1.00293155e-02 -2.07418090e-05 9.99949705e-01 8.81177229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:65.05, Y:0.62, Z:0.09 [[ 9.99935059e-01 -5.41221170e-03 -1.00291952e-02 6.50476543e+01] [ 5.41192551e-03 9.99985354e-01 -5.56746818e-05 6.22515675e-01] [ 1.00293496e-02 1.39380896e-06 9.99949705e-01 8.85080436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79863999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:65.08, Y:0.62, Z:0.09 [[ 9.99940661e-01 -4.25324520e-03 -1.00291974e-02 6.50767892e+01] [ 4.25290321e-03 9.99990955e-01 -5.54265243e-05 6.20896669e-01] [ 1.00293424e-02 1.27700294e-05 9.99949705e-01 8.93951810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:65.11, Y:0.62, Z:0.09 [[ 9.99948028e-01 -1.83198805e-03 -1.00291743e-02 6.51051415e+01] [ 1.83149935e-03 9.99998321e-01 -5.79118249e-05 6.20407703e-01] [ 1.00292636e-02 3.95403889e-05 9.99949705e-01 9.08535756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:65.13, Y:0.62, Z:0.09 [[ 9.99949695e-01 1.43449641e-04 -1.00293294e-02 6.51326036e+01] [-1.43877452e-04 9.99999989e-01 -4.19345303e-05 6.21082337e-01] [ 1.00293233e-02 4.33754152e-05 9.99949704e-01 9.04757062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:65.16, Y:0.62, Z:0.09 [[ 9.99935010e-01 5.42164626e-03 -1.00290270e-02 6.51608922e+01] [-5.42264518e-03 9.99985295e-01 -7.24126489e-05 6.22909163e-01] [ 1.00284869e-02 1.26791798e-04 9.99949705e-01 9.02593114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:65.19, Y:0.62, Z:0.09 [[ 9.99907303e-01 9.20904741e-03 -1.00288853e-02 6.51892705e+01] [-9.21037340e-03 9.99957580e-01 -8.60386211e-05 6.24548257e-01] [ 1.00276676e-02 1.78400424e-04 9.99949706e-01 9.01963065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:65.22, Y:0.63, Z:0.09 [[ 9.99868325e-01 1.27572804e-02 -1.00291586e-02 6.52166638e+01] [-1.27585246e-02 9.99918605e-01 -6.00860978e-05 6.26892444e-01] [ 1.00275757e-02 1.88035453e-04 9.99949705e-01 9.03909059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:65.25, Y:0.63, Z:0.09 [[ 9.99847404e-01 1.43034786e-02 -1.00288705e-02 6.52457493e+01] [-1.43050655e-02 9.99897674e-01 -8.65171661e-05 6.28656605e-01] [ 1.00266068e-02 2.29967613e-04 9.99949706e-01 9.03910568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:65.27, Y:0.62, Z:0.08 [[ 9.99555966e-01 -2.80586801e-02 -1.00289980e-02 6.52665125e+01] [ 2.80593372e-02 9.99606256e-01 -7.52049065e-05 6.16438187e-01] [ 1.00271593e-02 -2.06235524e-04 9.99949706e-01 7.72036326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:65.30, Y:0.64, Z:0.09 [[ 9.99812240e-01 1.65833554e-02 -1.00238597e-02 6.53035721e+01] [-1.65892101e-02 9.99862264e-01 -5.01205906e-04 6.35107070e-01] [ 1.00141674e-02 6.67399715e-04 9.99949634e-01 9.22295211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:65.33, Y:0.64, Z:0.09 [[ 9.99817879e-01 1.62371011e-02 -1.00282070e-02 6.53322151e+01] [-1.62388805e-02 9.99868136e-01 -9.60356020e-05 6.36326025e-01] [ 1.00253253e-02 2.58864967e-04 9.99949712e-01 8.91015906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:65.36, Y:0.64, Z:0.09 [[ 9.99786641e-01 1.80584248e-02 -1.00282611e-02 6.53607193e+01] [-1.80602464e-02 9.99836896e-01 -9.11072205e-05 6.40441039e-01] [ 1.00249802e-02 2.72200649e-04 9.99949712e-01 9.05725196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:65.39, Y:0.64, Z:0.09 [[ 9.99782146e-01 1.83055944e-02 -1.00282113e-02 6.53885529e+01] [-1.83074720e-02 9.99832400e-01 -9.54533971e-05 6.43984884e-01] [ 1.00247833e-02 2.79023800e-04 9.99949712e-01 9.02160437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15863999999999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:65.42, Y:0.65, Z:0.09 [[ 9.99789825e-01 1.78814307e-02 -1.00280105e-02 6.54174592e+01] [-1.78834562e-02 9.99840072e-01 -1.12338558e-04 6.47532969e-01] [ 1.00243979e-02 2.91650433e-04 9.99949712e-01 9.26298091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18863999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:65.45, Y:0.65, Z:0.09 [[ 9.99801192e-01 1.72338426e-02 -1.00285127e-02 6.54457798e+01] [-1.72354227e-02 9.99851457e-01 -7.11484094e-05 6.49445006e-01] [ 1.00257969e-02 2.43979920e-04 9.99949711e-01 9.18798265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:65.47, Y:0.65, Z:0.09 [[ 9.99837150e-01 1.50032943e-02 -1.00287134e-02 6.54743511e+01] [-1.50046057e-02 9.99887423e-01 -5.55385878e-05 6.50676877e-01] [ 1.00267512e-02 2.06006434e-04 9.99949710e-01 9.15621590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:65.50, Y:0.65, Z:0.09 [[ 9.99909568e-01 8.96024827e-03 -1.00284538e-02 6.55043364e+01] [-8.96144941e-03 9.99959843e-01 -7.48422914e-05 6.51779921e-01] [ 1.00273804e-02 1.64705004e-04 9.99949711e-01 9.27059761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:65.53, Y:0.65, Z:0.09 [[ 9.99936139e-01 5.20999202e-03 -1.00286348e-02 6.55326771e+01] [-5.21087265e-03 9.99986421e-01 -6.16836046e-05 6.53081904e-01] [ 1.00281772e-02 1.13937604e-04 9.99949710e-01 9.31164354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:65.56, Y:0.65, Z:0.09 [[ 9.99947335e-01 -2.18288325e-03 -1.00280401e-02 6.55613675e+01] [ 2.18195733e-03 9.99997614e-01 -1.03272527e-04 6.52684841e-01] [ 1.00282416e-02 8.13863330e-05 9.99949713e-01 9.39677718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:65.59, Y:0.65, Z:0.09 [[ 9.99936630e-01 -5.11621533e-03 -1.00279748e-02 6.55901272e+01] [ 5.11539209e-03 9.99986910e-01 -1.07741164e-04 6.51334802e-01] [ 1.00283947e-02 5.64373135e-05 9.99949713e-01 9.48782792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:65.62, Y:0.65, Z:0.09 [[ 9.99906044e-01 -9.34577343e-03 -1.00279654e-02 6.56189696e+01] [ 9.34515654e-03 9.99956327e-01 -1.08374563e-04 6.49961838e-01] [ 1.00285403e-02 1.46514745e-05 9.99949713e-01 9.47840825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:65.65, Y:0.65, Z:0.09 [[ 9.99794488e-01 -1.76190130e-02 -1.00275635e-02 6.56480434e+01] [ 1.76185462e-02 9.99844772e-01 -1.34893378e-04 6.46084915e-01] [ 1.00283836e-02 -4.18054352e-05 9.99949714e-01 9.40844936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:65.68, Y:0.64, Z:0.10 [[ 9.99715816e-01 -2.16272679e-02 -1.00273897e-02 6.56759174e+01] [ 2.16268905e-02 9.99766101e-01 -1.46076831e-04 6.41939388e-01] [ 1.00282036e-02 -7.08259420e-05 9.99949714e-01 9.59579028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:65.71, Y:0.64, Z:0.10 [[ 9.99596525e-01 -2.65753431e-02 -1.00269117e-02 6.57053063e+01] [ 2.65749101e-02 9.99646809e-01 -1.76434441e-04 6.36170364e-01] [ 1.00280591e-02 -9.01010225e-05 9.99949714e-01 9.60367004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:65.74, Y:0.63, Z:0.10 [[ 9.99432165e-01 -3.21681155e-02 -1.00280002e-02 6.57360192e+01] [ 3.21686604e-02 9.99482449e-01 -1.06998751e-04 6.27020886e-01] [ 1.00262522e-02 -2.15649340e-04 9.99949713e-01 9.74621561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51863999999999 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:65.76, Y:0.62, Z:0.10 [[ 9.99403048e-01 -3.30601426e-02 -1.00287389e-02 6.57634447e+01] [ 3.30611848e-02 9.99453328e-01 -6.18920035e-05 6.24571928e-01] [ 1.00253026e-02 -2.69706932e-04 9.99949709e-01 9.54428399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:65.79, Y:0.62, Z:0.10 [[ 9.99364560e-01 -3.42044877e-02 -1.00263925e-02 6.57939092e+01] [ 3.42041916e-02 9.99414845e-01 -2.01061412e-04 6.20817851e-01] [ 1.00274028e-02 -1.42011002e-04 9.99949714e-01 9.69836032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:65.82, Y:0.61, Z:0.09 [[ 9.99457657e-01 -3.13666448e-02 -1.00261993e-02 6.58240410e+01] [ 3.13660891e-02 9.99507941e-01 -2.12706448e-04 6.11139127e-01] [ 1.00279377e-02 -1.01891573e-04 9.99949714e-01 9.37369824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:65.85, Y:0.61, Z:0.10 [[ 9.99529578e-01 -2.89844239e-02 -1.00262135e-02 6.58534573e+01] [ 2.89837570e-02 9.99579860e-01 -2.11846927e-04 6.06829487e-01] [ 1.00281414e-02 -7.88500661e-05 9.99949714e-01 9.56949174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:65.88, Y:0.60, Z:0.10 [[ 9.99632913e-01 -2.51695139e-02 -1.00267403e-02 6.58835648e+01] [ 2.51689742e-02 9.99683195e-01 -1.80032445e-04 6.03627961e-01] [ 1.00280951e-02 -7.23964093e-05 9.99949715e-01 9.76469541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:65.91, Y:0.60, Z:0.09 [[ 9.99654210e-01 -2.43085500e-02 -1.00277100e-02 6.59122145e+01] [ 2.43085535e-02 9.99704496e-01 -1.21549610e-04 6.00077024e-01] [ 1.00277015e-02 -1.22251547e-04 9.99949714e-01 9.29462000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69864 meters Centerline goodness : 0.778855 Centerline is valid? [True, False] Translation: X:65.91, Y:0.60, Z:0.09 [[ 9.99943981e-01 -9.16331289e-03 -5.29797473e-03 6.59102110e+01] [ 9.14862329e-03 9.99954257e-01 -2.79029944e-03 5.97325812e-01] [ 5.32330078e-03 2.74167396e-03 9.99982073e-01 9.13428672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72864 meters Centerline goodness : 0.998967 Centerline is valid? [False, True] Translation: X:65.93, Y:0.60, Z:0.10 [[ 9.99951124e-01 -2.45331907e-03 -9.57766156e-03 6.59314413e+01] [ 2.41060466e-03 9.99987109e-01 -4.46879504e-03 5.97231753e-01] [ 9.58850147e-03 4.44548867e-03 9.99944148e-01 9.53802147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:65.96, Y:0.59, Z:0.10 [[ 9.99947572e-01 3.58952495e-03 -9.59001588e-03 6.59602248e+01] [-3.58946651e-03 9.99993558e-01 2.33050748e-05 5.90635820e-01] [ 9.59003775e-03 1.11191879e-05 9.99954014e-01 9.50498335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:65.99, Y:0.59, Z:0.09 [[ 9.99933797e-01 6.35863727e-03 -9.59001438e-03 6.59887309e+01] [-6.35871077e-03 9.99979783e-01 2.28265364e-05 5.89486915e-01] [ 9.58996564e-03 3.81551025e-05 9.99954014e-01 9.47036687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:66.02, Y:0.59, Z:0.09 [[ 9.99917769e-01 8.51394031e-03 -9.59002016e-03 6.60176255e+01] [-8.51409681e-03 9.99963754e-01 2.45075675e-05 5.88089020e-01] [ 9.58988122e-03 5.71448079e-05 9.99954014e-01 9.44119853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:66.02, Y:0.56, Z:0.08 [[ 9.98465454e-01 -5.45414469e-02 -9.59002808e-03 6.60248309e+01] [ 5.45442093e-02 9.98511356e-01 2.65484285e-05 5.63127053e-01] [ 9.57430396e-03 -5.49588188e-04 9.99954014e-01 7.61518712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87863999999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:66.08, Y:0.59, Z:0.10 [[ 9.99812327e-01 1.68365323e-02 -9.58337333e-03 6.60767212e+01] [-1.68466735e-02 9.99857606e-01 -9.78463422e-04 5.86521454e-01] [ 9.56553479e-03 1.13972775e-03 9.99953600e-01 9.58416206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters Centerline goodness : 0.769617 Centerline is valid? [True, False] Translation: X:66.07, Y:0.58, Z:0.09 [[ 9.99990598e-01 3.94144014e-03 1.80828786e-03 6.60674747e+01] [-3.94627867e-03 9.99988622e-01 2.68003728e-03 5.80750410e-01] [-1.79770408e-03 -2.68714809e-03 9.99994774e-01 9.45028781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:66.04, Y:0.59, Z:0.10 [[ 9.99983275e-01 2.58494520e-03 5.17377473e-03 6.60410343e+01] [-2.52699412e-03 9.99934350e-01 -1.11762972e-02 5.89231446e-01] [-5.20232519e-03 1.11630362e-02 9.99924158e-01 9.60808174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:66.07, Y:0.58, Z:0.11 [[ 9.99982763e-01 3.23945850e-03 4.89684872e-03 6.60715097e+01] [-3.24008582e-03 9.99994744e-01 1.20178775e-04 5.80162815e-01] [-4.89643367e-03 -1.36042914e-04 9.99988003e-01 1.11676387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:66.10, Y:0.58, Z:0.11 [[ 9.99952377e-01 8.44204397e-03 4.89659059e-03 6.61041694e+01] [-8.44278482e-03 9.99964351e-01 1.30648881e-04 5.82426134e-01] [-4.89531308e-03 -1.71983520e-04 9.99988003e-01 1.10543522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02864 meters Centerline goodness : 0.800826 Centerline is valid? [True, False] Translation: X:66.10, Y:0.59, Z:0.11 [[ 9.99987742e-01 3.64528875e-04 4.93797006e-03 6.61040792e+01] [-3.16136551e-04 9.99951956e-01 -9.79728196e-03 5.89815835e-01] [-4.94130421e-03 9.79560079e-03 9.99939813e-01 1.10757102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05864 meters Centerline goodness : 0.999312 Centerline is valid? [False, True] Translation: X:66.10, Y:0.59, Z:0.11 [[ 9.99988220e-01 4.59452269e-04 4.83208286e-03 6.61043531e+01] [-4.11171462e-04 9.99950034e-01 -9.98796904e-03 5.91001518e-01] [-4.83643042e-03 9.98586457e-03 9.99938444e-01 1.10509088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08864 meters Centerline goodness : 0.846294 Centerline is valid? [True, False] Translation: X:66.10, Y:0.59, Z:0.11 [[ 9.99987191e-01 5.28046203e-04 5.03370458e-03 6.61038908e+01] [-4.75917838e-04 9.99946309e-01 -1.03514436e-02 5.92819643e-01] [-5.03890035e-03 1.03489154e-02 9.99933753e-01 1.10703443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:66.10, Y:0.60, Z:0.11 [[ 9.99986425e-01 6.12138755e-04 5.17440967e-03 6.61035035e+01] [-5.52657368e-04 9.99933847e-01 -1.14889230e-02 5.97979156e-01] [-5.18110019e-03 1.14859074e-02 9.99920612e-01 1.11075618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14864 meters Centerline goodness : 0.885690 Centerline is valid? [True, False] Translation: X:66.10, Y:0.60, Z:0.11 [[ 9.99986144e-01 5.97576134e-04 5.23011035e-03 6.61033177e+01] [-5.34719920e-04 9.99927719e-01 -1.20113009e-02 6.00160822e-01] [-5.23690998e-03 1.20083378e-02 9.99914184e-01 1.11284240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:66.10, Y:0.60, Z:0.11 [[ 9.99986409e-01 6.30412036e-04 5.17544846e-03 6.61034541e+01] [-5.65730942e-04 9.99921841e-01 -1.24896444e-02 6.02352262e-01] [-5.18291757e-03 1.24865468e-02 9.99908608e-01 1.11311037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:66.13, Y:0.60, Z:0.13 [[ 9.99974057e-01 -5.44829941e-03 4.71185477e-03 6.61336991e+01] [ 5.44754630e-03 9.99985147e-01 1.72652002e-04 5.95382449e-01] [-4.71272544e-03 -1.46979475e-04 9.99988884e-01 1.26096099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:0.60, Z:0.11 [[ 9.99974677e-01 -5.33412486e-03 4.71096801e-03 6.61654755e+01] [ 5.33325701e-03 9.99985759e-01 1.96762602e-04 5.97695555e-01] [-4.71195047e-03 -1.71632816e-04 9.99988884e-01 1.09255960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26863999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:66.19, Y:0.60, Z:0.13 [[ 9.99891567e-01 -1.39517944e-02 4.71187526e-03 6.61925161e+01] [ 1.39511392e-02 9.99902663e-01 1.71893540e-04 5.98915354e-01] [-4.71381484e-03 -1.06138873e-04 9.99988884e-01 1.27538856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:0.60, Z:0.11 [[ 9.99928601e-01 -1.09827419e-02 4.70875154e-03 6.62266331e+01] [ 1.09816524e-02 9.99939667e-01 2.57182694e-04 6.04046951e-01] [-4.71129201e-03 -2.05454459e-04 9.99988881e-01 1.09677285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:66.26, Y:0.61, Z:0.13 [[ 9.99914820e-01 -1.21717462e-02 4.71192701e-03 6.62568750e+01] [ 1.21710884e-02 9.99925915e-01 1.68255321e-04 6.07631159e-01] [-4.71362589e-03 -1.10891709e-04 9.99988885e-01 1.25803432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:66.29, Y:0.61, Z:0.13 [[ 9.99904007e-01 -1.30298273e-02 4.71162545e-03 6.62884558e+01] [ 1.30291390e-02 9.99915102e-01 1.76752357e-04 6.10037579e-01] [-4.71352849e-03 -1.15346967e-04 9.99988885e-01 1.27070457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:66.32, Y:0.61, Z:0.12 [[ 9.99873027e-01 -1.52227034e-02 4.71164913e-03 6.63196905e+01] [ 1.52220426e-02 9.99884122e-01 1.76081065e-04 6.10607497e-01] [-4.71378359e-03 -1.04337784e-04 9.99988885e-01 1.24794966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:66.35, Y:0.61, Z:0.12 [[ 9.99842405e-01 -1.71162249e-02 4.71159740e-03 6.63529003e+01] [ 1.71155781e-02 9.99853502e-01 1.77558413e-04 6.10176833e-01] [-4.71394629e-03 -9.68887173e-05 9.99988885e-01 1.23587089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:66.39, Y:0.61, Z:0.13 [[ 9.99740203e-01 -2.23007325e-02 4.71205929e-03 6.63853470e+01] [ 2.23002060e-02 9.99751306e-01 1.64245872e-04 6.10612419e-01] [-4.71455023e-03 -5.91233086e-05 9.99988885e-01 1.25249872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:66.42, Y:0.61, Z:0.13 [[ 9.99753259e-01 -2.17076156e-02 4.71165213e-03 6.64179164e+01] [ 2.17070263e-02 9.99764359e-01 1.76179760e-04 6.12028425e-01] [-4.71436631e-03 -7.38603324e-05 9.99988885e-01 1.25094517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50864 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:66.45, Y:0.61, Z:0.12 [[ 9.99706509e-01 -2.37633093e-02 4.71174460e-03 6.64495403e+01] [ 2.37627558e-02 9.99717611e-01 1.73421401e-04 6.12868731e-01] [-4.71453512e-03 -6.14064673e-05 9.99988885e-01 1.22832781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:66.48, Y:0.61, Z:0.12 [[ 9.99688352e-01 -2.45152937e-02 4.71154524e-03 6.64814260e+01] [ 2.45147202e-02 9.99699453e-01 1.79428912e-04 6.13036430e-01] [-4.71452795e-03 -6.38707799e-05 9.99988885e-01 1.22152516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:66.51, Y:0.61, Z:0.12 [[ 9.99645749e-01 -2.61950256e-02 4.71142166e-03 6.65146777e+01] [ 2.61944530e-02 9.99656850e-01 1.83213324e-04 6.12082673e-01] [-4.71460421e-03 -5.97353075e-05 9.99988884e-01 1.21367027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:66.55, Y:0.61, Z:0.12 [[ 9.99562862e-01 -2.91870511e-02 4.71183667e-03 6.65473181e+01] [ 2.91865725e-02 9.99573967e-01 1.70313134e-04 6.10588648e-01] [-4.71480021e-03 -3.27163207e-05 9.99988885e-01 1.20602931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:66.58, Y:0.61, Z:0.12 [[ 9.99531313e-01 -3.02481893e-02 4.71192209e-03 6.65800642e+01] [ 3.02477353e-02 9.99542419e-01 1.67602294e-04 6.09869504e-01] [-4.71483567e-03 -2.49987682e-05 9.99988885e-01 1.20196668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65863999999999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:66.61, Y:0.60, Z:0.12 [[ 9.99427279e-01 -3.35098518e-02 4.71202002e-03 6.66131256e+01] [ 3.35094489e-02 9.99438387e-01 1.64440105e-04 6.03388996e-01] [-4.71488406e-03 -6.44873274e-06 9.99988885e-01 1.21446659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:66.65, Y:0.60, Z:0.12 [[ 9.99398911e-01 -3.43454576e-02 4.71234718e-03 6.66458282e+01] [ 3.43451146e-02 9.99410021e-01 1.53728268e-04 6.01783724e-01] [-4.71484686e-03 8.21023984e-06 9.99988885e-01 1.22553187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:66.64, Y:0.59, Z:0.11 [[ 9.99337568e-01 -3.60862405e-02 4.71259149e-03 6.66385075e+01] [ 3.60859550e-02 9.99348679e-01 1.45637346e-04 5.87801145e-01] [-4.71477758e-03 2.45174928e-05 9.99988885e-01 1.06552501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:66.67, Y:0.59, Z:0.10 [[ 9.99548738e-01 -2.96742657e-02 4.66468112e-03 6.66691617e+01] [ 2.96702621e-02 9.99559313e-01 9.25158005e-04 5.87314698e-01] [-4.69007883e-03 -7.86338205e-04 9.99988692e-01 1.03279778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:66.74, Y:0.60, Z:0.12 [[ 9.99795739e-01 -1.96649268e-02 4.66600906e-03 6.67352214e+01] [ 1.96610973e-02 9.99806328e-01 8.65164293e-04 5.97606894e-01] [-4.68211877e-03 -7.73248715e-04 9.99988740e-01 1.20981420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80864 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:66.77, Y:0.60, Z:0.12 [[ 9.99805718e-01 -1.91476625e-02 4.67905543e-03 6.67674951e+01] [ 1.91476180e-02 9.99816666e-01 5.43232638e-05 5.95995188e-01] [-4.67923777e-03 3.52800560e-05 9.99989052e-01 1.21574771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:66.80, Y:0.59, Z:0.12 [[ 9.99839621e-01 -1.72870435e-02 4.67882398e-03 6.68010917e+01] [ 1.72869097e-02 9.99850568e-01 6.90232588e-05 5.91134565e-01] [-4.67931803e-03 1.18702190e-05 9.99989052e-01 1.22342301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:66.83, Y:0.59, Z:0.12 [[ 9.99870784e-01 -1.53793038e-02 4.67897656e-03 6.68328506e+01] [ 1.53791952e-02 9.99881731e-01 5.91814350e-05 5.88181069e-01] [-4.67933336e-03 1.27851061e-05 9.99989052e-01 1.20521330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:66.86, Y:0.58, Z:0.12 [[ 9.99875630e-01 -1.50609123e-02 4.67899600e-03 6.68647218e+01] [ 1.50608063e-02 9.99886578e-01 5.78948726e-05 5.84931837e-01] [-4.67933725e-03 1.25817801e-05 9.99989052e-01 1.21261159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:66.90, Y:0.58, Z:0.12 [[ 9.99906867e-01 -1.28204708e-02 4.67899548e-03 6.68960438e+01] [ 1.28203400e-02 9.99917814e-01 5.79296509e-05 5.80843398e-01] [-4.67935362e-03 2.06205741e-06 9.99989052e-01 1.21387837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:66.93, Y:0.58, Z:0.12 [[ 9.99927618e-01 -1.10844602e-02 4.67895690e-03 6.69270862e+01] [ 1.10842984e-02 9.99938565e-01 6.05046722e-05 5.80302663e-01] [-4.67934011e-03 -8.63733827e-06 9.99989052e-01 1.20440760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:66.96, Y:0.58, Z:0.12 [[ 9.99954130e-01 -8.35741793e-03 4.67893219e-03 6.69591366e+01] [ 8.35721855e-03 9.99965076e-01 6.21612506e-05 5.79204503e-01] [-4.67928829e-03 -2.30555404e-05 9.99989052e-01 1.20074683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01863999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:66.99, Y:0.58, Z:0.12 [[ 9.99957505e-01 -7.94320682e-03 4.67900809e-03 6.69912825e+01] [ 7.94302720e-03 9.99968452e-01 5.69713719e-05 5.77346196e-01] [-4.67931301e-03 -1.98034624e-05 9.99989052e-01 1.16588988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:67.02, Y:0.58, Z:0.11 [[ 9.99965885e-01 -6.80699824e-03 4.67915726e-03 6.70214099e+01] [ 6.80685445e-03 9.99976832e-01 4.66543793e-05 5.75970821e-01] [-4.67936643e-03 -1.48024452e-05 9.99989052e-01 1.05465743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07864 meters Centerline goodness : 0.870842 Centerline is valid? [True, False] Translation: X:67.02, Y:0.58, Z:0.11 [[ 9.99966070e-01 -6.82244003e-03 4.61655537e-03 6.70216471e+01] [ 6.82168949e-03 9.99976716e-01 1.78301995e-04 5.75348837e-01] [-4.61766433e-03 -1.46803238e-04 9.99989328e-01 1.05280330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10864 meters Centerline goodness : 0.999066 Centerline is valid? [False, True] Translation: X:67.02, Y:0.59, Z:0.11 [[ 9.99997523e-01 3.29923187e-04 -2.20110648e-03 6.70243122e+01] [-3.58058380e-04 9.99918087e-01 -1.27941704e-02 5.85886646e-01] [ 2.19670509e-03 1.27949268e-02 9.99915729e-01 1.07425501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.05, Y:0.57, Z:0.09 [[ 9.99996854e-01 -7.89532041e-04 -2.38102520e-03 6.70537048e+01] [ 7.89634062e-04 9.99999687e-01 4.19075084e-05 5.74748071e-01] [ 2.38099137e-03 -4.37875152e-05 9.99997164e-01 9.35411079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:67.08, Y:0.58, Z:0.11 [[ 9.99992993e-01 2.88967581e-03 -2.37993303e-03 6.70845479e+01] [-2.88976531e-03 9.99995824e-01 -3.41675875e-05 5.77618463e-01] [ 2.37982436e-03 4.10447960e-05 9.99997167e-01 1.08133853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:67.11, Y:0.58, Z:0.11 [[ 9.99979728e-01 5.90578339e-03 -2.38016889e-03 6.71144590e+01] [-5.90584228e-03 9.99982560e-01 -1.77140381e-05 5.84240472e-01] [ 2.38002277e-03 3.17705811e-05 9.99997167e-01 1.07784687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22864 meters Centerline goodness : 0.908451 Centerline is valid? [True, False] Translation: X:67.11, Y:0.59, Z:0.11 [[ 9.99995576e-01 1.77178101e-03 -2.38917721e-03 6.71144997e+01] [-1.78456299e-03 9.99984051e-01 -5.35847522e-03 5.89329630e-01] [ 2.37964506e-03 5.36271515e-03 9.99982789e-01 1.07902502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25864 meters Centerline goodness : 0.999064 Centerline is valid? [False, True] Translation: X:67.12, Y:0.59, Z:0.10 [[ 9.99994857e-01 -3.07458522e-04 -3.19250393e-03 6.71195231e+01] [ 2.81422822e-04 9.99966728e-01 -8.15250928e-03 5.92846784e-01] [ 3.19490426e-03 8.15156890e-03 9.99961672e-01 1.03529637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:67.15, Y:0.59, Z:0.10 [[ 9.99992798e-01 1.71136872e-03 -3.38761372e-03 6.71481841e+01] [-1.71137023e-03 9.99998536e-01 2.45300671e-06 5.90861180e-01] [ 3.38761296e-03 3.34447223e-06 9.99994262e-01 1.02728046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.18, Y:0.59, Z:0.09 [[ 9.99994211e-01 -3.34690417e-04 -3.38607072e-03 6.71765715e+01] [ 3.34487303e-04 9.99999942e-01 -6.05511830e-05 5.94277280e-01] [ 3.38609080e-03 5.94182349e-05 9.99994265e-01 9.07737642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:67.21, Y:0.60, Z:0.10 [[ 9.99993322e-01 1.37615598e-03 -3.38550064e-03 6.72062280e+01] [-1.37644699e-03 9.99999049e-01 -8.36295849e-05 5.98281760e-01] [ 3.38538233e-03 8.82889886e-05 9.99994266e-01 1.02413481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37863999999999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:67.23, Y:0.60, Z:0.10 [[ 9.99993282e-01 -1.40429939e-03 -3.38579881e-03 6.72337517e+01] [ 1.40406487e-03 9.99999012e-01 -7.16435138e-05 6.03315566e-01] [ 3.38589608e-03 6.68891514e-05 9.99994266e-01 1.03572887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:67.26, Y:0.61, Z:0.10 [[ 9.99988099e-01 -3.51275220e-03 -3.38551694e-03 6.72631889e+01] [ 3.51249183e-03 9.99993828e-01 -8.28495735e-05 6.06416070e-01] [ 3.38578707e-03 7.09569869e-05 9.99994266e-01 1.04196979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43863999999999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:67.29, Y:0.61, Z:0.10 [[ 9.99979092e-01 -5.50933898e-03 -3.38570786e-03 6.72921702e+01] [ 5.50911570e-03 9.99984822e-01 -7.52687150e-05 6.09836774e-01] [ 3.38607115e-03 5.66148850e-05 9.99994266e-01 1.03666143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:67.32, Y:0.62, Z:0.11 [[ 9.99953577e-01 -9.02114419e-03 -3.38557371e-03 6.73217587e+01] [ 9.02092306e-03 9.99959307e-01 -8.05830321e-05 6.15340661e-01] [ 3.38616290e-03 5.00382913e-05 9.99994266e-01 1.06048292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:67.35, Y:0.62, Z:0.10 [[ 9.99929197e-01 -1.14077262e-02 -3.38604584e-03 6.73509936e+01] [ 1.14075821e-02 9.99934930e-01 -6.18784409e-05 6.17554300e-01] [ 3.38653140e-03 2.32474640e-05 9.99994265e-01 1.03207901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:67.38, Y:0.62, Z:0.10 [[ 9.99550391e-01 -2.97918149e-02 -3.38593637e-03 6.73799670e+01] [ 2.97917617e-02 9.99556125e-01 -6.61619994e-05 6.15254070e-01] [ 3.38640452e-03 -3.47407571e-05 9.99994266e-01 9.75124945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55864 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:67.38, Y:0.61, Z:0.09 [[ 9.99854565e-01 -1.67149678e-02 -3.38502593e-03 6.73756160e+01] [ 1.67147187e-02 9.99860294e-01 -1.01858123e-04 6.11335308e-01] [ 3.38625558e-03 4.52635529e-05 9.99994266e-01 9.33908354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:67.44, Y:0.63, Z:0.11 [[ 9.99908535e-01 -1.30968375e-02 -3.37551796e-03 6.74364905e+01] [ 1.30952823e-02 9.99914137e-01 -4.82406052e-04 6.26886573e-01] [ 3.38154612e-03 4.38158568e-04 9.99994187e-01 1.07109619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:67.47, Y:0.63, Z:0.11 [[ 9.99894308e-01 -1.41393480e-02 -3.38397292e-03 6.74661485e+01] [ 1.41392438e-02 9.99900034e-01 -5.47175615e-05 6.27002633e-01] [ 3.38440831e-03 6.86496032e-06 9.99994273e-01 1.06750136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:67.50, Y:0.63, Z:0.11 [[ 9.99867780e-01 -1.59050469e-02 -3.38409747e-03 6.74956758e+01] [ 1.59049741e-02 9.99873507e-01 -4.84402039e-05 6.26525639e-01] [ 3.38443985e-03 -5.39018356e-06 9.99994273e-01 1.07187253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:67.53, Y:0.63, Z:0.11 [[ 9.99833305e-01 -1.79418529e-02 -3.38402180e-03 6.75259066e+01] [ 1.79417790e-02 9.99839032e-01 -5.22166253e-05 6.25740514e-01] [ 3.38441394e-03 -8.50745007e-06 9.99994273e-01 1.07321177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.56, Y:0.63, Z:0.09 [[ 9.99773585e-01 -2.10077734e-02 -3.38408028e-03 6.75555037e+01] [ 2.10077269e-02 9.99779312e-01 -4.92902579e-05 6.27283635e-01] [ 3.38436893e-03 -2.18127365e-05 9.99994273e-01 9.09939780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:0.63, Z:0.09 [[ 9.99799212e-01 -1.97506207e-02 -3.38372297e-03 6.75863464e+01] [ 1.97505062e-02 9.99804937e-01 -6.72644852e-05 6.27918458e-01] [ 3.38439145e-03 4.20737818e-07 9.99994273e-01 9.11374650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.62, Y:0.63, Z:0.09 [[ 9.99818034e-01 -1.87736509e-02 -3.38372297e-03 6.76161450e+01] [ 1.87735308e-02 9.99823759e-01 -6.72644852e-05 6.27472726e-01] [ 3.38438942e-03 3.72781800e-06 9.99994273e-01 9.10934419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:67.65, Y:0.63, Z:0.11 [[ 9.99857531e-01 -1.65368634e-02 -3.38371865e-03 6.76466628e+01] [ 1.65367297e-02 9.99863257e-01 -6.74813435e-05 6.27158908e-01] [ 3.38437188e-03 1.15160889e-05 9.99994273e-01 1.06279737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:67.68, Y:0.63, Z:0.11 [[ 9.99879422e-01 -1.51555799e-02 -3.38389971e-03 6.76766613e+01] [ 1.51554692e-02 9.99885148e-01 -5.83727459e-05 6.27360473e-01] [ 3.38439573e-03 7.08111960e-06 9.99994273e-01 1.06347266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85864 meters Centerline goodness : 0.767110 Centerline is valid? [True, False] Translation: X:67.67, Y:0.63, Z:0.11 [[ 9.99998777e-01 -7.89154364e-04 1.35007392e-03 6.76743512e+01] [ 7.96133081e-04 9.99986285e-01 -5.17643298e-03 6.33352838e-01] [-1.34597040e-03 5.17750149e-03 9.99985691e-01 1.05669454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters Centerline goodness : 0.998869 Centerline is valid? [False, True] Translation: X:67.67, Y:0.63, Z:0.11 [[ 9.99998850e-01 -8.23255002e-04 1.27346410e-03 6.76745808e+01] [ 8.29351816e-04 9.99988162e-01 -4.79448593e-03 6.31563743e-01] [-1.26950194e-03 4.79553657e-03 9.99987696e-01 1.05288656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:0.63, Z:0.09 [[ 9.99998857e-01 -8.31402317e-04 1.26255218e-03 6.77071975e+01] [ 8.31435403e-04 9.99999654e-01 -2.56812991e-05 6.27540813e-01] [-1.26253039e-03 2.67310003e-05 9.99999203e-01 8.50766860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94864 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:67.74, Y:0.63, Z:0.10 [[ 9.99999156e-01 -3.05477818e-04 1.26249085e-03 6.77368860e+01] [ 3.05474620e-04 9.99999953e-01 2.72561107e-06 6.27901743e-01] [-1.26249163e-03 -2.33994986e-06 9.99999203e-01 1.03950797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97864 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:67.77, Y:0.63, Z:0.10 [[ 9.99997789e-01 1.68184242e-03 1.26248719e-03 6.77684396e+01] [-1.68184916e-03 9.99998586e-01 4.27779536e-06 6.28944604e-01] [-1.26247821e-03 -6.40109893e-06 9.99999203e-01 1.03546193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:67.80, Y:0.63, Z:0.10 [[ 9.99990713e-01 4.12063805e-03 1.26249037e-03 6.77997317e+01] [-4.12064504e-03 9.99991510e-01 2.93943722e-06 6.29310146e-01] [-1.26246754e-03 -8.14168461e-06 9.99999203e-01 1.03170277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:67.83, Y:0.63, Z:0.10 [[ 9.99977093e-01 6.64984612e-03 1.26249088e-03 6.78311613e+01] [-6.64985486e-03 9.99977889e-01 2.72275847e-06 6.29495751e-01] [-1.26244486e-03 -1.11180772e-05 9.99999203e-01 9.94840555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:67.86, Y:0.63, Z:0.10 [[ 9.99969494e-01 7.70818973e-03 1.26250220e-03 6.78614115e+01] [-7.70819325e-03 9.99970291e-01 -2.07425703e-06 6.30022817e-01] [-1.26248068e-03 -7.65741716e-06 9.99999203e-01 1.00383518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:67.89, Y:0.63, Z:0.10 [[ 9.99977903e-01 6.52682937e-03 1.26250106e-03 6.78921641e+01] [-6.52683254e-03 9.99978700e-01 -1.60821416e-06 6.30086559e-01] [-1.26248467e-03 -6.63195437e-06 9.99999203e-01 9.91181321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:67.92, Y:0.63, Z:0.10 [[ 9.99976910e-01 6.67728691e-03 1.26249124e-03 6.79231045e+01] [-6.67729510e-03 9.99977707e-01 2.27891054e-06 6.30202825e-01] [-1.26244788e-03 -1.07088845e-05 9.99999203e-01 1.00335585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15863999999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:67.95, Y:0.63, Z:0.10 [[ 9.99980261e-01 6.15500810e-03 1.26249405e-03 6.79537383e+01] [-6.15501455e-03 9.99981058e-01 1.22577110e-06 6.30630344e-01] [-1.26246259e-03 -8.99641613e-06 9.99999203e-01 9.87825118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:67.98, Y:0.63, Z:0.10 [[ 9.99981550e-01 5.94190441e-03 1.26249475e-03 6.79837371e+01] [-5.94191037e-03 9.99982347e-01 9.69772732e-07 6.31288380e-01] [-1.26246670e-03 -8.47138546e-06 9.99999203e-01 9.91562598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21864 meters Centerline goodness : 0.943728 Centerline is valid? [True, False] Translation: X:67.98, Y:0.64, Z:0.10 [[ 9.99996477e-01 -2.29501887e-03 1.33339440e-03 6.79836463e+01] [ 2.30821858e-03 9.99947499e-01 -9.98359628e-03 6.38208012e-01] [-1.31041186e-03 9.98663888e-03 9.99949274e-01 9.98087153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters Centerline goodness : 0.998376 Centerline is valid? [False, True] Translation: X:67.99, Y:0.64, Z:0.10 [[ 9.99999623e-01 -8.24696537e-04 2.70274062e-04 6.79883839e+01] [ 8.26901354e-04 9.99965529e-01 -8.26173694e-03 6.36182517e-01] [-2.63451320e-04 8.26195732e-03 9.99965835e-01 9.60874446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:68.02, Y:0.63, Z:0.10 [[ 9.99999945e-01 2.72959616e-04 1.86228638e-04 6.80190107e+01] [-2.72960080e-04 9.99999963e-01 2.47057077e-06 6.31514168e-01] [-1.86227957e-04 -2.52140362e-06 9.99999983e-01 9.59534183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30864 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:68.05, Y:0.64, Z:0.09 [[ 9.99997408e-01 2.26923629e-03 1.86232304e-04 6.80494712e+01] [-2.26923672e-03 9.99997425e-01 2.11758486e-06 6.35121260e-01] [-1.86227019e-04 -2.54018456e-06 9.99999983e-01 9.09952131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33864 meters Centerline goodness : 0.914312 Centerline is valid? [True, False] Translation: X:68.05, Y:0.64, Z:0.09 [[ 9.99998460e-01 -1.75395987e-03 5.85899856e-05 6.80498168e+01] [ 1.75427618e-03 9.99980914e-01 -5.92406465e-03 6.43214615e-01] [-4.81982957e-05 5.92415831e-03 9.99982451e-01 9.09247989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:68.02, Y:0.65, Z:0.09 [[ 9.99974843e-01 -2.41705922e-03 6.66865234e-03 6.80247830e+01] [ 2.53888729e-03 9.99828929e-01 -1.83211962e-02 6.54501712e-01] [-6.62322811e-03 1.83376662e-02 9.99809913e-01 8.92057783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:68.06, Y:0.64, Z:0.09 [[ 9.99977101e-01 -2.40672857e-03 6.32493166e-03 6.80577488e+01] [ 2.40602864e-03 9.99997099e-01 1.18268953e-04 6.38313279e-01] [-6.32519795e-03 -1.03048278e-04 9.99979990e-01 8.63997525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:68.09, Y:0.64, Z:0.09 [[ 9.99979991e-01 -1.14132837e-04 6.32494694e-03 6.80895883e+01] [ 1.13392266e-04 9.99999987e-01 1.17445767e-04 6.43000045e-01] [-6.32496026e-03 -1.16726217e-04 9.99979990e-01 8.69458665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:68.12, Y:0.65, Z:0.11 [[ 9.99979798e-01 6.31292541e-04 6.32496207e-03 6.81211098e+01] [-6.32042829e-04 9.99999793e-01 1.16625242e-04 6.47000539e-01] [-6.32488714e-03 -1.20620533e-04 9.99979990e-01 1.06002280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:68.15, Y:0.65, Z:0.10 [[ 9.99979964e-01 -2.53044473e-04 6.32520470e-03 6.81526917e+01] [ 2.52396004e-04 9.99999963e-01 1.03319462e-04 6.49880609e-01] [-6.32523061e-03 -1.01720935e-04 9.99979990e-01 1.01955349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51863999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:68.18, Y:0.65, Z:0.10 [[ 9.99979913e-01 -4.07424729e-04 6.32516317e-03 6.81827246e+01] [ 4.06764920e-04 9.99999912e-01 1.05601024e-04 6.51843429e-01] [-6.32520564e-03 -1.03026048e-04 9.99979990e-01 1.01559814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:0.65, Z:0.09 [[ 9.99975964e-01 -2.84033721e-03 6.32493513e-03 6.82143587e+01] [ 2.83964676e-03 9.99995961e-01 1.18141335e-04 6.54531467e-01] [-6.32524515e-03 -1.00177913e-04 9.99979990e-01 8.65566174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.25, Y:0.66, Z:0.09 [[ 9.99973724e-01 -3.54200239e-03 6.32503278e-03 6.82476255e+01] [ 3.54136064e-03 9.99993723e-01 1.12658969e-04 6.56845247e-01] [-6.32539212e-03 -9.02567864e-05 9.99979990e-01 8.69370556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:68.28, Y:0.66, Z:0.09 [[ 9.99960870e-01 -6.18481881e-03 6.32509000e-03 6.82799903e+01] [ 6.18425085e-03 9.99980871e-01 1.09349590e-04 6.58035282e-01] [-6.32564531e-03 -7.02293683e-05 9.99979990e-01 8.68049797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:68.31, Y:0.66, Z:0.10 [[ 9.99953374e-01 -7.29668972e-03 6.32513821e-03 6.83111725e+01] [ 7.29616211e-03 9.99973377e-01 1.06486059e-04 6.58269514e-01] [-6.32574681e-03 -6.03318603e-05 9.99979990e-01 1.01163188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:68.34, Y:0.66, Z:0.10 [[ 9.99949476e-01 -7.81287435e-03 6.32489443e-03 6.83430398e+01] [ 7.81226344e-03 9.99969476e-01 1.21289193e-04 6.59056707e-01] [-6.32564899e-03 -7.18713237e-05 9.99979990e-01 1.01648236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.38, Y:0.66, Z:0.10 [[ 9.99935334e-01 -9.45108552e-03 6.32496484e-03 6.83757485e+01] [ 9.45053530e-03 9.99955336e-01 1.16874061e-04 6.60564132e-01] [-6.32578693e-03 -5.70921998e-05 9.99979990e-01 1.01507721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:68.41, Y:0.66, Z:0.10 [[ 9.99938843e-01 -9.07212536e-03 6.32509565e-03 6.84079417e+01] [ 9.07162110e-03 9.99958846e-01 1.08408632e-04 6.60909787e-01] [-6.32581884e-03 -5.10231307e-05 9.99979991e-01 1.03437091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:68.44, Y:0.66, Z:0.10 [[ 9.99941349e-01 -8.79141999e-03 6.32527966e-03 6.84405900e+01] [ 8.79098697e-03 9.99961354e-01 9.62601330e-05 6.59994822e-01] [-6.32588147e-03 -4.06490362e-05 9.99979991e-01 9.91928988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:68.47, Y:0.66, Z:0.10 [[ 9.99941174e-01 -8.81118380e-03 6.32553887e-03 6.84708510e+01] [ 8.81086107e-03 9.99961180e-01 7.88853258e-05 6.61720253e-01] [-6.32598839e-03 -2.31472411e-05 9.99979990e-01 1.01671343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.50, Y:0.66, Z:0.10 [[ 9.99952810e-01 -7.37343917e-03 6.32534952e-03 6.85022057e+01] [ 7.37300639e-03 9.99972815e-01 9.17362240e-05 6.63251281e-01] [-6.32585397e-03 -4.50950526e-05 9.99979991e-01 1.02259109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:68.53, Y:0.66, Z:0.10 [[ 9.99956136e-01 -6.90771049e-03 6.32538835e-03 6.85339142e+01] [ 6.90728508e-03 9.99976140e-01 8.90980566e-05 6.64704586e-01] [-6.32585289e-03 -4.54028879e-05 9.99979991e-01 1.03263073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87863999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.56, Y:0.67, Z:0.10 [[ 9.99957641e-01 -6.68597500e-03 6.32570011e-03 6.85634019e+01] [ 6.68568009e-03 9.99977648e-01 6.77652224e-05 6.66066445e-01] [-6.32601180e-03 -2.54707446e-05 9.99979990e-01 1.01706212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:68.60, Y:0.67, Z:0.10 [[ 9.99970304e-01 -4.40229485e-03 6.32534733e-03 6.85957478e+01] [ 4.40180285e-03 9.99990308e-01 9.17020847e-05 6.68624454e-01] [-6.32568972e-03 -6.38564297e-05 9.99979991e-01 1.00190905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93863999999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:68.63, Y:0.67, Z:0.10 [[ 9.99972553e-01 -3.85759107e-03 6.32553953e-03 6.86278167e+01] [ 3.85717203e-03 9.99992558e-01 7.84432294e-05 6.71290807e-01] [-6.32579506e-03 -5.40423822e-05 9.99979990e-01 1.01662293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters Centerline goodness : 0.766074 Centerline is valid? [True, False] Translation: X:68.63, Y:0.69, Z:0.11 [[ 9.99998944e-01 -5.20925225e-04 -1.35636215e-03 6.86286179e+01] [ 4.97372795e-04 9.99850095e-01 -1.73072253e-02 6.89849147e-01] [ 1.36517459e-03 1.73065324e-02 9.99849299e-01 1.05665523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:68.63, Y:0.69, Z:0.10 [[ 9.99996235e-01 1.51776909e-03 -2.28628754e-03 6.86339804e+01] [-1.55264036e-03 9.99881305e-01 -1.53285944e-02 6.90380217e-01] [ 2.26275090e-03 1.53320864e-02 9.99879896e-01 1.00812423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02864 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:68.66, Y:0.68, Z:0.10 [[ 9.99996800e-01 5.57066596e-04 -2.46753962e-03 6.86635929e+01] [-5.56955315e-04 9.99999844e-01 4.57846891e-05 6.79393659e-01] [ 2.46756474e-03 -4.44102333e-05 9.99996955e-01 9.73646941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:68.69, Y:0.68, Z:0.10 [[ 9.99996338e-01 -1.11301028e-03 -2.46666938e-03 6.86938721e+01] [ 1.11294694e-03 9.99999380e-01 -2.70530030e-05 6.84937975e-01] [ 2.46669796e-03 2.43076318e-05 9.99996957e-01 1.01069650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08864 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:68.73, Y:0.70, Z:0.09 [[ 9.99691096e-01 2.47311056e-02 -2.46673218e-03 6.87263081e+01] [-2.47312346e-02 9.99694136e-01 -2.18311506e-05 6.98814281e-01] [ 2.46543778e-03 8.28297391e-05 9.99996957e-01 9.12418204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:68.75, Y:0.69, Z:0.10 [[ 9.99972026e-01 -7.06110213e-03 -2.46724901e-03 6.87522126e+01] [ 7.06116992e-03 9.99975069e-01 1.87663316e-05 6.85504272e-01] [ 2.46705499e-03 -3.61874712e-05 9.99996956e-01 9.90531529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:68.78, Y:0.69, Z:0.10 [[ 9.99926062e-01 -1.19074203e-02 -2.46654278e-03 6.87820111e+01] [ 1.19073740e-02 9.99929104e-01 -3.34531522e-05 6.85090223e-01] [ 2.46676625e-03 4.08063151e-06 9.99996958e-01 1.02000321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17864 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:68.81, Y:0.70, Z:0.09 [[ 9.99862500e-01 1.63980609e-02 -2.46652520e-03 6.88115647e+01] [-1.63981964e-02 9.99865540e-01 -3.47542926e-05 6.99824944e-01] [ 2.46562365e-03 7.51960787e-05 9.99996958e-01 8.92589982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20864 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:68.84, Y:0.71, Z:0.08 [[ 9.99372973e-01 3.53210591e-02 -2.46637228e-03 6.88355412e+01] [-3.53212802e-02 9.99376008e-01 -4.61253393e-05 7.10328738e-01] [ 2.46320408e-03 1.33211844e-04 9.99996957e-01 8.48910001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23864 meters Centerline goodness : 0.759614 Centerline is valid? [True, False] Translation: X:68.82, Y:0.70, Z:0.08 [[ 9.99676890e-01 2.33880965e-02 9.95551227e-03 6.88240263e+01] [-2.34293060e-02 9.99717321e-01 4.04305276e-03 7.04354613e-01] [-9.85813875e-03 -4.27499715e-03 9.99942269e-01 8.43320210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters Centerline goodness : 0.997444 Centerline is valid? [False, True] Translation: X:68.85, Y:0.70, Z:0.09 [[ 9.99943770e-01 8.41484949e-03 6.45348334e-03 6.88503635e+01] [-8.42334051e-03 9.99963691e-01 1.28967595e-03 7.03493775e-01] [-6.44239660e-03 -1.34396332e-03 9.99978344e-01 8.72357991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29863999999999 meters Centerline goodness : 0.822463 Centerline is valid? [True, False] Translation: X:68.85, Y:0.71, Z:0.09 [[ 9.99981160e-01 3.91956001e-04 6.12582586e-03 6.88512477e+01] [-3.42336052e-04 9.99967143e-01 -8.09907446e-03 7.08292746e-01] [-6.12879907e-03 8.09682478e-03 9.99948438e-01 8.78882671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters Centerline goodness : 0.997886 Centerline is valid? [False, True] Translation: X:68.87, Y:0.72, Z:0.09 [[ 9.99998969e-01 -7.57454179e-04 1.21961247e-03 6.88745421e+01] [ 7.81135228e-04 9.99808870e-01 -1.95349065e-02 7.16013634e-01] [-1.20458257e-03 1.95358391e-02 9.99808432e-01 9.18341336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:68.91, Y:0.70, Z:0.09 [[ 9.99999196e-01 -3.37582662e-04 1.22269743e-03 6.89057691e+01] [ 3.37583132e-04 9.99999943e-01 -1.78486842e-07 6.95712124e-01] [-1.22269730e-03 5.91248727e-07 9.99999253e-01 8.74857245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38864 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:68.95, Y:0.72, Z:0.09 [[ 9.98089772e-01 6.17682195e-02 1.22269740e-03 6.89515627e+01] [-6.17682653e-02 9.98090518e-01 -2.94392148e-07 7.17543513e-01] [-1.22038087e-03 -7.52300677e-05 9.99999253e-01 9.14809190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41864 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:68.97, Y:0.69, Z:0.11 [[ 9.99968464e-01 -7.84711814e-03 1.22254111e-03 6.89652720e+01] [ 7.84723814e-03 9.99969206e-01 -9.33862283e-05 6.86318940e-01] [-1.22177065e-03 1.02976855e-04 9.99999248e-01 1.06505251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:69.00, Y:0.68, Z:0.09 [[ 9.99963173e-01 -8.49459291e-03 1.22244063e-03 6.89969087e+01] [ 8.49459372e-03 9.99963920e-01 4.52538825e-06 6.83812117e-01] [-1.22243496e-03 5.85891488e-06 9.99999253e-01 8.88357450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47864 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:69.03, Y:0.68, Z:0.10 [[ 9.99973308e-01 -7.20334910e-03 1.22244278e-03 6.90274386e+01] [ 7.20335364e-03 9.99974056e-01 6.84110424e-07 6.80397162e-01] [-1.22241599e-03 8.12159546e-06 9.99999253e-01 1.03143694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50864 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:69.06, Y:0.67, Z:0.11 [[ 9.99956641e-01 -9.23157165e-03 1.22244239e-03 6.90581358e+01] [ 9.23157661e-03 9.99957388e-01 1.58649669e-06 6.71328214e-01] [-1.22240494e-03 9.69864262e-06 9.99999253e-01 1.06660409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53864 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:69.09, Y:0.67, Z:0.10 [[ 9.99946415e-01 -1.02797072e-02 1.22244209e-03 6.90889345e+01] [ 1.02797106e-02 9.99947162e-01 3.43575886e-06 6.68103073e-01] [-1.22241281e-03 9.13077617e-06 9.99999253e-01 1.03263611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56864 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:69.12, Y:0.66, Z:0.10 [[ 9.99988916e-01 -4.54692004e-03 1.22244314e-03 6.91216119e+01] [ 4.54691289e-03 9.99989663e-01 8.62318122e-06 6.62716836e-01] [-1.22246971e-03 -3.06474317e-06 9.99999253e-01 1.04455003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59864 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:69.15, Y:0.66, Z:0.11 [[ 9.99995010e-01 -2.91293992e-03 1.22243890e-03 6.91522327e+01] [ 2.91294422e-03 9.99995757e-01 -1.73807890e-06 6.60921090e-01] [-1.22242865e-03 5.29896655e-06 9.99999253e-01 1.07656660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters Centerline goodness : 0.828278 Centerline is valid? [True, False] Translation: X:69.17, Y:0.67, Z:0.11 [[ 9.99995207e-01 -2.17329039e-04 -3.08842619e-03 6.91737334e+01] [ 1.96067174e-04 9.99976293e-01 -6.88300498e-03 6.65247037e-01] [ 3.08984885e-03 6.88236645e-03 9.99971543e-01 1.12331873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65863999999999 meters Centerline goodness : 0.997835 Centerline is valid? [False, True] Translation: X:69.20, Y:0.66, Z:0.12 [[ 9.99947239e-01 6.41871426e-03 -8.01988211e-03 6.91958686e+01] [-6.48458392e-03 9.99945235e-01 -8.21446606e-03 6.63816352e-01] [ 7.96671659e-03 8.26603826e-03 9.99934100e-01 1.16281435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:69.22, Y:0.66, Z:0.12 [[ 9.99941730e-01 7.24452640e-03 -8.00339596e-03 6.92238344e+01] [-7.24462802e-03 9.99973757e-01 1.62943624e-05 6.55117493e-01] [ 8.00330397e-03 4.16882137e-05 9.99967972e-01 1.16143120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71864 meters Centerline goodness : 0.727756 Centerline is valid? [True, False] Translation: X:69.25, Y:0.67, Z:0.12 [[ 9.99893811e-01 1.32246352e-03 -1.45127023e-02 6.92487298e+01] [-1.56980658e-03 9.99853490e-01 -1.70450761e-02 6.67657004e-01] [ 1.44880345e-02 1.70660482e-02 9.99749392e-01 1.21502060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters Centerline goodness : 0.997096 Centerline is valid? [False, True] Translation: X:69.25, Y:0.67, Z:0.12 [[ 9.99879727e-01 5.55065788e-03 -1.44817866e-02 6.92486334e+01] [-5.72889357e-03 9.99907999e-01 -1.22952594e-02 6.65211366e-01] [ 1.44122075e-02 1.23767452e-02 9.99819536e-01 1.21310485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77864 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:69.28, Y:0.66, Z:0.12 [[ 9.99873126e-01 6.50783693e-03 -1.45388792e-02 6.92773599e+01] [-6.51085049e-03 9.99978791e-01 -1.59952617e-04 6.55311616e-01] [ 1.45375299e-02 2.54592792e-04 9.99894292e-01 1.22060482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80864 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:69.31, Y:0.66, Z:0.12 [[ 9.99848804e-01 9.53887143e-03 -1.45388903e-02 6.93066654e+01] [-9.54217159e-03 9.99954460e-01 -1.57633502e-04 6.57806489e-01] [ 1.45367246e-02 2.96342255e-04 9.99894292e-01 1.21828452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83864 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:69.34, Y:0.66, Z:0.12 [[ 9.99842092e-01 1.02181760e-02 -1.45389194e-02 6.93358371e+01] [-1.02214598e-02 9.99947748e-01 -1.51566288e-04 6.59745344e-01] [ 1.45366110e-02 3.00151334e-04 9.99894293e-01 1.22730052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86864 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:69.37, Y:0.66, Z:0.12 [[ 9.99838038e-01 1.06075590e-02 -1.45388591e-02 6.93651533e+01] [-1.06110636e-02 9.99943688e-01 -1.63927306e-04 6.61201460e-01] [ 1.45363015e-02 3.18173514e-04 9.99894292e-01 1.20337787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89864 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:69.39, Y:0.66, Z:0.12 [[ 9.99833245e-01 1.10500449e-02 -1.45388954e-02 6.93934133e+01] [-1.10534881e-02 9.99938896e-01 -1.56492443e-04 6.64733802e-01] [ 1.45362778e-02 3.17171854e-04 9.99894292e-01 1.22525823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92864 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:69.42, Y:0.67, Z:0.12 [[ 9.99838500e-01 1.05639801e-02 -1.45387794e-02 6.94211984e+01] [-1.05677134e-02 9.99944144e-01 -1.79982870e-04 6.66718925e-01] [ 1.45360660e-02 3.33595457e-04 9.99894290e-01 1.23374174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95864 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:69.45, Y:0.67, Z:0.12 [[ 9.99838996e-01 1.05170125e-02 -1.45386983e-02 6.94509504e+01] [-1.05209685e-02 9.99944634e-01 -1.95637782e-04 6.69311295e-01] [ 1.45358358e-02 3.48567470e-04 9.99894288e-01 1.23147361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98864 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:69.48, Y:0.67, Z:0.12 [[ 9.99847620e-01 9.66223741e-03 -1.45388652e-02 6.94797969e+01] [-9.66563511e-03 9.99953273e-01 -1.63446983e-04 6.73428732e-01] [ 1.45366066e-02 3.03949443e-04 9.99894292e-01 1.23851265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01863999999999 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:69.51, Y:0.67, Z:0.12 [[ 9.99853218e-01 9.06414583e-03 -1.45390228e-02 6.95097046e+01] [-9.06705511e-03 9.99958884e-01 -1.34196267e-04 6.74655882e-01] [ 1.45372087e-02 2.66002691e-04 9.99894294e-01 1.23838502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:69.54, Y:0.68, Z:0.13 [[ 9.99851583e-01 9.24246942e-03 -1.45391847e-02 6.95393676e+01] [-9.24497894e-03 9.99957259e-01 -1.05400858e-04 6.79560474e-01] [ 1.45375891e-02 2.39799671e-04 9.99894295e-01 1.25611631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07864 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:69.57, Y:0.68, Z:0.12 [[ 9.99858309e-01 8.48347982e-03 -1.45393546e-02 6.95679017e+01] [-8.48549140e-03 9.99963995e-01 -7.66681689e-05 6.81831537e-01] [ 1.45381807e-02 2.00030874e-04 9.99894295e-01 1.24758939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:69.60, Y:0.68, Z:0.13 [[ 9.99863704e-01 7.82217062e-03 -1.45391225e-02 6.95967390e+01] [-7.82466529e-03 9.99969380e-01 -1.14705325e-04 6.83797500e-01] [ 1.45377801e-02 2.28453458e-04 9.99894295e-01 1.25333134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13864 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:69.63, Y:0.69, Z:0.13 [[ 9.99880840e-01 5.18817201e-03 -1.45392128e-02 6.96258283e+01] [-5.19018050e-03 9.99986526e-01 -1.00413812e-04 6.85954932e-01] [ 1.45384960e-02 1.75862985e-04 9.99894295e-01 1.26138623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16864 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:69.66, Y:0.69, Z:0.13 [[ 9.99886942e-01 3.83536645e-03 -1.45393843e-02 6.96550228e+01] [-3.83686035e-03 9.99992636e-01 -7.48550420e-05 6.86897115e-01] [ 1.45389901e-02 1.30632166e-04 9.99894295e-01 1.26857303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19864 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:69.68, Y:0.69, Z:0.13 [[ 9.99894290e-01 -9.42564710e-05 -1.45396258e-02 6.96834259e+01] [ 9.36633296e-05 9.99999995e-01 -4.14757632e-05 6.88464597e-01] [ 1.45396296e-02 4.01095490e-05 9.99894293e-01 1.28414185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22864 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:69.71, Y:0.69, Z:0.13 [[ 9.99891297e-01 -2.44815057e-03 -1.45396364e-02 6.97124800e+01] [ 2.44782646e-03 9.99997003e-01 -4.00874005e-05 6.88837296e-01] [ 1.45396910e-02 4.49253615e-06 9.99894293e-01 1.29837870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25864 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:69.74, Y:0.69, Z:0.12 [[ 9.99885370e-01 -4.22528567e-03 -1.45394068e-02 6.97416022e+01] [ 4.22473080e-03 9.99991073e-01 -6.88773263e-05 6.89972978e-01] [ 1.45395680e-02 7.44435108e-06 9.99894295e-01 1.21120882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28864 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:69.77, Y:0.69, Z:0.12 [[ 9.99883052e-01 -4.74334590e-03 -1.45390049e-02 6.97700002e+01] [ 4.74212746e-03 9.99988749e-01 -1.18278616e-04 6.89937135e-01] [ 1.45394024e-02 4.93189688e-05 9.99894296e-01 1.21541618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31864 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:69.80, Y:0.70, Z:0.13 [[ 9.99887296e-01 3.74364461e-03 -1.45389398e-02 6.98018094e+01] [-3.74586951e-03 9.99992976e-01 -1.25801886e-04 6.98357036e-01] [ 1.45383668e-02 1.80248679e-04 9.99894296e-01 1.27619962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34864 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:69.83, Y:0.70, Z:0.13 [[ 9.99865795e-01 -7.54652187e-03 -1.45410636e-02 6.98277876e+01] [ 7.54898986e-03 9.99971499e-01 1.14843758e-04 6.96029256e-01] [ 1.45397825e-02 -2.24598686e-04 9.99894267e-01 1.29697335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37863999999999 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:69.86, Y:0.70, Z:0.13 [[ 9.99868289e-01 7.21184167e-03 -1.45393737e-02 6.98605293e+01] [-7.21348584e-03 9.99973981e-01 -6.06436924e-05 7.04171630e-01] [ 1.45385581e-02 1.65515271e-04 9.99894296e-01 1.26576922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:69.89, Y:0.70, Z:0.13 [[ 9.99847555e-01 -9.66461512e-03 -1.45417037e-02 6.98861375e+01] [ 9.66811479e-03 9.99953248e-01 1.70383161e-04 6.97775867e-01] [ 1.45393772e-02 -3.10948048e-04 9.99894249e-01 1.30617938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43863999999999 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:69.92, Y:0.70, Z:0.13 [[ 9.99828036e-01 -1.15115889e-02 -1.45389830e-02 6.99151495e+01] [ 1.15117531e-02 9.99933735e-01 -7.23964435e-05 6.99064700e-01] [ 1.45388530e-02 -9.49851889e-05 9.99894301e-01 1.34584320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:69.94, Y:0.70, Z:0.13 [[ 9.99826827e-01 -1.16162288e-02 -1.45389211e-02 6.99437931e+01] [ 1.16163258e-02 9.99932525e-01 -7.77752974e-05 7.03208890e-01] [ 1.45388435e-02 -9.11270156e-05 9.99894301e-01 1.34286495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49864 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:69.97, Y:0.71, Z:0.12 [[ 9.99788404e-01 -1.45522628e-02 -1.45388560e-02 6.99716125e+01] [ 1.45525900e-02 9.99894102e-01 -8.32903662e-05 7.05157484e-01] [ 1.45385284e-02 -1.28305268e-04 9.99894302e-01 1.23281377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52864 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:70.00, Y:0.71, Z:0.13 [[ 9.99757436e-01 -1.65445957e-02 -1.45377396e-02 6.99999743e+01] [ 1.65437901e-02 9.99863127e-01 -1.75679427e-04 7.06248368e-01] [ 1.45386563e-02 -6.48724998e-05 9.99894306e-01 1.25013380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55864 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:70.03, Y:0.71, Z:0.13 [[ 9.99713473e-01 -1.90165092e-02 -1.45377172e-02 7.00286324e+01] [ 1.90159383e-02 9.99819165e-01 -1.77513452e-04 7.06643751e-01] [ 1.45384640e-02 -9.89857442e-05 9.99894306e-01 1.25834938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58864 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:70.06, Y:0.70, Z:0.14 [[ 9.99636374e-01 -2.27106882e-02 -1.45376945e-02 7.00569893e+01] [ 2.27104811e-02 9.99742068e-01 -1.79354979e-04 7.04508305e-01] [ 1.45380180e-02 -1.50868275e-04 9.99894306e-01 1.36627323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61864 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:70.09, Y:0.70, Z:0.13 [[ 9.99537085e-01 -2.67257140e-02 -1.45379637e-02 7.00861678e+01] [ 2.67262403e-02 9.99642778e-01 -1.58110440e-04 7.03190187e-01] [ 1.45369960e-02 -2.30507863e-04 9.99894306e-01 1.27507523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64864 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:70.11, Y:0.70, Z:0.13 [[ 9.99474842e-01 -2.89602952e-02 -1.45375748e-02 7.01147758e+01] [ 2.89606210e-02 9.99580536e-01 -1.88156340e-04 7.01302263e-01] [ 1.45369259e-02 -2.32959667e-04 9.99894306e-01 1.26858000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67864 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:70.14, Y:0.70, Z:0.13 [[ 9.99330005e-01 -3.35887095e-02 -1.45375512e-02 7.01437933e+01] [ 3.35894984e-02 9.99435696e-01 -1.89963889e-04 6.96865762e-01] [ 1.45357282e-02 -2.98472438e-04 9.99894306e-01 1.26247585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70864 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:70.17, Y:0.69, Z:0.13 [[ 9.99262026e-01 -3.55536782e-02 -1.45375274e-02 7.01729994e+01] [ 3.55546487e-02 9.99367715e-01 -1.91770114e-04 6.94231713e-01] [ 1.45351536e-02 -3.25248086e-04 9.99894306e-01 1.25541019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73864 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:70.20, Y:0.69, Z:0.14 [[ 9.99248292e-01 -3.59376151e-02 -1.45375039e-02 7.02024219e+01] [ 3.59386006e-02 9.99353981e-01 -1.93530390e-04 6.86308215e-01] [ 1.45350675e-02 -3.29072637e-04 9.99894306e-01 1.37014348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:70.23, Y:0.68, Z:0.13 [[ 9.99141192e-01 -3.88009894e-02 -1.45382841e-02 7.02317040e+01] [ 3.88031206e-02 9.99246866e-01 -1.35563392e-04 6.81898629e-01] [ 1.45325948e-02 -4.28683823e-04 9.99894304e-01 1.25212867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79863999999999 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:70.26, Y:0.68, Z:0.13 [[ 9.99089299e-01 -4.01152609e-02 -1.45374621e-02 7.02601097e+01] [ 4.01166464e-02 9.99194984e-01 -1.96408654e-04 6.77332004e-01] [ 1.45336382e-02 -3.86964442e-04 9.99894306e-01 1.25325002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:70.29, Y:0.67, Z:0.13 [[ 9.99058903e-01 -4.08652740e-02 -1.45374264e-02 7.02888522e+01] [ 4.08667010e-02 9.99164588e-01 -1.99015385e-04 6.69176966e-01] [ 1.45334145e-02 -3.95268567e-04 9.99894306e-01 1.25519789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85864 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:70.32, Y:0.67, Z:0.14 [[ 9.99200619e-01 -3.72395805e-02 -1.45374023e-02 7.03183342e+01] [ 3.72405986e-02 9.99306308e-01 -2.00760749e-04 6.65856769e-01] [ 1.45347941e-02 -3.40781300e-04 9.99894306e-01 1.37806619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88864 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:70.35, Y:0.66, Z:0.14 [[ 9.99210703e-01 -3.69676863e-02 -1.45382684e-02 7.03460861e+01] [ 3.69695746e-02 9.99316382e-01 -1.38931404e-04 6.62929027e-01] [ 1.45334657e-02 -3.98651852e-04 9.99894304e-01 1.37453291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91864 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:70.37, Y:0.66, Z:0.14 [[ 9.99310354e-01 -3.41683453e-02 -1.45375467e-02 7.03744397e+01] [ 3.41692019e-02 9.99416044e-01 -1.89526406e-04 6.58602903e-01] [ 1.45355332e-02 -3.07340667e-04 9.99894306e-01 1.38404441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94864 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:70.40, Y:0.66, Z:0.14 [[ 9.99355270e-01 -3.28286828e-02 -1.45368867e-02 7.04039970e+01] [ 3.28287333e-02 9.99460964e-01 -2.35215954e-04 6.56423158e-01] [ 1.45367726e-02 -2.42163273e-04 9.99894306e-01 1.37583715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97864 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:70.43, Y:0.65, Z:0.14 [[ 9.99393343e-01 -3.16484349e-02 -1.45369497e-02 7.04319315e+01] [ 3.16484238e-02 9.99499037e-01 -2.30865331e-04 6.50962928e-01] [ 1.45369738e-02 -2.29346272e-04 9.99894306e-01 1.38453692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00864 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:70.46, Y:0.65, Z:0.13 [[ 9.99467628e-01 -2.92089856e-02 -1.45359860e-02 7.04637190e+01] [ 2.92077733e-02 9.99573318e-01 -2.95725930e-04 6.49929244e-01] [ 1.45384216e-02 -1.28995290e-04 9.99894303e-01 1.25365294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03864 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:70.49, Y:0.65, Z:0.14 [[ 9.99510934e-01 -2.76868707e-02 -1.45371943e-02 7.04918620e+01] [ 2.76866943e-02 9.99616627e-01 -2.13425596e-04 6.48085015e-01] [ 1.45375303e-02 -1.89165640e-04 9.99894307e-01 1.38354759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06864 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:70.52, Y:0.65, Z:0.14 [[ 9.99648803e-01 -2.21578226e-02 -1.45362014e-02 7.05208449e+01] [ 2.21560978e-02 9.99754484e-01 -2.79703621e-04 6.45221333e-01] [ 1.45388301e-02 -4.24601090e-05 9.99894305e-01 1.36004755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09864 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:70.55, Y:0.64, Z:0.14 [[ 9.99726899e-01 -1.82981833e-02 -1.45363155e-02 7.05496003e+01] [ 1.82961611e-02 9.99832574e-01 -2.72095810e-04 6.44442197e-01] [ 1.45388606e-02 6.06273041e-06 9.99894305e-01 1.37159436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:70.58, Y:0.65, Z:0.12 [[ 9.99851810e-01 -9.22261329e-03 -1.45362269e-02 7.05803243e+01] [ 9.21954645e-03 9.99957460e-01 -2.77978872e-04 6.46156360e-01] [ 1.45381722e-02 1.43920259e-04 9.99894305e-01 1.23062229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15863999999999 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:70.61, Y:0.65, Z:0.14 [[ 9.99876127e-01 -6.03344876e-03 -1.45371161e-02 7.06093906e+01] [ 6.03090314e-03 9.99981790e-01 -2.18944082e-04 6.47957886e-01] [ 1.45381723e-02 1.31245021e-04 9.99894307e-01 1.37847119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:70.64, Y:0.65, Z:0.14 [[ 9.99892524e-01 -1.90376983e-03 -1.45367247e-02 7.06377758e+01] [ 1.90041686e-03 9.99998164e-01 -2.44465550e-04 6.49809790e-01] [ 1.45371634e-02 2.16813439e-04 9.99894306e-01 1.38880277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21864 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:70.67, Y:0.65, Z:0.14 [[ 9.99886909e-01 3.85232616e-03 -1.45371311e-02 7.06667479e+01] [-3.85591005e-03 9.99992542e-01 -2.18513007e-04 6.52585667e-01] [ 1.45361809e-02 2.74542165e-04 9.99894306e-01 1.37857525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:70.70, Y:0.65, Z:0.13 [[ 9.99877734e-01 5.76001119e-03 -1.45375127e-02 7.06963128e+01] [-5.76344816e-03 9.99983372e-01 -1.94535957e-04 6.54978727e-01] [ 1.45361504e-02 2.78298373e-04 9.99894306e-01 1.25347668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:0.66, Z:0.13 [[ 9.99873088e-01 6.51818565e-03 -1.45368829e-02 7.07240436e+01] [-6.52227201e-03 9.99978702e-01 -2.33710428e-04 6.57802312e-01] [ 1.45350499e-02 3.28494272e-04 9.99894307e-01 1.25683937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:0.66, Z:0.12 [[ 9.99853427e-01 9.04471909e-03 -1.45367568e-02 7.07521910e+01] [-9.04918264e-03 9.99959026e-01 -2.41304182e-04 6.63534296e-01] [ 1.45339787e-02 3.72814580e-04 9.99894307e-01 1.24604133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:70.78, Y:0.67, Z:0.14 [[ 9.99852824e-01 9.11136462e-03 -1.45366291e-02 7.07829222e+01] [-9.11594364e-03 9.99958418e-01 -2.48767570e-04 6.66565431e-01] [ 1.45337580e-02 3.81246049e-04 9.99894307e-01 1.40463697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:0.67, Z:0.14 [[ 9.99881696e-01 5.02537940e-03 -1.45375465e-02 7.08107820e+01] [-5.02875116e-03 9.99987337e-01 -1.95388644e-04 6.70816815e-01] [ 1.45363805e-02 2.68471232e-04 9.99894305e-01 1.39388907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:0.67, Z:0.13 [[ 9.99868496e-01 7.18937419e-03 -1.45362832e-02 7.08416998e+01] [-7.19401678e-03 9.99974087e-01 -2.67113505e-04 6.73578179e-01] [ 1.45339862e-02 3.71652644e-04 9.99894307e-01 1.26284270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:0.67, Z:0.14 [[ 9.99878330e-01 5.65837261e-03 -1.45364601e-02 7.08725627e+01] [-5.66270820e-03 9.99983934e-01 -2.57112731e-04 6.74556375e-01] [ 1.45347717e-02 3.39397180e-04 9.99894307e-01 1.39308777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:0.68, Z:0.13 [[ 9.99891169e-01 2.51038933e-03 -1.45378037e-02 7.09012824e+01] [-2.51328771e-03 9.99996825e-01 -1.81101569e-04 6.75828956e-01] [ 1.45373029e-02 2.17619543e-04 9.99894304e-01 1.27036559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:0.68, Z:0.13 [[ 9.99894340e-01 -5.27591041e-05 -1.45363652e-02 7.09293687e+01] [ 4.89678322e-05 9.99999965e-01 -2.61168725e-04 6.77357851e-01] [ 1.45363785e-02 2.60429316e-04 9.99894307e-01 1.27108497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:0.68, Z:0.14 [[ 9.99891965e-01 -2.18085253e-03 -1.45362262e-02 7.09596928e+01] [ 2.17717675e-03 9.99997594e-01 -2.68690591e-04 6.80056240e-01] [ 1.45367772e-02 2.37013630e-04 9.99894307e-01 1.41116541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:0.68, Z:0.14 [[ 9.99888667e-01 -3.36123911e-03 -1.45380806e-02 7.09898017e+01] [ 3.35913995e-03 9.99994344e-01 -1.68807484e-04 6.80428692e-01] [ 1.45385658e-02 1.19953242e-04 9.99894302e-01 1.37166982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:71.02, Y:0.68, Z:0.14 [[ 9.99880470e-01 -5.26239982e-03 -1.45379711e-02 7.10175335e+01] [ 5.26041800e-03 9.99986149e-01 -1.74556878e-04 6.80520517e-01] [ 1.45386883e-02 9.80602079e-05 9.99894303e-01 1.38734306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:71.05, Y:0.68, Z:0.14 [[ 9.99859141e-01 -8.38775110e-03 -1.45376423e-02 7.10453133e+01] [ 8.38585661e-03 9.99964820e-01 -1.91270805e-04 6.81327401e-01] [ 1.45387352e-02 6.93332792e-05 9.99894305e-01 1.39106872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:71.07, Y:0.68, Z:0.14 [[ 9.99841763e-01 -1.02527528e-02 -1.45371853e-02 7.10737526e+01] [ 1.02507293e-02 9.99947437e-01 -2.13705627e-04 6.80839546e-01] [ 1.45386123e-02 6.46550592e-05 9.99894307e-01 1.40212273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:0.68, Z:0.14 [[ 9.99790955e-01 -1.43773948e-02 -1.45374588e-02 7.11019245e+01] [ 1.43759980e-02 9.99896640e-01 -2.00587541e-04 6.76587407e-01] [ 1.45388402e-02 -8.44486975e-06 9.99894305e-01 1.36860885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:0.68, Z:0.14 [[ 9.99768807e-01 -1.58437899e-02 -1.45364216e-02 7.11310356e+01] [ 1.58418399e-02 9.99874479e-01 -2.49286294e-04 6.75775811e-01] [ 1.45385466e-02 1.89449964e-05 9.99894310e-01 1.36607729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72864 meters Centerline goodness : 0.927283 Centerline is valid? [True, False] Translation: X:71.12, Y:0.68, Z:0.14 [[ 9.99964114e-01 -4.51233068e-03 -7.17004258e-03 7.11246063e+01] [ 4.45286292e-03 9.99955737e-01 -8.28835039e-03 6.84833313e-01] [ 7.20712499e-03 8.25612573e-03 9.99939945e-01 1.38319893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:71.15, Y:0.69, Z:0.14 [[ 9.99928133e-01 1.81861752e-03 -1.18499643e-02 7.11456075e+01] [-1.94927790e-03 9.99937334e-01 -1.10240210e-02 6.89094959e-01] [ 1.18291733e-02 1.10463276e-02 9.99869016e-01 1.43578736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:71.23, Y:0.67, Z:0.12 [[ 9.99929141e-01 6.60307105e-04 -1.18860135e-02 7.12283959e+01] [-6.60808152e-04 9.99999781e-01 -3.82270757e-05 6.70223251e-01] [ 1.18859856e-02 4.60787416e-05 9.99929358e-01 1.21688327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.20, Y:0.67, Z:0.15 [[ 9.99877452e-01 1.02307571e-02 -1.18496164e-02 7.11963587e+01] [-1.01915861e-02 9.99942415e-01 3.36136186e-03 6.73657206e-01] [ 1.18833233e-02 -3.24018354e-03 9.99924141e-01 1.52199232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84864 meters Centerline goodness : 0.919647 Centerline is valid? [True, False] Translation: X:71.20, Y:0.68, Z:0.15 [[ 9.99927303e-01 -2.20646713e-03 -1.18540967e-02 7.11962828e+01] [ 2.06802866e-03 9.99929670e-01 -1.16781256e-02 6.84824887e-01] [ 1.18790304e-02 1.16527620e-02 9.99861541e-01 1.53629757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:71.20, Y:0.68, Z:0.15 [[ 9.99926370e-01 -2.20947592e-03 -1.19320264e-02 7.11964901e+01] [ 2.06977714e-03 9.99929322e-01 -1.17075690e-02 6.84932274e-01] [ 1.19570506e-02 1.16820103e-02 9.99860270e-01 1.53774561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters Centerline goodness : 0.911159 Centerline is valid? [True, False] Translation: X:71.20, Y:0.69, Z:0.15 [[ 9.99908850e-01 -6.43670522e-03 -1.18684823e-02 7.11964516e+01] [ 6.24158273e-03 9.99845951e-01 -1.64047800e-02 6.86950079e-01] [ 1.19722467e-02 1.63292066e-02 9.99794990e-01 1.53944254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:71.20, Y:0.68, Z:0.15 [[ 9.99927167e-01 -2.21670836e-03 -1.18636763e-02 7.11964565e+01] [ 2.07926376e-03 9.99930728e-01 -1.15851518e-02 6.84272719e-01] [ 1.18885354e-02 1.15596404e-02 9.99862509e-01 1.53611022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:71.22, Y:0.68, Z:0.15 [[ 9.99918774e-01 -4.32474052e-03 -1.19892091e-02 7.12249973e+01] [ 4.32597001e-03 9.99990640e-01 7.66185620e-05 6.77439008e-01] [ 1.19887656e-02 -1.28477298e-04 9.99928124e-01 1.52249199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:0.68, Z:0.14 [[ 9.99899622e-01 -7.55167012e-03 -1.19882470e-02 7.12527818e+01] [ 7.55209066e-03 9.99971483e-01 -1.01907150e-05 6.78581493e-01] [ 1.19879820e-02 -8.03466357e-05 9.99928138e-01 1.41500200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:71.28, Y:0.68, Z:0.15 [[ 9.99907485e-01 -6.42956275e-03 -1.19867298e-02 7.12825852e+01] [ 6.42834582e-03 9.99979328e-01 -1.40049747e-04 6.78728081e-01] [ 1.19873825e-02 6.29819463e-05 9.99928147e-01 1.54004138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:0.68, Z:0.14 [[ 9.99884340e-01 -9.35972213e-03 -1.19876064e-02 7.13111385e+01] [ 9.35961943e-03 9.99956196e-01 -6.46699789e-05 6.80669020e-01] [ 1.19876866e-02 -4.75369350e-05 9.99928144e-01 1.44468673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:71.34, Y:0.68, Z:0.16 [[ 9.99884695e-01 -9.32284105e-03 -1.19866890e-02 7.13417725e+01] [ 9.32180769e-03 9.99956541e-01 -1.42078051e-04 6.81162471e-01] [ 1.19874926e-02 3.03240597e-05 9.99928147e-01 1.56049246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:0.68, Z:0.15 [[ 9.99860920e-01 -1.15941534e-02 -1.19882046e-02 7.13694356e+01] [ 1.15948194e-02 9.99932778e-01 -1.39516996e-05 6.81966511e-01] [ 1.19875605e-02 -1.25051309e-04 9.99928139e-01 1.45036964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:0.68, Z:0.15 [[ 9.99831909e-01 -1.38735994e-02 -1.19865210e-02 7.13981864e+01] [ 1.38728075e-02 9.99903757e-01 -1.49210721e-04 6.80948268e-01] [ 1.19874375e-02 -1.71010585e-05 9.99928148e-01 1.45632734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:0.68, Z:0.15 [[ 9.99809879e-01 -1.53795315e-02 -1.19865015e-02 7.14272309e+01] [ 1.53788292e-02 9.99881727e-01 -1.50766672e-04 6.80838896e-01] [ 1.19874025e-02 -3.36003505e-05 9.99928148e-01 1.46190694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:0.68, Z:0.15 [[ 9.99806903e-01 -1.55718080e-02 -1.19864820e-02 7.14556905e+01] [ 1.55711011e-02 9.99878751e-01 -1.52300972e-04 6.81148608e-01] [ 1.19874002e-02 -3.43711597e-05 9.99928148e-01 1.46532108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:0.68, Z:0.16 [[ 9.99799039e-01 -1.60687918e-02 -1.19864522e-02 7.14858248e+01] [ 1.60680930e-02 9.99870888e-01 -1.54606072e-04 6.80203624e-01] [ 1.19873890e-02 -3.80244269e-05 9.99928148e-01 1.57365649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:0.68, Z:0.15 [[ 9.99747575e-01 -1.90022149e-02 -1.19876226e-02 7.15138486e+01] [ 1.90028024e-02 9.99819428e-01 -6.49044513e-05 6.80369509e-01] [ 1.19866913e-02 -1.62910356e-04 9.99928144e-01 1.46860867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:71.55, Y:0.68, Z:0.16 [[ 9.99805640e-01 -1.56528268e-02 -1.19863071e-02 7.15457984e+01] [ 1.56520076e-02 9.99877487e-01 -1.62153569e-04 6.80261187e-01] [ 1.19873768e-02 -2.54877164e-05 9.99928148e-01 1.61568751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:0.68, Z:0.16 [[ 9.99799090e-01 -1.60641318e-02 -1.19884839e-02 7.15745396e+01] [ 1.60652671e-02 9.99870945e-01 -1.60350444e-06 6.76820739e-01] [ 1.19869624e-02 -1.90995013e-04 9.99928136e-01 1.57276574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:71.60, Y:0.67, Z:0.16 [[ 9.99785962e-01 -1.68621933e-02 -1.19873709e-02 7.16032547e+01] [ 1.68624347e-02 9.99857816e-01 -8.09462359e-05 6.74703144e-01] [ 1.19870314e-02 -1.21207348e-04 9.99928146e-01 1.60313362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:0.67, Z:0.16 [[ 9.99798381e-01 -1.61090138e-02 -1.19874004e-02 7.16317189e+01] [ 1.61092255e-02 9.99870235e-01 -7.89083209e-05 6.73591191e-01] [ 1.19871160e-02 -1.14215324e-04 9.99928145e-01 1.58634237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:0.67, Z:0.16 [[ 9.99804654e-01 -1.57149873e-02 -1.19872246e-02 7.16616822e+01] [ 1.57150275e-02 9.99876507e-01 -9.08495285e-05 6.73426627e-01] [ 1.19871719e-02 -9.75477819e-05 9.99928147e-01 1.61671374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:0.67, Z:0.16 [[ 9.99795570e-01 -1.62821005e-02 -1.19879365e-02 7.16900654e+01] [ 1.62827424e-02 9.99867426e-01 -4.40607753e-05 6.72245639e-01] [ 1.19870647e-02 -1.51144715e-04 9.99928141e-01 1.60359688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:0.67, Z:0.16 [[ 9.99787239e-01 -1.67864096e-02 -1.19872432e-02 7.17178906e+01] [ 1.67865588e-02 9.99859092e-01 -8.81756860e-05 6.70738433e-01] [ 1.19870343e-02 -1.13067638e-04 9.99928147e-01 1.61103744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:71.75, Y:0.67, Z:0.16 [[ 9.99786691e-01 -1.68193466e-02 -1.19867648e-02 7.17469594e+01] [ 1.68191433e-02 9.99858541e-01 -1.17776970e-04 6.71614082e-01] [ 1.19870501e-02 -8.38552668e-05 9.99928149e-01 1.61800282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:0.67, Z:0.16 [[ 9.99815879e-01 -1.49840815e-02 -1.19868949e-02 7.17747411e+01] [ 1.49838394e-02 9.99887730e-01 -1.10005471e-04 6.72598533e-01] [ 1.19871975e-02 -6.96244916e-05 9.99928149e-01 1.62040066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:0.67, Z:0.15 [[ 9.99799580e-01 -1.60350553e-02 -1.19865289e-02 7.18033261e+01] [ 1.60346354e-02 9.99871428e-01 -1.31136486e-04 6.72705575e-01] [ 1.19870906e-02 -6.10894174e-05 9.99928150e-01 1.49339792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:0.67, Z:0.16 [[ 9.99851762e-01 -1.23616887e-02 -1.19851350e-02 7.18343830e+01] [ 1.23600534e-02 9.99923589e-01 -2.10503360e-04 6.73091738e-01] [ 1.19868214e-02 6.23352465e-05 9.99928154e-01 1.64538368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:71.86, Y:0.68, Z:0.16 [[ 9.99862489e-01 -1.14591314e-02 -1.19870931e-02 7.18643417e+01] [ 1.14587742e-02 9.99934341e-01 -9.84765967e-05 6.76253068e-01] [ 1.19874345e-02 -3.88943381e-05 9.99928147e-01 1.63745711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:71.89, Y:0.68, Z:0.16 [[ 9.99860295e-01 -1.16493173e-02 -1.19868539e-02 7.18934168e+01] [ 1.16488129e-02 9.99932144e-01 -1.11896785e-04 6.78407463e-01] [ 1.19873441e-02 -2.77514664e-05 9.99928149e-01 1.63351171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:0.68, Z:0.16 [[ 9.99841465e-01 -1.31669782e-02 -1.19864738e-02 7.19208110e+01] [ 1.31663359e-02 9.99913311e-01 -1.32503791e-04 6.79559335e-01] [ 1.19871794e-02 -2.53351564e-05 9.99928151e-01 1.60777902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:71.95, Y:0.68, Z:0.16 [[ 9.99847368e-01 -1.27116147e-02 -1.19856393e-02 7.19495477e+01] [ 1.27104062e-02 9.99919204e-01 -1.77005243e-04 6.80989366e-01] [ 1.19869209e-02 2.46358828e-05 9.99928154e-01 1.64333592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:71.98, Y:0.69, Z:0.16 [[ 9.99840135e-01 -1.32681798e-02 -1.19858169e-02 7.19777835e+01] [ 1.32671225e-02 9.99911974e-01 -1.67726770e-04 6.85267546e-01] [ 1.19869872e-02 8.68265694e-06 9.99928153e-01 1.64923328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.01, Y:0.69, Z:0.17 [[ 9.99825719e-01 -1.43137941e-02 -1.19852746e-02 7.20058311e+01] [ 1.43124805e-02 9.99897552e-01 -1.95371004e-04 6.86931862e-01] [ 1.19868433e-02 2.37979455e-05 9.99928155e-01 1.65147996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.03, Y:0.69, Z:0.16 [[ 9.99842958e-01 -1.30546065e-02 -1.19848767e-02 7.20343056e+01] [ 1.30529654e-02 9.99914783e-01 -2.15142975e-04 6.88466008e-01] [ 1.19866639e-02 5.86710075e-05 9.99928156e-01 1.63997290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:72.06, Y:0.69, Z:0.16 [[ 9.99831750e-01 -1.38860982e-02 -1.19853547e-02 7.20618303e+01] [ 1.38847990e-02 9.99903583e-01 -1.91606188e-04 6.90955602e-01] [ 1.19868597e-02 2.51597096e-05 9.99928155e-01 1.64215337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.09, Y:0.69, Z:0.16 [[ 9.99839257e-01 -1.33349695e-02 -1.19849112e-02 7.20908597e+01] [ 1.33333759e-02 9.99911084e-01 -2.12861880e-04 6.93311658e-01] [ 1.19866841e-02 5.30283376e-05 9.99928156e-01 1.62920444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.12, Y:0.70, Z:0.16 [[ 9.99817070e-01 -1.49057181e-02 -1.19852421e-02 7.21183200e+01] [ 1.49044240e-02 9.99888903e-01 -1.97290462e-04 6.95133750e-01] [ 1.19868513e-02 1.86212414e-05 9.99928155e-01 1.63794365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:72.15, Y:0.70, Z:0.17 [[ 9.99802592e-01 -1.58473212e-02 -1.19850035e-02 7.21482549e+01] [ 1.58459620e-02 9.99874423e-01 -2.08360660e-04 6.95569242e-01] [ 1.19868004e-02 1.84056182e-05 9.99928156e-01 1.66311259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:0.70, Z:0.16 [[ 9.99772070e-01 -1.76679151e-02 -1.19855196e-02 7.21765287e+01] [ 1.76669681e-02 9.99843910e-01 -1.84893116e-04 6.96279557e-01] [ 1.19869155e-02 -2.68968193e-05 9.99928154e-01 1.64210219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.20, Y:0.68, Z:0.15 [[ 9.97822166e-01 -6.48637719e-02 -1.19840132e-02 7.21986580e+01] [ 6.48654122e-02 9.97893990e-01 -2.52177182e-04 6.79157573e-01] [ 1.19751319e-02 -5.25719972e-04 9.99928157e-01 1.54923364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.24, Y:0.70, Z:0.15 [[ 9.99726116e-01 -2.01095611e-02 -1.19707038e-02 7.22372408e+01] [ 2.01008929e-02 9.99797600e-01 -8.44005591e-04 7.01405193e-01] [ 1.19852535e-02 6.03152596e-04 9.99927992e-01 1.53982273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:0.70, Z:0.15 [[ 9.99696390e-01 -2.15298510e-02 -1.19830776e-02 7.22657861e+01] [ 2.15284098e-02 9.99768206e-01 -2.49271438e-04 7.01036136e-01] [ 1.19856667e-02 -8.78084782e-06 9.99928169e-01 1.54550315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:0.70, Z:0.17 [[ 9.99669688e-01 -2.27359082e-02 -1.19830456e-02 7.22947795e+01] [ 2.27345352e-02 9.99741506e-01 -2.50801557e-04 6.99860961e-01] [ 1.19856502e-02 -2.17102566e-05 9.99928169e-01 1.67565611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.32, Y:0.70, Z:0.16 [[ 9.99597090e-01 -2.57303715e-02 -1.19835456e-02 7.23240017e+01] [ 2.57295004e-02 9.99668916e-01 -2.26888938e-04 6.99799073e-01] [ 1.19854159e-02 -8.15331177e-05 9.99928169e-01 1.55361715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:0.70, Z:0.16 [[ 9.99505598e-01 -2.90683252e-02 -1.19829759e-02 7.23532964e+01] [ 2.90673714e-02 9.99577422e-01 -2.53785087e-04 6.98239148e-01] [ 1.19852893e-02 -9.46539967e-05 9.99928169e-01 1.55999975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.38, Y:0.70, Z:0.16 [[ 9.99475109e-01 -3.00984176e-02 -1.19829436e-02 7.23823687e+01] [ 3.00975197e-02 9.99546934e-01 -2.55302946e-04 6.96578768e-01] [ 1.19851987e-02 -1.05487940e-04 9.99928169e-01 1.60112114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:72.41, Y:0.70, Z:0.17 [[ 9.99417933e-01 -3.19407572e-02 -1.19826251e-02 7.24105572e+01] [ 3.19398124e-02 9.99489757e-01 -2.70257361e-04 6.95332974e-01] [ 1.19851433e-02 -1.12622745e-04 9.99928169e-01 1.67887718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:72.44, Y:0.69, Z:0.17 [[ 9.99378521e-01 -3.31510233e-02 -1.19825797e-02 7.24393605e+01] [ 3.31501401e-02 9.99450346e-01 -2.72375545e-04 6.93442068e-01] [ 1.19850230e-02 -1.25017927e-04 9.99928169e-01 1.69658599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:72.47, Y:0.69, Z:0.17 [[ 9.99320015e-01 -3.48699821e-02 -1.19830072e-02 7.24681606e+01] [ 3.48694621e-02 9.99391844e-01 -2.52386456e-04 6.92873110e-01] [ 1.19845204e-02 -1.65626180e-04 9.99928169e-01 1.68404359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:0.69, Z:0.16 [[ 9.99244859e-01 -3.69612001e-02 -1.19825833e-02 7.24980223e+01] [ 3.69605917e-02 9.99316687e-01 -2.72294787e-04 6.89310683e-01] [ 1.19844598e-02 -1.70794202e-04 9.99928169e-01 1.57266621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:72.53, Y:0.69, Z:0.17 [[ 9.99220321e-01 -3.76185850e-02 -1.19829763e-02 7.25263392e+01] [ 3.76182464e-02 9.99292151e-01 -2.53732131e-04 6.87132826e-01] [ 1.19840392e-02 -1.97244255e-04 9.99928169e-01 1.71826395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.55, Y:0.69, Z:0.17 [[ 9.99193508e-01 -3.83243746e-02 -1.19823514e-02 7.25547743e+01] [ 3.83237362e-02 9.99265336e-01 -2.82975688e-04 6.85811946e-01] [ 1.19843932e-02 -1.76461002e-04 9.99928169e-01 1.72218437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:72.59, Y:0.68, Z:0.17 [[ 9.99223454e-01 -3.75354040e-02 -1.19825639e-02 7.25852396e+01] [ 3.75348270e-02 9.99295283e-01 -2.73118545e-04 6.83882560e-01] [ 1.19843712e-02 -1.76857009e-04 9.99928169e-01 1.72286599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:72.58, Y:0.65, Z:0.16 [[ 9.95776456e-01 -9.10254807e-02 -1.19838395e-02 7.25779374e+01] [ 9.10294639e-02 9.95848177e-01 -2.13792505e-04 6.53111888e-01] [ 1.19535453e-02 -8.77992946e-04 9.99928168e-01 1.61480869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:72.64, Y:0.68, Z:0.18 [[ 9.99567268e-01 -2.68800016e-02 -1.19474547e-02 7.26424593e+01] [ 2.68585687e-02 9.99637340e-01 -1.95080243e-03 6.82044053e-01] [ 1.19955595e-02 1.62906672e-03 9.99926724e-01 1.75157346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:72.67, Y:0.68, Z:0.17 [[ 9.99584984e-01 -2.62009213e-02 -1.19737716e-02 7.26717950e+01] [ 2.62016707e-02 9.99656673e-01 -9.43075783e-05 6.79475074e-01] [ 1.19721316e-02 -2.19464381e-04 9.99928307e-01 1.73532048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:72.70, Y:0.68, Z:0.17 [[ 9.99647336e-01 -2.37033251e-02 -1.19731369e-02 7.27005332e+01] [ 2.37033667e-02 9.99719026e-01 -1.38456454e-04 6.76390387e-01] [ 1.19730546e-02 -1.45396029e-04 9.99928310e-01 1.72852345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:72.73, Y:0.67, Z:0.17 [[ 9.99634021e-01 -2.42581653e-02 -1.19735712e-02 7.27279573e+01] [ 2.42586012e-02 9.99705711e-01 -1.08847481e-04 6.73788332e-01] [ 1.19726880e-02 -1.81654445e-04 9.99928308e-01 1.73750398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:72.76, Y:0.67, Z:0.17 [[ 9.99653139e-01 -2.34575187e-02 -1.19727806e-02 7.27572169e+01] [ 2.34572604e-02 9.99724827e-01 -1.62026497e-04 6.72423913e-01] [ 1.19732868e-02 -1.18878337e-04 9.99928311e-01 1.73460674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:72.76, Y:0.63, Z:0.16 [[ 9.95329255e-01 -9.57931096e-02 -1.19730802e-02 7.27618344e+01] [ 9.57982832e-02 9.95400758e-01 -1.41995807e-04 6.32444934e-01] [ 1.19316154e-02 -1.00566795e-03 9.99928310e-01 1.58919816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:0.67, Z:0.16 [[ 9.99681577e-01 -2.22247451e-02 -1.19501102e-02 7.28154338e+01] [ 2.22081703e-02 9.99752216e-01 -1.51793209e-03 6.66232697e-01] [ 1.19808848e-02 1.25205866e-03 9.99927443e-01 1.61764153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:72.84, Y:0.66, Z:0.18 [[ 9.99669742e-01 -2.27422469e-02 -1.19664649e-02 7.28447917e+01] [ 2.27421744e-02 9.99741353e-01 -1.42153640e-04 6.58933802e-01] [ 1.19666027e-02 -1.30036738e-04 9.99928389e-01 1.75331226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:0.66, Z:0.16 [[ 9.99645701e-01 -2.37755058e-02 -1.19665274e-02 7.28742479e+01] [ 2.37755696e-02 9.99717312e-01 -1.36946861e-04 6.57246314e-01] [ 1.19664006e-02 -1.47612665e-04 9.99928389e-01 1.62086450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:0.66, Z:0.16 [[ 9.99654105e-01 -2.34195164e-02 -1.19664461e-02 7.29027862e+01] [ 2.34194737e-02 9.99725716e-01 -1.43716336e-04 6.56362474e-01] [ 1.19665297e-02 -1.36581245e-04 9.99928389e-01 1.61250156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:0.65, Z:0.17 [[ 9.99741369e-01 -1.93390950e-02 -1.19664277e-02 7.29079649e+01] [ 1.93387418e-02 9.99812978e-01 -1.45234369e-04 6.47467602e-01] [ 1.19669984e-02 -8.62188493e-05 9.99928389e-01 1.65919269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters Centerline goodness : 0.980294 Centerline is valid? [True, True] Translation: X:72.98, Y:0.70, Z:0.15 [[ 9.97128530e-01 7.47787877e-02 -1.19510835e-02 7.29780006e+01] [-7.47990333e-02 9.97197838e-01 -1.25550974e-03 6.98680253e-01] [ 1.18237091e-02 2.14583407e-03 9.99927795e-01 1.54989916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:0.65, Z:0.16 [[ 9.99803367e-01 -1.58118685e-02 -1.19671478e-02 7.29890951e+01] [ 1.58255683e-02 9.99874216e-01 1.05094871e-03 6.52011303e-01] [ 1.19490251e-02 -1.24012898e-03 9.99927839e-01 1.62886382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters Centerline goodness : 0.970344 Centerline is valid? [True, True] Translation: X:72.97, Y:0.63, Z:0.15 [[ 9.99595167e-01 -2.58182209e-02 -1.19549689e-02 7.29675461e+01] [ 2.58185838e-02 9.99666637e-01 -1.24003369e-04 6.28066584e-01] [ 1.19541851e-02 -1.84707198e-04 9.99928529e-01 1.51934138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:0.66, Z:0.16 [[ 9.99896561e-01 -8.02812216e-03 -1.19338613e-02 7.30399695e+01] [ 8.00536521e-03 9.99966048e-01 -1.95347093e-03 6.57217108e-01] [ 1.19491389e-02 1.85773394e-03 9.99926881e-01 1.63797010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:0.65, Z:0.16 [[ 9.99893535e-01 -8.38500220e-03 -1.19419352e-02 7.30690001e+01] [ 8.38499667e-03 9.99964844e-01 -5.05322192e-05 6.54657876e-01] [ 1.19419391e-02 -4.96062478e-05 9.99928691e-01 1.63239436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:0.65, Z:0.18 [[ 9.99893392e-01 -8.40209935e-03 -1.19419286e-02 7.31002108e+01] [ 8.40207693e-03 9.99964701e-01 -5.20485502e-05 6.52812800e-01] [ 1.19419444e-02 -4.82940017e-05 9.99928691e-01 1.75637249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:0.65, Z:0.16 [[ 9.99867830e-01 -1.10320848e-02 -1.19421893e-02 7.31294265e+01] [ 1.10329324e-02 9.99939135e-01 5.09219972e-06 6.52296685e-01] [ 1.19414063e-02 -1.36848894e-04 9.99928690e-01 1.63811577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:0.65, Z:0.18 [[ 9.99865321e-01 -1.12575004e-02 -1.19418827e-02 7.31592200e+01] [ 1.12576103e-02 9.99936629e-01 -5.80178365e-05 6.50899500e-01] [ 1.19417791e-02 -7.64270399e-05 9.99928691e-01 1.76777965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:73.19, Y:0.64, Z:0.18 [[ 9.99826832e-01 -1.42720776e-02 -1.19420792e-02 7.31877826e+01] [ 1.42728736e-02 9.99898137e-01 -1.85721929e-05 6.44218096e-01] [ 1.19411278e-02 -1.51878810e-04 9.99928691e-01 1.76952962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:73.22, Y:0.64, Z:0.16 [[ 9.99775639e-01 -1.74945025e-02 -1.19420972e-02 7.32169550e+01] [ 1.74955693e-02 9.99846941e-01 -1.51404031e-05 6.40834951e-01] [ 1.19405342e-02 -1.93796783e-04 9.99928691e-01 1.63397469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:73.25, Y:0.64, Z:0.16 [[ 9.99745323e-01 -1.91489527e-02 -1.19418064e-02 7.32459597e+01] [ 1.91495184e-02 9.99816629e-01 -6.69834752e-05 6.38316320e-01] [ 1.19408993e-02 -1.61713426e-04 9.99928692e-01 1.64784030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:73.28, Y:0.63, Z:0.17 [[ 9.99755221e-01 -1.86250290e-02 -1.19417978e-02 7.32751915e+01] [ 1.86255393e-02 9.99826527e-01 -6.84924707e-05 6.33964608e-01] [ 1.19410019e-02 -1.53946718e-04 9.99928692e-01 1.65149841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:73.30, Y:0.63, Z:0.17 [[ 9.99751638e-01 -1.88163924e-02 -1.19417889e-02 7.33036634e+01] [ 1.88168982e-02 9.99822944e-01 -7.00099197e-05 6.34083288e-01] [ 1.19409918e-02 -1.54714893e-04 9.99928692e-01 1.65489982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15863999999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:73.33, Y:0.63, Z:0.16 [[ 9.99765072e-01 -1.80885093e-02 -1.19417750e-02 7.33312517e+01] [ 1.80889359e-02 9.99836379e-01 -7.22956484e-05 6.30847083e-01] [ 1.19411288e-02 -1.43735339e-04 9.99928692e-01 1.64752742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:73.36, Y:0.63, Z:0.17 [[ 9.99788328e-01 -1.67538882e-02 -1.19417608e-02 7.33587665e+01] [ 1.67541923e-02 9.99859636e-01 -7.45813743e-05 6.27635873e-01] [ 1.19413341e-02 -1.25508969e-04 9.99928692e-01 1.65035862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21864 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:73.39, Y:0.62, Z:0.17 [[ 9.99843145e-01 -1.30797733e-02 -1.19417462e-02 7.33879272e+01] [ 1.30797882e-02 9.99914453e-01 -7.68500999e-05 6.24011323e-01] [ 1.19417298e-02 -7.93574652e-05 9.99928692e-01 1.65604877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24864 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:73.42, Y:0.62, Z:0.18 [[ 9.99896692e-01 -8.00006725e-03 -1.19417361e-02 7.34183156e+01] [ 7.99970173e-03 9.99967999e-01 -7.83760917e-05 6.21862072e-01] [ 1.19419810e-02 -1.71623324e-05 9.99928692e-01 1.77902839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:73.45, Y:0.62, Z:0.18 [[ 9.99907668e-01 -6.48399683e-03 -1.19421109e-02 7.34461332e+01] [ 6.48419381e-03 9.99978977e-01 -2.22244836e-05 6.20976551e-01] [ 1.19420040e-02 -5.52125303e-05 9.99928690e-01 1.78666975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:73.47, Y:0.62, Z:0.18 [[ 9.99914204e-01 -5.38274658e-03 -1.19419687e-02 7.34749098e+01] [ 5.38262912e-03 9.99985513e-01 -4.19768217e-05 6.20481905e-01] [ 1.19420216e-02 -2.23059680e-05 9.99928691e-01 1.78560702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:73.50, Y:0.62, Z:0.17 [[ 9.99914626e-01 -5.30420058e-03 -1.19418089e-02 7.35041416e+01] [ 5.30382748e-03 9.99985933e-01 -6.29130874e-05 6.20360113e-01] [ 1.19419746e-02 -4.29577897e-07 9.99928692e-01 1.67528037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36864 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:73.53, Y:0.62, Z:0.18 [[ 9.99927324e-01 -1.65723051e-03 -1.19415677e-02 7.35332919e+01] [ 1.65623017e-03 9.99998624e-01 -9.36582977e-05 6.21136730e-01] [ 1.19417065e-02 7.38735062e-05 9.99928693e-01 1.79122726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:73.56, Y:0.62, Z:0.18 [[ 9.99926766e-01 -1.96393174e-03 -1.19417778e-02 7.35618229e+01] [ 1.96326017e-03 9.99998070e-01 -6.79596035e-05 6.21669737e-01] [ 1.19418882e-02 4.45098098e-05 9.99928692e-01 1.78932967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:73.59, Y:0.62, Z:0.18 [[ 9.99925695e-01 -2.44954048e-03 -1.19416801e-02 7.35907372e+01] [ 2.44876913e-03 9.99996999e-01 -7.92141124e-05 6.23137989e-01] [ 1.19418383e-02 4.99658087e-05 9.99928692e-01 1.81204790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:73.62, Y:0.62, Z:0.18 [[ 9.99926066e-01 -2.29363494e-03 -1.19415844e-02 7.36199180e+01] [ 2.29272754e-03 9.99997368e-01 -8.96763546e-05 6.24762200e-01] [ 1.19417586e-02 6.22909251e-05 9.99928693e-01 1.81592879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48864 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:73.65, Y:0.63, Z:0.18 [[ 9.99922798e-01 -3.43536162e-03 -1.19413738e-02 7.36490026e+01] [ 3.43427021e-03 9.99994097e-01 -1.11901937e-04 6.27036292e-01] [ 1.19416878e-02 7.08833931e-05 9.99928693e-01 1.83217341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51863999999999 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:73.68, Y:0.63, Z:0.18 [[ 9.99917671e-01 -4.69557410e-03 -1.19416230e-02 7.36768626e+01] [ 4.69487263e-03 9.99988975e-01 -8.67743456e-05 6.27996482e-01] [ 1.19418988e-02 3.07028028e-05 9.99928693e-01 1.83736916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:73.71, Y:0.63, Z:0.18 [[ 9.99905830e-01 -6.76263902e-03 -1.19414024e-02 7.37059610e+01] [ 6.76183094e-03 9.99977133e-01 -1.08043894e-04 6.32290618e-01] [ 1.19418600e-02 2.72879759e-05 9.99928693e-01 1.84750981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57864 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:73.73, Y:0.63, Z:0.19 [[ 9.99895411e-01 -8.15895075e-03 -1.19414649e-02 7.37349618e+01] [ 8.15831248e-03 9.99966715e-01 -1.02161958e-04 6.34645980e-01] [ 1.19419009e-02 4.72907060e-06 9.99928693e-01 1.85984852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:73.76, Y:0.64, Z:0.17 [[ 9.99850827e-01 -1.24788698e-02 -1.19415893e-02 7.37642118e+01] [ 1.24786747e-02 9.99922134e-01 -9.08504847e-05 6.35775203e-01] [ 1.19417932e-02 -5.81782760e-05 9.99928693e-01 1.72557862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:73.79, Y:0.64, Z:0.17 [[ 9.99764146e-01 -1.81401129e-02 -1.19410631e-02 7.37925924e+01] [ 1.81397730e-02 9.99835451e-01 -1.36783386e-04 6.38133911e-01] [ 1.19415795e-02 -7.98570495e-05 9.99928694e-01 1.73541294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:73.84, Y:0.67, Z:0.17 [[ 9.98961755e-01 4.39638903e-02 -1.19410453e-02 7.38381114e+01] [-4.39686748e-02 9.99032901e-01 -1.38322879e-04 6.68317062e-01] [ 1.19234159e-02 6.63211204e-04 9.99928694e-01 1.72824004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69864 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:73.86, Y:0.67, Z:0.17 [[ 9.98914625e-01 4.50193790e-02 -1.19510290e-02 7.38637576e+01] [-4.50132026e-02 9.98986083e-01 7.85436398e-04 6.73112921e-01] [ 1.19742715e-02 -2.46629816e-04 9.99928275e-01 1.71477996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:73.88, Y:0.64, Z:0.17 [[ 9.99386811e-01 -3.29128017e-02 -1.19477914e-02 7.38797394e+01] [ 3.29217236e-02 9.99457781e-01 5.50778018e-04 6.37126875e-01] [ 1.19231854e-02 -9.43782172e-04 9.99928471e-01 1.73869822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:73.91, Y:0.64, Z:0.17 [[ 9.99296687e-01 -3.55481679e-02 -1.19356419e-02 7.39080923e+01] [ 3.55483782e-02 9.99367938e-01 -1.94600346e-04 6.37130097e-01] [ 1.19350155e-02 -2.29829232e-04 9.99928749e-01 1.74120262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:73.94, Y:0.63, Z:0.19 [[ 9.99130560e-01 -3.99457701e-02 -1.19356175e-02 7.39364694e+01] [ 3.99462762e-02 9.99201810e-01 -1.96086770e-04 6.33930118e-01] [ 1.19339235e-02 -2.80867190e-04 9.99928749e-01 1.89171267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:73.97, Y:0.63, Z:0.17 [[ 9.99022553e-01 -4.25617596e-02 -1.19346614e-02 7.39663619e+01] [ 4.25617727e-02 9.99093805e-01 -2.53006128e-04 6.33079911e-01] [ 1.19346146e-02 -2.55201517e-04 9.99928747e-01 1.74032228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:74.00, Y:0.63, Z:0.17 [[ 9.98873692e-01 -4.59226398e-02 -1.19355756e-02 7.39954075e+01] [ 4.59235511e-02 9.98944938e-01 -1.97856054e-04 6.27823808e-01] [ 1.19320689e-02 -3.50490810e-04 9.99928749e-01 1.74779548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87863999999999 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:74.02, Y:0.62, Z:0.18 [[ 9.98839296e-01 -4.66647999e-02 -1.19355513e-02 7.40244335e+01] [ 4.66657467e-02 9.98910541e-01 -1.99315766e-04 6.24732813e-01] [ 1.19318490e-02 -3.57896992e-04 9.99928749e-01 1.75894211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:74.05, Y:0.62, Z:0.18 [[ 9.98806842e-01 -4.73543695e-02 -1.19355269e-02 7.40535980e+01] [ 4.73553481e-02 9.98878086e-01 -2.00764530e-04 6.18442683e-01] [ 1.19316433e-02 -3.64686044e-04 9.99928749e-01 1.76592746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93863999999999 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:74.08, Y:0.62, Z:0.18 [[ 9.98844235e-01 -4.65589744e-02 -1.19355023e-02 7.40819712e+01] [ 4.65598790e-02 9.98915480e-01 -2.02214329e-04 6.16117742e-01] [ 1.19319729e-02 -3.53734927e-04 9.99928749e-01 1.77463355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:74.11, Y:0.61, Z:0.18 [[ 9.98902961e-01 -4.52815623e-02 -1.19354650e-02 7.41109425e+01] [ 4.52823498e-02 9.98974207e-01 -2.04395804e-04 6.10107006e-01] [ 1.19324770e-02 -3.36294326e-04 9.99928749e-01 1.77414447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:74.14, Y:0.61, Z:0.19 [[ 9.98987214e-01 -4.33830681e-02 -1.19354399e-02 7.41404825e+01] [ 4.33837028e-02 9.99058463e-01 -2.05848966e-04 6.06471266e-01] [ 1.19331326e-02 -3.12163092e-04 9.99928749e-01 1.92023556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:74.17, Y:0.60, Z:0.19 [[ 9.99001260e-01 -4.30584425e-02 -1.19353425e-02 7.41703422e+01] [ 4.30589866e-02 9.99072509e-01 -2.11503198e-04 6.03052362e-01] [ 1.19333796e-02 -3.02631789e-04 9.99928749e-01 1.91114152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.22, Y:0.62, Z:0.18 [[ 9.99827855e-01 1.42061633e-02 -1.19350320e-02 7.42152831e+01] [-1.42099124e-02 9.99899008e-01 -2.29376757e-04 6.22279941e-01] [ 1.19305681e-02 3.98933031e-04 9.99928749e-01 1.78957800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:74.23, Y:0.59, Z:0.19 [[ 9.99083166e-01 -4.11104064e-02 -1.19483290e-02 7.42282089e+01] [ 4.11214849e-02 9.99153921e-01 6.82903530e-04 5.94114987e-01] [ 1.19101453e-02 -1.17361045e-03 9.99928383e-01 1.92884283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:74.26, Y:0.59, Z:0.19 [[ 9.99114777e-01 -4.03396683e-02 -1.19320083e-02 7.42567633e+01] [ 4.03394671e-02 9.99185999e-01 -2.57640697e-04 5.89383517e-01] [ 1.19326888e-02 -2.23918228e-04 9.99928778e-01 1.92744181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:74.29, Y:0.59, Z:0.18 [[ 9.99148736e-01 -3.94896548e-02 -1.19319202e-02 7.42883209e+01] [ 3.94893324e-02 9.99219958e-01 -2.62713663e-04 5.86576873e-01] [ 1.19329873e-02 -2.08693539e-04 9.99928778e-01 1.80448576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:74.32, Y:0.58, Z:0.18 [[ 9.99250296e-01 -3.68300460e-02 -1.19328743e-02 7.43176420e+01] [ 3.68301875e-02 9.99321517e-01 -2.07967399e-04 5.83105505e-01] [ 1.19324375e-02 -2.31678514e-04 9.99928779e-01 1.79674403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.35, Y:0.58, Z:0.18 [[ 9.99292688e-01 -3.56613286e-02 -1.19328479e-02 7.43469155e+01] [ 3.56613689e-02 9.99363909e-01 -2.09472752e-04 5.82399907e-01] [ 1.19327276e-02 -2.16217102e-04 9.99928779e-01 1.79305348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:74.38, Y:0.58, Z:0.18 [[ 9.99371169e-01 -3.33897364e-02 -1.19328212e-02 7.43758794e+01] [ 3.33895967e-02 9.99442390e-01 -2.10981737e-04 5.82021200e-01] [ 1.19332120e-02 -1.87583024e-04 9.99928779e-01 1.79844727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.40, Y:0.58, Z:0.20 [[ 9.99496484e-01 -2.94004623e-02 -1.19327942e-02 7.44044325e+01] [ 2.94000202e-02 9.99567703e-01 -2.12500591e-04 5.80763245e-01] [ 1.19338833e-02 -1.38430797e-04 9.99928779e-01 1.95345316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:0.58, Z:0.18 [[ 9.99557712e-01 -2.72396860e-02 -1.19323418e-02 7.44344368e+01] [ 2.72387906e-02 9.99628927e-01 -2.37583363e-04 5.81495382e-01] [ 1.19343858e-02 -8.75442775e-05 9.99928779e-01 1.80430631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.46, Y:0.58, Z:0.18 [[ 9.99655012e-01 -2.33980040e-02 -1.19327041e-02 7.44633629e+01] [ 2.33970719e-02 9.99726227e-01 -2.17732137e-04 5.84050889e-01] [ 1.19345317e-02 -6.15333129e-05 9.99928779e-01 1.79307524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.49, Y:0.58, Z:0.19 [[ 9.99670603e-01 -2.27221423e-02 -1.19326757e-02 7.44927281e+01] [ 2.27211436e-02 9.99741817e-01 -2.19273457e-04 5.84932023e-01] [ 1.19345773e-02 -5.19228096e-05 9.99928779e-01 1.94042798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.52, Y:0.59, Z:0.19 [[ 9.99667975e-01 -2.28376776e-02 -1.19323429e-02 7.45203384e+01] [ 2.28364740e-02 9.99739186e-01 -2.37131885e-04 5.85962469e-01] [ 1.19346464e-02 -3.54394880e-05 9.99928779e-01 1.93452070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:0.59, Z:0.18 [[ 9.99729310e-01 -1.99734005e-02 -1.19319127e-02 7.45505017e+01] [ 1.99717219e-02 9.99800512e-01 -2.59827475e-04 5.89509617e-01] [ 1.19347221e-02 2.14562992e-05 9.99928778e-01 1.81525010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:0.59, Z:0.18 [[ 9.99731053e-01 -1.98855818e-02 -1.19325547e-02 7.45786317e+01] [ 1.98843017e-02 9.99802262e-01 -2.25921126e-04 5.92070295e-01] [ 1.19346878e-02 -1.14101521e-05 9.99928779e-01 1.81355324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.61, Y:0.60, Z:0.19 [[ 9.99699313e-01 -2.14219350e-02 -1.19325099e-02 7.46075040e+01] [ 2.14207363e-02 9.99770524e-01 -2.28263503e-04 5.95304468e-01] [ 1.19346615e-02 -2.74082810e-05 9.99928779e-01 1.94071123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:74.64, Y:0.60, Z:0.19 [[ 9.99679750e-01 -2.23163396e-02 -1.19322402e-02 7.46375220e+01] [ 2.23150391e-02 9.99750959e-01 -2.42134268e-04 5.95891005e-01] [ 1.19346721e-02 -2.42116817e-05 9.99928779e-01 1.94771952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:0.60, Z:0.18 [[ 9.99625936e-01 -2.46092374e-02 -1.19320695e-02 7.46672654e+01] [ 2.46079952e-02 9.99697146e-01 -2.50938184e-04 5.96796858e-01] [ 1.19346313e-02 -4.27799926e-05 9.99928779e-01 1.81726638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:0.60, Z:0.18 [[ 9.99588969e-01 -2.60674323e-02 -1.19324057e-02 7.46963308e+01] [ 2.60664988e-02 9.99660184e-01 -2.33781017e-04 5.96615310e-01] [ 1.19344449e-02 -7.73511129e-05 9.99928779e-01 1.82309026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.72, Y:0.59, Z:0.20 [[ 9.99513184e-01 -2.88272956e-02 -1.19323753e-02 7.47240424e+01] [ 2.88265403e-02 9.99584401e-01 -2.35319674e-04 5.94819539e-01] [ 1.19341999e-02 -1.08763982e-04 9.99928779e-01 1.95560181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:74.75, Y:0.60, Z:0.20 [[ 9.99555458e-01 -2.73230590e-02 -1.19305399e-02 7.47539265e+01] [ 2.73210995e-02 9.99626656e-01 -3.27218742e-04 5.95499349e-01] [ 1.19350263e-02 1.11781081e-06 9.99928775e-01 1.95182684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65863999999999 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:74.81, Y:0.60, Z:0.16 [[ 9.97160111e-01 -7.43596092e-02 -1.19314975e-02 7.48077425e+01] [ 7.43615728e-02 9.97231306e-01 -2.79600429e-04 5.96491283e-01] [ 1.19192538e-02 -6.08438527e-04 9.99928778e-01 1.62086113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:74.81, Y:0.59, Z:0.20 [[ 9.99476714e-01 -3.00545713e-02 -1.19591127e-02 7.48118804e+01] [ 3.00702402e-02 9.99547146e-01 1.13252061e-03 5.92860451e-01] [ 1.19196596e-02 -1.49154137e-03 9.99927846e-01 1.95589561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:0.59, Z:0.18 [[ 9.99550848e-01 -2.74941709e-02 -1.19236303e-02 7.48430934e+01] [ 2.74921017e-02 9.99621964e-01 -3.37441137e-04 5.94461098e-01] [ 1.19284004e-02 9.48391686e-06 9.99928854e-01 1.83797069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.87, Y:0.59, Z:0.20 [[ 9.99587562e-01 -2.61248055e-02 -1.19248066e-02 7.48715084e+01] [ 2.61232181e-02 9.99658689e-01 -2.88886879e-04 5.94541563e-01] [ 1.19282836e-02 -2.27465918e-05 9.99928855e-01 1.95929632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:0.60, Z:0.18 [[ 9.99619936e-01 -2.48555894e-02 -1.19240317e-02 7.49020319e+01] [ 2.48535350e-02 9.99691052e-01 -3.20469894e-04 5.95235785e-01] [ 1.19283132e-02 2.39937567e-05 9.99928855e-01 1.84066578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.93, Y:0.60, Z:0.20 [[ 9.99595856e-01 -2.58055585e-02 -1.19246993e-02 7.49298288e+01] [ 2.58038954e-02 9.99666981e-01 -2.93329197e-04 5.95598583e-01] [ 1.19282977e-02 -1.44930442e-05 9.99928855e-01 1.97062836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:0.60, Z:0.18 [[ 9.99606602e-01 -2.53862666e-02 -1.19238472e-02 7.49605390e+01] [ 2.53841648e-02 9.99677716e-01 -3.27606941e-04 5.95429545e-01] [ 1.19283210e-02 2.48011606e-05 9.99928855e-01 1.83847538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.99, Y:0.60, Z:0.20 [[ 9.99549948e-01 -2.75264129e-02 -1.19246431e-02 7.49887136e+01] [ 2.75248466e-02 9.99621076e-01 -2.95484827e-04 5.95327264e-01] [ 1.19282582e-02 -3.28721288e-05 9.99928855e-01 1.97531613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:0.59, Z:0.18 [[ 9.99507263e-01 -2.90352754e-02 -1.19240755e-02 7.50187031e+01] [ 2.90335466e-02 9.99578387e-01 -3.18096080e-04 5.94585579e-01] [ 1.19282842e-02 -2.82588593e-05 9.99928855e-01 1.83652990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:0.59, Z:0.18 [[ 9.99463711e-01 -3.04974856e-02 -1.19244915e-02 7.50471073e+01] [ 3.04960571e-02 9.99534842e-01 -3.01652102e-04 5.93899961e-01] [ 1.19281443e-02 -6.21596443e-05 9.99928855e-01 1.84191379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:0.59, Z:0.19 [[ 9.99436012e-01 -3.13921111e-02 -1.19244520e-02 7.50758706e+01] [ 3.13907277e-02 9.99507144e-01 -3.03203844e-04 5.94556920e-01] [ 1.19280932e-02 -7.12843858e-05 9.99928855e-01 1.85259610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:0.60, Z:0.20 [[ 9.99494566e-01 -2.94689878e-02 -1.19244123e-02 7.51053497e+01] [ 2.94674491e-02 9.99565694e-01 -3.04756772e-04 5.95630524e-01] [ 1.19282144e-02 -4.67792753e-05 9.99928855e-01 1.98441265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:0.60, Z:0.20 [[ 9.99488888e-01 -2.96608544e-02 -1.19246268e-02 7.51336674e+01] [ 2.96594289e-02 9.99560018e-01 -2.96409667e-04 5.96281861e-01] [ 1.19281720e-02 -5.74194524e-05 9.99928855e-01 1.98779068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:0.59, Z:0.20 [[ 9.99513314e-01 -2.88260273e-02 -1.19245648e-02 7.51620646e+01] [ 2.88245138e-02 9.99584443e-01 -2.98805085e-04 5.94923168e-01] [ 1.19282228e-02 -4.50601223e-05 9.99928855e-01 1.97611193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:0.60, Z:0.19 [[ 9.99515682e-01 -2.87439073e-02 -1.19242953e-02 7.51918449e+01] [ 2.87422642e-02 9.99586808e-01 -3.09177870e-04 5.95392235e-01] [ 1.19282552e-02 -3.37031153e-05 9.99928855e-01 1.85184888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:0.60, Z:0.20 [[ 9.99552892e-01 -2.74194870e-02 -1.19242622e-02 7.52207788e+01] [ 2.74177345e-02 9.99624015e-01 -3.10446693e-04 5.96221018e-01] [ 1.19282912e-02 -1.66283661e-05 9.99928855e-01 1.98561882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.25, Y:0.60, Z:0.20 [[ 9.99624722e-01 -2.46622914e-02 -1.19241877e-02 7.52492592e+01] [ 2.46603088e-02 9.99695839e-01 -3.13292269e-04 5.97568306e-01] [ 1.19282874e-02 1.91205456e-05 9.99928855e-01 1.98356565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:0.60, Z:0.19 [[ 9.99601592e-01 -2.55821623e-02 -1.19251936e-02 7.52791392e+01] [ 2.55807019e-02 9.99672722e-01 -2.75003095e-04 5.97560741e-01] [ 1.19283260e-02 -3.01612913e-05 9.99928855e-01 1.85328189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.31, Y:0.60, Z:0.20 [[ 9.99676164e-01 -2.24806932e-02 -1.19241429e-02 7.53094122e+01] [ 2.24785374e-02 9.99747276e-01 -3.14802722e-04 5.99020432e-01] [ 1.19282064e-02 4.66634857e-05 9.99928855e-01 1.99212301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:0.60, Z:0.20 [[ 9.99688971e-01 -2.19032782e-02 -1.19250452e-02 7.53383528e+01] [ 2.19014904e-02 9.99760094e-01 -2.80501702e-04 6.00457755e-01] [ 1.19283282e-02 1.92381945e-05 9.99928855e-01 1.99798099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:0.60, Z:0.20 [[ 9.99696738e-01 -2.15455720e-02 -1.19256031e-02 7.53678267e+01] [ 2.15440066e-02 9.99767867e-01 -2.59723794e-04 6.02533292e-01] [ 1.19284307e-02 2.71975741e-06 9.99928854e-01 2.00921145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.40, Y:0.61, Z:0.20 [[ 9.99742366e-01 -1.93122418e-02 -1.19263950e-02 7.53962768e+01] [ 1.93108661e-02 9.99813501e-01 -2.30502900e-04 6.06244408e-01] [ 1.19286223e-02 1.34497091e-07 9.99928851e-01 2.01023460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:0.61, Z:0.20 [[ 9.99767850e-01 -1.79451459e-02 -1.19255420e-02 7.54251385e+01] [ 1.79433018e-02 9.99838972e-01 -2.61622730e-04 6.09116254e-01] [ 1.19283165e-02 4.75783955e-05 9.99928854e-01 2.01176839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:0.62, Z:0.20 [[ 9.99817723e-01 -1.49097654e-02 -1.19256152e-02 7.54540860e+01] [ 1.49077368e-02 9.99888840e-01 -2.58985896e-04 6.16057998e-01] [ 1.19281510e-02 8.11547557e-05 9.99928854e-01 2.01423160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.48, Y:0.62, Z:0.19 [[ 9.99786077e-01 -1.68985423e-02 -1.19264453e-02 7.54817551e+01] [ 1.68970065e-02 9.99857209e-01 -2.29529920e-04 6.18935464e-01] [ 1.19286211e-02 2.79595934e-05 9.99928851e-01 1.88642091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:0.62, Z:0.20 [[ 9.99765866e-01 -1.80568445e-02 -1.19232723e-02 7.55100853e+01] [ 1.80540663e-02 9.99836954e-01 -3.40608526e-04 6.21989202e-01] [ 1.19274785e-02 1.25265230e-04 9.99928857e-01 1.99604983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:0.62, Z:0.19 [[ 9.99689821e-01 -2.18652591e-02 -1.19235973e-02 7.55397867e+01] [ 2.18628861e-02 9.99760924e-01 -3.29338943e-04 6.23513270e-01] [ 1.19279477e-02 6.85525391e-05 9.99928857e-01 1.88681666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:0.63, Z:0.19 [[ 9.99641892e-01 -2.39568020e-02 -1.19230742e-02 7.55682211e+01] [ 2.39543636e-02 9.99712993e-01 -3.47296443e-04 6.26813106e-01] [ 1.19279723e-02 6.15624181e-05 9.99928857e-01 1.89080075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:0.63, Z:0.19 [[ 9.99602511e-01 -2.55472369e-02 -1.19230282e-02 7.55972818e+01] [ 2.55448929e-02 9.99673615e-01 -3.48867229e-04 6.32562774e-01] [ 1.19280493e-02 4.41560785e-05 9.99928857e-01 1.88806501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.63, Y:0.64, Z:0.19 [[ 9.99589791e-01 -2.60401970e-02 -1.19229819e-02 7.56255569e+01] [ 2.60378693e-02 9.99660896e-01 -3.50444724e-04 6.36381595e-01] [ 1.19280644e-02 3.98519243e-05 9.99928857e-01 1.88745643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:75.65, Y:0.64, Z:0.19 [[ 9.99614852e-01 -2.50597517e-02 -1.19229360e-02 7.56539434e+01] [ 2.50573357e-02 9.99685954e-01 -3.52000134e-04 6.39549747e-01] [ 1.19280126e-02 5.31075533e-05 9.99928857e-01 1.89188943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:75.68, Y:0.64, Z:0.20 [[ 9.99650405e-01 -2.35989976e-02 -1.19228896e-02 7.56837008e+01] [ 2.35964590e-02 9.99721502e-01 -3.53563037e-04 6.44724139e-01] [ 1.19279128e-02 7.21014573e-05 9.99928857e-01 2.02194990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:75.71, Y:0.65, Z:0.20 [[ 9.99662017e-01 -2.31010312e-02 -1.19245492e-02 7.57127570e+01] [ 2.30991200e-02 9.99733135e-01 -2.97989146e-04 6.46315228e-01] [ 1.19282509e-02 2.24418361e-05 9.99928856e-01 2.02222288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:75.74, Y:0.65, Z:0.19 [[ 9.99657848e-01 -2.32805739e-02 -1.19248745e-02 7.57416729e+01] [ 2.32788044e-02 9.99728971e-01 -2.87189497e-04 6.48680234e-01] [ 1.19283284e-02 9.49441358e-06 9.99928855e-01 1.88885044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:75.77, Y:0.65, Z:0.19 [[ 9.99685265e-01 -2.20731261e-02 -1.19225546e-02 7.57704473e+01] [ 2.20703627e-02 9.99756354e-01 -3.63318664e-04 6.52385625e-01] [ 1.19276693e-02 1.00069210e-04 9.99928858e-01 1.89779619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70864 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:75.80, Y:0.66, Z:0.19 [[ 9.99722449e-01 -2.03194058e-02 -1.19225069e-02 7.57995930e+01] [ 2.03164991e-02 9.99793532e-01 -3.64877614e-04 6.56425625e-01] [ 1.19274594e-02 1.22552740e-04 9.99928858e-01 1.90375080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:75.83, Y:0.66, Z:0.19 [[ 9.99780107e-01 -1.72508492e-02 -1.19224590e-02 7.58277913e+01] [ 1.72477058e-02 9.99851180e-01 -3.66436558e-04 6.63919726e-01] [ 1.19270061e-02 1.60720916e-04 9.99928858e-01 1.90917242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:75.86, Y:0.67, Z:0.19 [[ 9.99803967e-01 -1.58077364e-02 -1.19223871e-02 7.58568562e+01] [ 1.58044627e-02 9.99875034e-01 -3.68761739e-04 6.67579529e-01] [ 1.19267265e-02 1.80262528e-04 9.99928858e-01 1.91366440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79863999999999 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:75.88, Y:0.67, Z:0.20 [[ 9.99380705e-01 -3.31068608e-02 -1.19223390e-02 7.58813155e+01] [ 3.31047988e-02 9.99451817e-01 -3.70311732e-04 6.67154621e-01] [ 1.19280632e-02 -2.46042324e-05 9.99928858e-01 1.96598132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters Centerline goodness : 0.893829 Centerline is valid? [True, False] Translation: X:75.88, Y:0.69, Z:0.20 [[ 9.99569304e-01 -2.79002567e-02 -9.09850434e-03 7.58769633e+01] [ 2.77313251e-02 9.99449849e-01 -1.81926555e-02 6.88723596e-01] [ 9.60107855e-03 1.79325064e-02 9.99793101e-01 1.99584663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85864 meters Centerline goodness : 0.996455 Centerline is valid? [False, True] Translation: X:75.87, Y:0.70, Z:0.20 [[ 9.99892257e-01 -1.42679766e-02 -3.44958384e-03 7.58740088e+01] [ 1.41800476e-02 9.99604244e-01 -2.42957049e-02 6.99061034e-01] [ 3.79486919e-03 2.42441719e-02 9.99698864e-01 1.99528341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88864 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:75.90, Y:0.68, Z:0.20 [[ 9.99878328e-01 -1.50205166e-02 -4.20865614e-03 7.59035568e+01] [ 1.50200941e-02 9.99887183e-01 -1.31995140e-04 6.81005426e-01] [ 4.21016397e-03 6.87646687e-05 9.99991135e-01 1.98715295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91864 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:75.93, Y:0.69, Z:0.20 [[ 9.99861749e-01 -1.60863422e-02 -4.20859492e-03 7.59315723e+01] [ 1.60859210e-02 9.99870604e-01 -1.33918989e-04 6.90905017e-01] [ 4.21020462e-03 6.62013490e-05 9.99991135e-01 1.99921545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94864 meters Centerline goodness : 0.807897 Centerline is valid? [True, False] Translation: X:75.93, Y:0.71, Z:0.20 [[ 9.99972599e-01 -7.08104144e-03 2.15863985e-03 7.59267535e+01] [ 7.10676657e-03 9.99900905e-01 -1.21521418e-02 7.06863812e-01] [-2.07237612e-03 1.21671498e-02 9.99923830e-01 2.01348820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97864 meters Centerline goodness : 0.994393 Centerline is valid? [False, True] Translation: X:75.93, Y:0.73, Z:0.20 [[ 9.99994368e-01 -1.04533311e-03 -3.18935640e-03 7.59306006e+01] [ 9.54903977e-04 9.99601157e-01 -2.82243755e-02 7.26404017e-01] [ 3.21758822e-03 2.82211710e-02 9.99596525e-01 2.02618079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00864 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:75.96, Y:0.70, Z:0.20 [[ 9.99988983e-01 -3.04441069e-03 -3.57275832e-03 7.59602579e+01] [ 3.04432938e-03 9.99995366e-01 -2.81968636e-05 7.03484816e-01] [ 3.57282760e-03 1.73198999e-05 9.99993617e-01 2.00041204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03864 meters Centerline goodness : 0.919004 Centerline is valid? [True, False] Translation: X:75.99, Y:0.72, Z:0.20 [[ 9.99957631e-01 -3.44585402e-03 -8.53594712e-03 7.59857444e+01] [ 3.33459995e-03 9.99909758e-01 -1.30137152e-02 7.19872642e-01] [ 8.58002018e-03 1.29846999e-02 9.99878883e-01 2.02771078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06864 meters Centerline goodness : 0.996218 Centerline is valid? [False, True] Translation: X:75.98, Y:0.72, Z:0.21 [[ 9.99956152e-01 -5.22714059e-03 -7.76982841e-03 7.59810510e+01] [ 5.10470013e-03 9.99863785e-01 -1.56956208e-02 7.23822258e-01] [ 7.85081326e-03 1.56552700e-02 9.99846627e-01 2.07233413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09864 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:76.01, Y:0.71, Z:0.21 [[ 9.99906677e-01 -1.11562142e-02 -7.88518721e-03 7.60100756e+01] [ 1.11561062e-02 9.99937767e-01 -5.76816452e-05 7.11860360e-01] [ 7.88534000e-03 -3.02917237e-05 9.99968910e-01 2.06595728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:76.04, Y:0.71, Z:0.22 [[ 9.99877424e-01 -1.35263403e-02 -7.88515974e-03 7.60397486e+01] [ 1.35262781e-02 9.99908514e-01 -6.12199862e-05 7.12612183e-01] [ 7.88526644e-03 -4.54443818e-05 9.99968910e-01 2.19852110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15863999999999 meters Centerline goodness : 0.922165 Centerline is valid? [True, False] Translation: X:76.04, Y:0.73, Z:0.22 [[ 9.99982818e-01 -5.68094664e-03 -1.44562882e-03 7.60354340e+01] [ 5.66156551e-03 9.99898489e-01 -1.30750907e-02 7.28406264e-01] [ 1.51976096e-03 1.30666815e-02 9.99913472e-01 2.21219269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters Centerline goodness : 0.947399 Centerline is valid? [False, False] Translation: X:76.06, Y:0.73, Z:0.23 [[ 9.99974163e-01 6.01653733e-05 -7.18821426e-03 7.60569136e+01] [-1.73302631e-04 9.99876108e-01 -1.57396858e-02 7.33019503e-01] [ 7.18637672e-03 1.57405249e-02 9.99850285e-01 2.25106765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21864 meters Centerline goodness : 0.993648 Centerline is valid? [False, True] Translation: X:76.08, Y:0.73, Z:0.23 [[ 9.99931108e-01 -4.52687077e-03 -1.08298694e-02 7.60794664e+01] [ 4.42863136e-03 9.99948987e-01 -9.07800148e-03 7.26949029e-01] [ 1.08704119e-02 9.02941458e-03 9.99900147e-01 2.27314094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24864 meters Centerline goodness : 0.929519 Centerline is valid? [True, False] Translation: X:76.08, Y:0.73, Z:0.23 [[ 9.99930186e-01 -4.49772423e-03 -1.09267265e-02 7.60797820e+01] [ 4.39866341e-03 9.99949164e-01 -9.07309799e-03 7.26976585e-01] [ 1.09669793e-02 9.02440157e-03 9.99899138e-01 2.27009513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27864 meters Centerline goodness : 0.995432 Centerline is valid? [False, True] Translation: X:76.07, Y:0.73, Z:0.23 [[ 9.99984909e-01 -3.57095881e-03 4.17485614e-03 7.60717921e+01] [ 3.61075450e-03 9.99947746e-01 -9.56387487e-03 7.27034471e-01] [-4.14048579e-03 9.57880492e-03 9.99945550e-01 2.26339558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30864 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:76.11, Y:0.71, Z:0.24 [[ 9.99958518e-01 -8.01548824e-03 4.32607794e-03 7.61060512e+01] [ 8.01586089e-03 9.99967870e-01 -6.88097680e-05 7.14036062e-01] [-4.32538740e-03 1.03484153e-04 9.99990640e-01 2.38056442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33864 meters Centerline goodness : 0.926724 Centerline is valid? [True, False] Translation: X:76.13, Y:0.72, Z:0.24 [[ 9.99992191e-01 -3.91521490e-03 5.37775429e-04 7.61298469e+01] [ 3.91831258e-03 9.99975005e-01 -5.88525110e-03 7.17569072e-01] [-5.14719964e-04 5.88731231e-03 9.99982537e-01 2.40089325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36864 meters Centerline goodness : 0.992971 Centerline is valid? [False, True] Translation: X:76.13, Y:0.72, Z:0.24 [[ 9.99992224e-01 -3.92442244e-03 3.87647634e-04 7.61302674e+01] [ 3.92650618e-03 9.99977004e-01 -5.52938085e-03 7.16046922e-01] [-3.65939094e-04 5.53085996e-03 9.99984638e-01 2.39669988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39864 meters Centerline goodness : 0.977628 Centerline is valid? [True, True] Translation: X:76.19, Y:0.70, Z:0.20 [[ 9.98307425e-01 -5.81553212e-02 4.94341536e-04 7.61893103e+01] [ 5.81553258e-02 9.98307547e-01 5.13870490e-06 7.02097179e-01] [-4.93803729e-04 2.36185858e-05 9.99999878e-01 2.04816391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42864 meters Centerline goodness : 0.961086 Centerline is valid? [True, True] Translation: X:76.23, Y:0.70, Z:0.20 [[ 9.97961145e-01 -6.38225233e-02 4.87845000e-04 7.62261039e+01] [ 6.38225816e-02 9.97961255e-01 -1.04822564e-04 6.99644775e-01] [-4.80160368e-04 1.35744373e-04 9.99999876e-01 1.96797114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45864 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:76.22, Y:0.69, Z:0.23 [[ 9.99876202e-01 -1.57270986e-02 4.88204393e-04 7.62153471e+01] [ 1.57271339e-02 9.99876319e-01 -6.84549504e-05 6.93414243e-01] [-4.87067413e-04 7.61245317e-05 9.99999878e-01 2.27254811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters Centerline goodness : 0.972055 Centerline is valid? [True, True] Translation: X:76.30, Y:0.71, Z:0.22 [[ 9.99968760e-01 -7.88929730e-03 4.88433651e-04 7.62988440e+01] [ 7.88929906e-03 9.99968879e-01 -1.67685203e-06 7.11291893e-01] [-4.88405222e-04 5.53019879e-06 9.99999881e-01 2.16463274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51863999999999 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:76.27, Y:0.68, Z:0.23 [[ 9.99846591e-01 -1.75087503e-02 4.87584459e-04 7.62673046e+01] [ 1.75088090e-02 9.99846702e-01 -1.16455258e-04 6.84967871e-01] [-4.85470727e-04 1.24974416e-04 9.99999874e-01 2.27534402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters Centerline goodness : 0.789160 Centerline is valid? [True, False] Translation: X:76.27, Y:0.69, Z:0.23 [[ 9.99958347e-01 -8.72108161e-03 -2.69206324e-03 7.62708203e+01] [ 8.68770708e-03 9.99888206e-01 -1.21696369e-02 6.94606920e-01] [ 2.79789467e-03 1.21457421e-02 9.99922323e-01 2.27569987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57864 meters Centerline goodness : 0.994890 Centerline is valid? [False, True] Translation: X:76.29, Y:0.69, Z:0.23 [[ 9.99980197e-01 -1.36044580e-03 -6.14452006e-03 7.62923361e+01] [ 1.27596492e-03 9.99904897e-01 -1.37320353e-02 6.94663503e-01] [ 6.16261739e-03 1.37239232e-02 9.99886832e-01 2.30955214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60864 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:76.28, Y:0.65, Z:0.27 [[ 9.98422633e-01 -5.57302823e-02 -6.81043230e-03 7.62806266e+01] [ 5.57513857e-02 9.98440327e-01 2.94899748e-03 6.52708117e-01] [ 6.63546179e-03 -3.32403687e-03 9.99972460e-01 2.70940775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63864 meters Centerline goodness : 0.950211 Centerline is valid? [True, True] Translation: X:76.36, Y:0.63, Z:0.25 [[ 9.93372838e-01 -1.14743368e-01 -6.66068740e-03 7.63644170e+01] [ 1.14744214e-01 9.93395037e-01 -2.56310433e-04 6.34454266e-01] [ 6.64610373e-03 -5.09663519e-04 9.99977785e-01 2.53906916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66864 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:76.33, Y:0.65, Z:0.28 [[ 9.98321285e-01 -5.75265767e-02 -6.73085267e-03 7.63279401e+01] [ 5.75382778e-02 9.98342086e-01 1.55773866e-03 6.46338456e-01] [ 6.63008212e-03 -1.94240533e-03 9.99976134e-01 2.75052042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69864 meters Centerline goodness : 0.849077 Centerline is valid? [True, False] Translation: X:76.33, Y:0.65, Z:0.28 [[ 9.99107281e-01 -4.19285381e-02 -5.16119763e-03 7.63259771e+01] [ 4.19177921e-02 9.99118700e-01 -2.17297877e-03 6.49333734e-01] [ 5.24775889e-03 1.95469290e-03 9.99984320e-01 2.75683235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72864 meters Centerline goodness : 0.995526 Centerline is valid? [False, True] Translation: X:76.33, Y:0.65, Z:0.28 [[ 9.99613083e-01 -2.75269376e-02 -3.99403058e-03 7.63252985e+01] [ 2.74962506e-02 9.99593433e-01 -7.54480142e-03 6.54056581e-01] [ 4.20009202e-03 7.43206134e-03 9.99963561e-01 2.75492978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75864 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:76.35, Y:0.65, Z:0.28 [[ 9.99709973e-01 -2.37225988e-02 -4.14830812e-03 7.63548188e+01] [ 2.37224473e-02 9.99718579e-01 -8.57361594e-05 6.45725966e-01] [ 4.14917458e-03 -1.26967271e-05 9.99991392e-01 2.75808710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78864 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:76.38, Y:0.64, Z:0.28 [[ 9.99770728e-01 -2.10067439e-02 -4.14830259e-03 7.63837620e+01] [ 2.10065679e-02 9.99779334e-01 -8.60028740e-05 6.44321258e-01] [ 4.14919384e-03 -1.15844409e-06 9.99991392e-01 2.76180361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81864 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:76.41, Y:0.64, Z:0.28 [[ 9.99868830e-01 -1.56561229e-02 -4.14829138e-03 7.64128992e+01] [ 1.56558986e-02 9.99877435e-01 -8.65403032e-05 6.41954944e-01] [ 4.14913783e-03 2.15837227e-05 9.99991392e-01 2.77675026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84864 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:76.44, Y:0.64, Z:0.28 [[ 9.99916633e-01 -1.22278020e-02 -4.14828005e-03 7.64412761e+01] [ 1.22275460e-02 9.99925237e-01 -8.70800898e-05 6.43173939e-01] [ 4.14903471e-03 3.63495452e-05 9.99991392e-01 2.78224388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87863999999999 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:76.47, Y:0.65, Z:0.28 [[ 9.99945804e-01 -9.54891580e-03 -4.14826864e-03 7.64704479e+01] [ 9.54863447e-03 9.99954407e-01 -8.76198748e-05 6.45427310e-01] [ 4.14891619e-03 4.80048252e-05 9.99991392e-01 2.78754497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:76.50, Y:0.65, Z:0.28 [[ 9.99944556e-01 -9.67871019e-03 -4.14825717e-03 7.64997535e+01] [ 9.67842773e-03 9.99953159e-01 -8.81599725e-05 6.46018827e-01] [ 4.14891613e-03 4.80064774e-05 9.99991392e-01 2.78876165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93863999999999 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:76.53, Y:0.65, Z:0.28 [[ 9.99986000e-01 -3.28509871e-03 -4.14824565e-03 7.65272766e+01] [ 3.28475902e-03 9.99994601e-01 -8.86984164e-05 6.49568725e-01] [ 4.14851464e-03 7.50711873e-05 9.99991392e-01 2.78939422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:76.56, Y:0.66, Z:0.28 [[ 9.99984270e-01 3.77516149e-03 -4.14820149e-03 7.65559560e+01] [-3.77557027e-03 9.99992868e-01 -9.07176180e-05 6.55206815e-01] [ 4.14782944e-03 1.06378017e-04 9.99991392e-01 2.80459025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:76.58, Y:0.66, Z:0.28 [[ 9.99966475e-01 7.05989690e-03 -4.14815918e-03 7.65846299e+01] [-7.06034177e-03 9.99975071e-01 -9.26130584e-05 6.59841809e-01] [ 4.14740193e-03 1.21897375e-04 9.99991392e-01 2.80306590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:76.61, Y:0.66, Z:0.28 [[ 9.99945735e-01 9.55618329e-03 -4.14811599e-03 7.66127828e+01] [-9.55665748e-03 9.99954330e-01 -9.45084791e-05 6.64951112e-01] [ 4.14702341e-03 1.34145474e-04 9.99991392e-01 2.81032794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:76.64, Y:0.67, Z:0.28 [[ 9.99913849e-01 1.24534304e-02 -4.14806595e-03 7.66409767e+01] [-1.24539384e-02 9.99922442e-01 -9.66561413e-05 6.73768109e-01] [ 4.14654053e-03 1.48307572e-04 9.99991392e-01 2.80494647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:76.67, Y:0.68, Z:0.28 [[ 9.99908293e-01 1.28918306e-02 -4.14801503e-03 7.66691842e+01] [-1.28923512e-02 9.99916885e-01 -9.87941721e-05 6.77794907e-01] [ 4.14639663e-03 1.52262779e-04 9.99991392e-01 2.80964771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:76.70, Y:0.69, Z:0.28 [[ 9.99903332e-01 1.32710411e-02 -4.14796298e-03 7.66975603e+01] [-1.32715739e-02 9.99911924e-01 -1.00933138e-04 6.87374656e-01] [ 4.14625815e-03 1.55973378e-04 9.99991392e-01 2.80013846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:76.73, Y:0.69, Z:0.28 [[ 9.99901880e-01 1.33800371e-02 -4.14791668e-03 7.67259303e+01] [-1.33805786e-02 9.99910471e-01 -1.02801288e-04 6.93679847e-01] [ 4.14616983e-03 1.58292727e-04 9.99991392e-01 2.80692205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:76.75, Y:0.70, Z:0.28 [[ 9.99897871e-01 1.36763638e-02 -4.14786977e-03 7.67537264e+01] [-1.36769155e-02 9.99906461e-01 -1.04660280e-04 6.99861525e-01] [ 4.14605041e-03 1.61379655e-04 9.99991392e-01 2.81013704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:0.71, Z:0.28 [[ 9.99884922e-01 1.45923937e-02 -4.14781530e-03 7.67819523e+01] [-1.45929620e-02 9.99893511e-01 -1.06776423e-04 7.11492323e-01] [ 4.14581548e-03 1.67293047e-04 9.99991392e-01 2.80682777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:0.72, Z:0.28 [[ 9.99881437e-01 1.48292675e-02 -4.14776673e-03 7.68106134e+01] [-1.48298455e-02 9.99890026e-01 -1.08630833e-04 7.17713782e-01] [ 4.14569967e-03 1.70128693e-04 9.99991392e-01 2.80382000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:0.73, Z:0.28 [[ 9.99933393e-01 1.07705821e-02 -4.14771745e-03 7.68422609e+01] [-1.07711329e-02 9.99941984e-01 -1.10480707e-04 7.28144140e-01] [ 4.14628688e-03 1.55148965e-04 9.99991392e-01 2.84934090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:0.73, Z:0.28 [[ 9.99916814e-01 1.22127641e-02 -4.14880125e-03 7.68696770e+01] [-1.22131601e-02 9.99925414e-01 -7.01214837e-05 7.33016788e-01] [ 4.14763543e-03 1.20785624e-04 9.99991391e-01 2.81768944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:0.74, Z:0.28 [[ 9.99957981e-01 8.17523668e-03 -4.14760108e-03 7.68982849e+01] [-8.17577912e-03 9.99966571e-01 -1.13845857e-04 7.39844791e-01] [ 4.14653172e-03 1.47750943e-04 9.99991392e-01 2.82205230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:0.74, Z:0.28 [[ 9.99973766e-01 5.93840117e-03 -4.14754864e-03 7.69266043e+01] [-5.93893218e-03 9.99982358e-01 -1.15725371e-04 7.44109567e-01] [ 4.14678824e-03 1.40354346e-04 9.99991392e-01 2.82178926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:0.75, Z:0.28 [[ 9.99981241e-01 4.50735956e-03 -4.14749568e-03 7.69546529e+01] [-4.50788602e-03 9.99989833e-01 -1.17593332e-04 7.48684775e-01] [ 4.14692347e-03 1.36287564e-04 9.99991392e-01 2.82032242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:0.75, Z:0.29 [[ 9.99744541e-01 -2.22182923e-02 -4.14743406e-03 7.69842002e+01] [ 2.22179868e-02 9.99753143e-01 -1.19727731e-04 7.48022741e-01] [ 4.14907038e-03 2.75495100e-05 9.99991392e-01 2.87741672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:0.76, Z:0.28 [[ 9.99991295e-01 -4.56134076e-04 -4.14743262e-03 7.70151010e+01] [ 4.55641222e-04 9.99999889e-01 -1.19777539e-04 7.60188847e-01] [ 4.14748679e-03 1.17886755e-04 9.99991392e-01 2.81799882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:0.77, Z:0.28 [[ 9.99982426e-01 -4.23629023e-03 -4.14742929e-03 7.70432805e+01] [ 4.23582939e-03 9.99991022e-01 -1.19892548e-04 7.67122752e-01] [ 4.14789996e-03 1.02322639e-04 9.99991392e-01 2.83614211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:0.77, Z:0.28 [[ 9.99967538e-01 -6.90805396e-03 -4.14741388e-03 7.70715763e+01] [ 6.90761389e-03 9.99976135e-01 -1.20423297e-04 7.70775773e-01] [ 4.14814680e-03 9.17706545e-05 9.99991392e-01 2.83841914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:0.77, Z:0.30 [[ 9.99953738e-01 -8.67879574e-03 -4.14739848e-03 7.71009197e+01] [ 8.67836870e-03 9.99962335e-01 -1.20951462e-04 7.73636165e-01] [ 4.14829198e-03 8.49532137e-05 9.99991392e-01 2.95693904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.13, Y:0.78, Z:0.28 [[ 9.99931156e-01 -1.09763984e-02 -4.14756811e-03 7.71312458e+01] [ 1.09760150e-02 9.99939755e-01 -1.15180225e-04 7.76635219e-01] [ 4.14858251e-03 6.96485256e-05 9.99991392e-01 2.82573671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:77.16, Y:0.78, Z:0.30 [[ 9.99898360e-01 -1.36407180e-02 -4.14738343e-03 7.71604789e+01] [ 1.36403314e-02 9.99906959e-01 -1.21485124e-04 7.78983383e-01] [ 4.14865470e-03 6.49010916e-05 9.99991392e-01 2.95362017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:0.79, Z:0.28 [[ 9.99861709e-01 -1.61047202e-02 -4.14743690e-03 7.71904510e+01] [ 1.61043624e-02 9.99870309e-01 -1.19669520e-04 7.85406710e-01] [ 4.14882626e-03 5.28611442e-05 9.99991392e-01 2.83834799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:77.22, Y:0.79, Z:0.30 [[ 9.99828193e-01 -1.80661005e-02 -4.14736674e-03 7.72203457e+01] [ 1.80657496e-02 9.99836794e-01 -1.22053582e-04 7.87486423e-01] [ 4.14889489e-03 4.71073236e-05 9.99991392e-01 2.99039536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:77.25, Y:0.79, Z:0.30 [[ 9.99751756e-01 -2.18912631e-02 -4.14724000e-03 7.72511683e+01] [ 2.18909272e-02 9.99760357e-01 -1.26381777e-04 7.88165515e-01] [ 4.14901280e-03 3.55634739e-05 9.99991392e-01 2.98947622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.28, Y:0.79, Z:0.30 [[ 9.99660402e-01 -2.57270851e-02 -4.14706122e-03 7.72821361e+01] [ 2.57267566e-02 9.99669003e-01 -1.32541717e-04 7.89053389e-01] [ 4.14909846e-03 2.58062719e-05 9.99991392e-01 2.99144752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:0.79, Z:0.29 [[ 9.99581055e-01 -2.86446994e-02 -4.14685083e-03 7.73143175e+01] [ 2.86443655e-02 9.99589656e-01 -1.39910974e-04 7.90110697e-01] [ 4.14915691e-03 2.10684478e-05 9.99991392e-01 2.85350971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:77.34, Y:0.79, Z:0.30 [[ 9.99422048e-01 -3.37397045e-02 -4.14749197e-03 7.73444937e+01] [ 3.37395086e-02 9.99430654e-01 -1.17227848e-04 7.88818223e-01] [ 4.14908584e-03 -2.27742451e-05 9.99991392e-01 3.00118266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:77.36, Y:0.76, Z:0.30 [[ 9.96742261e-01 -8.05460828e-02 -4.14643628e-03 7.73620386e+01] [ 8.05461331e-02 9.96750870e-01 -1.55129004e-04 7.61902618e-01] [ 4.14545900e-03 -1.79355774e-04 9.99991391e-01 2.95192845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:77.41, Y:0.79, Z:0.30 [[ 9.99419121e-01 -3.38273511e-02 -4.13887384e-03 7.74063698e+01] [ 3.38258278e-02 9.99427647e-01 -4.37512085e-04 7.86177626e-01] [ 4.15130482e-03 2.97257110e-04 9.99991339e-01 3.02037948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:77.44, Y:0.79, Z:0.30 [[ 9.99487881e-01 -3.17299113e-02 -4.14587484e-03 7.74372342e+01] [ 3.17295759e-02 9.99496479e-01 -1.46666060e-04 7.85741135e-01] [ 4.14844101e-03 1.50440991e-05 9.99991395e-01 3.00852743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:77.47, Y:0.79, Z:0.30 [[ 9.99477893e-01 -3.20429695e-02 -4.14592785e-03 7.74658961e+01] [ 3.20426462e-02 9.99486492e-01 -1.44411411e-04 7.85596828e-01] [ 4.14842625e-03 1.14895136e-05 9.99991395e-01 3.01839718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:77.50, Y:0.79, Z:0.30 [[ 9.99664198e-01 -2.55795037e-02 -4.14490759e-03 7.74997013e+01] [ 2.55789433e-02 9.99672788e-01 -1.88161091e-04 7.86882322e-01] [ 4.14836439e-03 8.20755495e-05 9.99991392e-01 3.00428309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.53, Y:0.79, Z:0.30 [[ 9.99787847e-01 -2.01760091e-02 -4.14614460e-03 7.75310210e+01] [ 2.01756297e-02 9.99796442e-01 -1.33323936e-04 7.87209976e-01] [ 4.14799056e-03 4.96445732e-05 9.99991396e-01 2.97939918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.56, Y:0.79, Z:0.29 [[ 9.99890716e-01 -1.41904170e-02 -4.14597613e-03 7.75641216e+01] [ 1.41899545e-02 9.99899308e-01 -1.40967980e-04 7.86844463e-01] [ 4.14755906e-03 8.21213618e-05 9.99991395e-01 2.86477105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.59, Y:0.79, Z:0.30 [[ 9.99897484e-01 -1.37048659e-02 -4.14708224e-03 7.75934681e+01] [ 1.37046105e-02 9.99906083e-01 -9.00003931e-05 7.86428442e-01] [ 4.14792621e-03 3.31570198e-05 9.99991397e-01 2.96108454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:77.62, Y:0.79, Z:0.30 [[ 9.99916932e-01 -1.22039891e-02 -4.14638799e-03 7.76232343e+01] [ 1.22035871e-02 9.99925526e-01 -1.22242452e-04 7.87209719e-01] [ 4.14757103e-03 7.16314909e-05 9.99991396e-01 2.99202164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:77.65, Y:0.79, Z:0.30 [[ 9.99937127e-01 -1.04187503e-02 -4.14634357e-03 7.76540063e+01] [ 1.04183243e-02 9.99945720e-01 -1.24337938e-04 7.88631731e-01] [ 4.14741395e-03 8.11321686e-05 9.99991396e-01 2.99201160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:0.79, Z:0.29 [[ 9.99960066e-01 -7.91653104e-03 -4.14676901e-03 7.76850808e+01] [ 7.91616802e-03 9.99968661e-01 -1.03949041e-04 7.88584092e-01] [ 4.14746197e-03 7.11183693e-05 9.99991397e-01 2.88319269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:0.79, Z:0.30 [[ 9.99940718e-01 -1.00678595e-02 -4.14715264e-03 7.77130583e+01] [ 1.00675923e-02 9.99949317e-01 -8.52969477e-05 7.88841373e-01] [ 4.14780121e-03 4.35400493e-05 9.99991397e-01 2.98211092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:0.79, Z:0.30 [[ 9.99943679e-01 -9.76954040e-03 -4.14658052e-03 7.77418691e+01] [ 9.76915553e-03 9.99952274e-01 -1.13059369e-04 7.90543624e-01] [ 4.14748716e-03 7.25444118e-05 9.99991397e-01 2.99019210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:0.79, Z:0.30 [[ 9.99944276e-01 -9.70832923e-03 -4.14653150e-03 7.77718874e+01] [ 9.70793391e-03 9.99952870e-01 -1.15455713e-04 7.92276622e-01] [ 4.14745696e-03 7.51950255e-05 9.99991396e-01 2.98614468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:0.79, Z:0.29 [[ 9.99962110e-01 -7.65409587e-03 -4.14657477e-03 7.78030498e+01] [ 7.65369170e-03 9.99970704e-01 -1.13330439e-04 7.93735646e-01] [ 4.14732073e-03 8.15895403e-05 9.99991396e-01 2.87723229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:0.79, Z:0.30 [[ 9.99952730e-01 -8.79421731e-03 -4.14718235e-03 7.78323201e+01] [ 8.79394889e-03 9.99961329e-01 -8.29562557e-05 7.94497105e-01] [ 4.14775151e-03 4.64822248e-05 9.99991397e-01 2.97377240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:0.80, Z:0.29 [[ 9.99960000e-01 -7.92477071e-03 -4.14687906e-03 7.78637469e+01] [ 7.92443185e-03 9.99968596e-01 -9.81384316e-05 7.98840559e-01] [ 4.14752655e-03 6.52728456e-05 9.99991397e-01 2.88084116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.89, Y:0.80, Z:0.30 [[ 9.99930399e-01 -1.10452781e-02 -4.14718590e-03 7.78921344e+01] [ 1.10450299e-02 9.99938998e-01 -8.27625885e-05 8.01374048e-01] [ 4.14784705e-03 3.69510359e-05 9.99991397e-01 2.98062885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:0.80, Z:0.30 [[ 9.99924982e-01 -1.15254747e-02 -4.14658188e-03 7.79219894e+01] [ 1.15251037e-02 9.99933577e-01 -1.13350618e-04 8.03536941e-01] [ 4.14761287e-03 6.55523285e-05 9.99991396e-01 2.98926835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:77.95, Y:0.80, Z:0.30 [[ 9.99903620e-01 -1.32496247e-02 -4.14699590e-03 7.79516023e+01] [ 1.32493557e-02 9.99912219e-01 -9.23312944e-05 8.04776004e-01] [ 4.14785522e-03 3.73773717e-05 9.99991397e-01 3.00306025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:0.81, Z:0.30 [[ 9.99891563e-01 -1.41303247e-02 -4.14685223e-03 7.79814724e+01] [ 1.41300327e-02 9.99900161e-01 -9.96999022e-05 8.07563584e-01] [ 4.14784701e-03 4.10939335e-05 9.99991397e-01 3.01726836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:0.81, Z:0.30 [[ 9.99888997e-01 -1.43107321e-02 -4.14685958e-03 7.80118196e+01] [ 1.43104432e-02 9.99897595e-01 -9.93193396e-05 8.14511174e-01] [ 4.14785625e-03 3.99649163e-05 9.99991397e-01 3.02282846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.04, Y:0.82, Z:0.30 [[ 9.99879028e-01 -1.49909768e-02 -4.14718193e-03 7.80418661e+01] [ 1.49907642e-02 9.99887629e-01 -8.23379494e-05 8.18064554e-01] [ 4.14795024e-03 2.01585623e-05 9.99991397e-01 3.00356549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.07, Y:0.82, Z:0.30 [[ 9.99923137e-01 -1.16843149e-02 -4.14686141e-03 7.80721958e+01] [ 1.16840033e-02 9.99931735e-01 -9.93543830e-05 8.24018578e-01] [ 4.14773922e-03 5.08948039e-05 9.99991397e-01 3.02095453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.10, Y:0.83, Z:0.30 [[ 9.99914286e-01 -1.24183970e-02 -4.14768313e-03 7.81005466e+01] [ 1.24182745e-02 9.99922889e-01 -5.52757906e-05 8.27788887e-01] [ 4.14804973e-03 3.76398496e-06 9.99991397e-01 3.02291206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.13, Y:0.84, Z:0.30 [[ 9.99901407e-01 -1.34155532e-02 -4.14716615e-03 7.81304367e+01] [ 1.34153251e-02 9.99910007e-01 -8.28212209e-05 8.35493218e-01] [ 4.14790402e-03 2.71774733e-05 9.99991397e-01 3.02515592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.16, Y:0.84, Z:0.30 [[ 9.99899736e-01 -1.35395394e-02 -4.14714795e-03 7.81604031e+01] [ 1.35393083e-02 9.99908336e-01 -8.37924070e-05 8.39240593e-01] [ 4.14790232e-03 2.76344909e-05 9.99991397e-01 3.01819164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.19, Y:0.84, Z:0.30 [[ 9.99819686e-01 -1.85308604e-02 -4.14764479e-03 7.81914199e+01] [ 1.85307807e-02 9.99828289e-01 -5.76532795e-05 8.41524950e-01] [ 4.14800096e-03 -1.92162121e-05 9.99991397e-01 3.02376818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:0.84, Z:0.30 [[ 9.99646641e-01 -2.62562929e-02 -4.14724223e-03 7.82229197e+01] [ 2.62561909e-02 9.99655244e-01 -7.90481925e-05 8.44581322e-01] [ 4.14788795e-03 -2.98705234e-05 9.99991397e-01 3.04331579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.26, Y:0.85, Z:0.29 [[ 9.99522553e-01 -3.06180994e-02 -4.14713945e-03 7.82553238e+01] [ 3.06180120e-02 9.99531155e-01 -8.45863011e-05 8.45827994e-01] [ 4.14778495e-03 -4.24312495e-05 9.99991397e-01 2.90770599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.29, Y:0.85, Z:0.30 [[ 9.99126170e-01 -4.15896288e-02 -4.14730044e-03 7.82850025e+01] [ 4.15896723e-02 9.99134772e-01 -7.57749270e-05 8.46033029e-01] [ 4.14686353e-03 -9.67761537e-05 9.99991397e-01 3.03993095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:0.85, Z:0.30 [[ 9.99077012e-01 -4.27543052e-02 -4.14660274e-03 7.83185867e+01] [ 4.27541993e-02 9.99085615e-01 -1.14229231e-04 8.46395935e-01] [ 4.14769494e-03 -6.31608811e-05 9.99991396e-01 3.04849291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:0.85, Z:0.29 [[ 9.98728094e-01 -5.02492991e-02 -4.14743285e-03 7.83497983e+01] [ 5.02494516e-02 9.98736696e-01 -6.74937752e-05 8.45171640e-01] [ 4.14558490e-03 -1.40998297e-04 9.99991397e-01 2.92136383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:78.39, Y:0.84, Z:0.30 [[ 9.98853716e-01 -4.76870283e-02 -4.14733820e-03 7.83858004e+01] [ 4.76871363e-02 9.98862319e-01 -7.28800429e-05 8.43024055e-01] [ 4.14609528e-03 -1.24978180e-04 9.99991397e-01 3.04983417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:78.42, Y:0.84, Z:0.31 [[ 9.98850592e-01 -4.77523170e-02 -4.14858081e-03 7.84182967e+01] [ 4.77527271e-02 9.98859188e-01 -2.19209944e-07 8.43576522e-01] [ 4.14385853e-03 -1.97887089e-04 9.99991395e-01 3.05100922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:78.44, Y:0.84, Z:0.30 [[ 9.98443527e-01 -5.56175667e-02 -4.14856227e-03 7.84442162e+01] [ 5.56180399e-02 9.98452119e-01 -1.31286490e-06 8.41499005e-01] [ 4.14221381e-03 -2.29424080e-04 9.99991395e-01 3.02851197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:78.48, Y:0.84, Z:0.31 [[ 9.98601329e-01 -5.27085289e-02 -4.14692714e-03 7.84785634e+01] [ 5.27085879e-02 9.98609932e-01 -9.51254295e-05 8.37364708e-01] [ 4.14617655e-03 -1.23586294e-04 9.99991397e-01 3.08768119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:78.51, Y:0.83, Z:0.31 [[ 9.98273425e-01 -5.85914932e-02 -4.14810042e-03 7.85066349e+01] [ 5.85918815e-02 9.98282020e-01 -2.79508035e-05 8.31763571e-01] [ 4.14261174e-03 -2.15142464e-04 9.99991396e-01 3.10196488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:78.54, Y:0.83, Z:0.29 [[ 9.98285847e-01 -5.83795425e-02 -4.14677702e-03 7.85408080e+01] [ 5.83796161e-02 9.98294450e-01 -1.03377740e-04 8.26780508e-01] [ 4.14573963e-03 -1.38886716e-04 9.99991397e-01 2.92859926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:78.57, Y:0.82, Z:0.29 [[ 9.98324250e-01 -5.77190748e-02 -4.14733177e-03 7.85730822e+01] [ 5.77192773e-02 9.98332850e-01 -7.09511429e-05 8.23925542e-01] [ 4.14451278e-03 -1.68548746e-04 9.99991397e-01 2.92017963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:78.60, Y:0.82, Z:0.30 [[ 9.98278565e-01 -5.85038901e-02 -4.14735985e-03 7.86027046e+01] [ 5.85041063e-02 9.98287165e-01 -6.92695106e-05 8.17141010e-01] [ 4.14430865e-03 -1.73487314e-04 9.99991397e-01 3.03735909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:78.64, Y:0.81, Z:0.30 [[ 9.98641184e-01 -5.19479696e-02 -4.14660865e-03 7.86363751e+01] [ 5.19479428e-02 9.98649788e-01 -1.14229296e-04 8.14055214e-01] [ 4.14694383e-03 -1.01333709e-04 9.99991396e-01 3.04799828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:78.67, Y:0.81, Z:0.29 [[ 9.98692400e-01 -5.09537886e-02 -4.14752553e-03 7.86675913e+01] [ 5.09539868e-02 9.98701000e-01 -5.79426671e-05 8.11520246e-01] [ 4.14509029e-03 -1.53466060e-04 9.99991397e-01 2.92656923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:78.70, Y:0.81, Z:0.29 [[ 9.98961497e-01 -4.53731846e-02 -4.14736498e-03 7.86995404e+01] [ 4.53732939e-02 9.98970099e-01 -6.77680134e-05 8.05462550e-01] [ 4.14616846e-03 -1.20481974e-04 9.99991397e-01 2.92025382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:78.73, Y:0.80, Z:0.29 [[ 9.99080886e-01 -4.26635852e-02 -4.14739230e-03 7.87327474e+01] [ 4.26636784e-02 9.99089489e-01 -6.60528402e-05 8.03226898e-01] [ 4.14643410e-03 -1.10950881e-04 9.99991397e-01 2.93044975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15863999999999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:78.77, Y:0.80, Z:0.29 [[ 9.99319500e-01 -3.66515520e-02 -4.14740605e-03 7.87661499e+01] [ 3.66515970e-02 9.99328102e-01 -6.51774458e-05 8.00086623e-01] [ 4.14700828e-03 -8.68759629e-05 9.99991397e-01 2.93211164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:78.80, Y:0.80, Z:0.30 [[ 9.99541825e-01 -2.99823210e-02 -4.14743692e-03 7.87988171e+01] [ 2.99823170e-02 9.99550427e-01 -6.31502016e-05 7.99445432e-01] [ 4.14746574e-03 -6.12285008e-05 9.99991397e-01 3.03406061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:78.83, Y:0.80, Z:0.29 [[ 9.99651312e-01 -2.60777298e-02 -4.14798159e-03 7.88283702e+01] [ 2.60778450e-02 9.99659915e-01 -2.63064651e-05 7.97641255e-01] [ 4.14725693e-03 -8.18731287e-05 9.99991397e-01 2.91532195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:78.86, Y:0.80, Z:0.29 [[ 9.99736208e-01 -2.25901045e-02 -4.14744315e-03 7.88599749e+01] [ 2.25900408e-02 9.99744811e-01 -6.22059941e-05 7.98040796e-01] [ 4.14779000e-03 -3.15013252e-05 9.99991397e-01 2.92757543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:78.89, Y:0.80, Z:0.31 [[ 9.99773459e-01 -2.08765268e-02 -4.14744698e-03 7.88903752e+01] [ 2.08764494e-02 9.99782061e-01 -6.19495753e-05 7.98075887e-01] [ 4.14783638e-03 -2.46484258e-05 9.99991397e-01 3.05975017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:78.92, Y:0.80, Z:0.31 [[ 9.99876291e-01 -1.51724610e-02 -4.14709248e-03 7.89208929e+01] [ 1.51722358e-02 9.99884891e-01 -8.57557674e-05 8.00504421e-01] [ 4.14791624e-03 2.28244937e-05 9.99991397e-01 3.05680109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:78.95, Y:0.80, Z:0.29 [[ 9.99934191e-01 -1.06965868e-02 -4.14696302e-03 7.89534589e+01] [ 1.06962861e-02 9.99942789e-01 -9.46673434e-05 8.02328430e-01] [ 4.14773838e-03 5.03040103e-05 9.99991397e-01 2.92425820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:78.98, Y:0.80, Z:0.31 [[ 9.99905282e-01 -1.31234406e-02 -4.14747118e-03 7.89819200e+01] [ 1.31233094e-02 9.99913884e-01 -5.88617031e-05 8.03989236e-01] [ 4.14788649e-03 4.42758055e-06 9.99991397e-01 3.07099706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:79.01, Y:0.81, Z:0.29 [[ 9.99952158e-01 -8.85915034e-03 -4.14687910e-03 7.90144642e+01] [ 8.85880967e-03 9.99960755e-01 -1.00512509e-04 8.05149581e-01] [ 4.14760681e-03 6.37712876e-05 9.99991397e-01 2.92225823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:79.04, Y:0.81, Z:0.29 [[ 9.99924024e-01 -1.16079243e-02 -4.14747725e-03 7.90429309e+01] [ 1.16077879e-02 9.99932626e-01 -5.69569021e-05 8.05222022e-01] [ 4.14785897e-03 8.80953858e-06 9.99991398e-01 2.92822069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:79.07, Y:0.80, Z:0.30 [[ 9.99866862e-01 -1.57815009e-02 -4.14746996e-03 7.90708223e+01] [ 1.57813982e-02 9.99875464e-01 -5.74826143e-05 8.04564419e-01] [ 4.14786062e-03 -7.97791388e-06 9.99991398e-01 3.04686207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:79.10, Y:0.80, Z:0.31 [[ 9.99859650e-01 -1.62321808e-02 -4.14694567e-03 7.91009455e+01] [ 1.62319242e-02 9.99868249e-01 -9.55495520e-05 8.04383764e-01] [ 4.14795028e-03 2.82232340e-05 9.99991397e-01 3.07945047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51863999999999 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:79.13, Y:0.80, Z:0.31 [[ 9.99802575e-01 -1.94322483e-02 -4.14708909e-03 7.91299782e+01] [ 1.94320634e-02 9.99811176e-01 -8.48926026e-05 8.04210802e-01] [ 4.14795567e-03 4.28934466e-06 9.99991397e-01 3.07259950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:79.16, Y:0.80, Z:0.29 [[ 9.99849022e-01 -1.68741499e-02 -4.14677681e-03 7.91627319e+01] [ 1.68738473e-02 9.99857621e-01 -1.07953544e-04 8.03747564e-01] [ 4.14800802e-03 3.79651671e-05 9.99991396e-01 2.92347126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:79.19, Y:0.80, Z:0.31 [[ 9.99809910e-01 -1.90510388e-02 -4.14747926e-03 7.91907098e+01] [ 1.90509804e-02 9.99818512e-01 -5.35910414e-05 8.04291675e-01] [ 4.14774750e-03 -2.54326916e-05 9.99991398e-01 3.08050244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:79.22, Y:0.81, Z:0.29 [[ 9.99889722e-01 -1.42600156e-02 -4.14683378e-03 7.92234495e+01] [ 1.42597108e-02 9.99898320e-01 -1.03072217e-04 8.06431985e-01] [ 4.14788194e-03 4.39282004e-05 9.99991397e-01 2.92684673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:79.25, Y:0.81, Z:0.29 [[ 9.99884689e-01 -1.46084513e-02 -4.14747378e-03 7.92532814e+01] [ 1.46083580e-02 9.99893291e-01 -5.28014940e-05 8.08480465e-01] [ 4.14780256e-03 -7.79237629e-06 9.99991398e-01 2.93066886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:79.28, Y:0.81, Z:0.31 [[ 9.99845245e-01 -1.70963519e-02 -4.14747042e-03 7.92821404e+01] [ 1.70962789e-02 9.99853847e-01 -5.30645266e-05 8.07802282e-01] [ 4.14777146e-03 -1.78499964e-05 9.99991398e-01 3.06725157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:79.31, Y:0.81, Z:0.30 [[ 9.99782920e-01 -2.04185176e-02 -4.14691980e-03 7.93122741e+01] [ 2.04182905e-02 9.99791520e-01 -9.70913861e-05 8.06453584e-01] [ 4.14803771e-03 1.23972963e-05 9.99991397e-01 3.02543436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:79.35, Y:0.81, Z:0.29 [[ 9.99824118e-01 -1.82903815e-02 -4.14676665e-03 7.93450278e+01] [ 1.82900838e-02 9.99832716e-01 -1.09711407e-04 8.06757938e-01] [ 4.14807963e-03 3.38474013e-05 9.99991396e-01 2.92944659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:79.38, Y:0.81, Z:0.29 [[ 9.99794701e-01 -1.98331770e-02 -4.14748270e-03 7.93754250e+01] [ 1.98331461e-02 9.99803303e-01 -4.85780107e-05 8.05940369e-01] [ 4.14763035e-03 -3.36895927e-05 9.99991398e-01 2.93217209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:79.40, Y:0.80, Z:0.31 [[ 9.99642689e-01 -2.64063067e-02 -4.14748270e-03 7.94039596e+01] [ 2.64063324e-02 9.99651291e-01 -4.85780107e-05 8.01973970e-01] [ 4.14731920e-03 -6.09591534e-05 9.99991398e-01 3.06918735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:79.44, Y:0.80, Z:0.29 [[ 9.99657218e-01 -2.58505462e-02 -4.14681168e-03 7.94375665e+01] [ 2.58503273e-02 9.99665819e-01 -1.06394523e-04 8.00941079e-01] [ 4.14817625e-03 -8.38385913e-07 9.99991396e-01 2.93411600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:79.47, Y:0.81, Z:0.30 [[ 9.99990392e-01 1.41911640e-03 -4.14748261e-03 7.94677823e+01] [-1.41932073e-03 9.99998992e-01 -4.63217209e-05 8.11940294e-01] [ 4.14741270e-03 5.22078839e-05 9.99991398e-01 2.97724410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87863999999999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:79.50, Y:0.79, Z:0.31 [[ 9.99477102e-01 -3.20674627e-02 -4.14731304e-03 7.94965405e+01] [ 3.20674846e-02 9.99485704e-01 -6.12306907e-05 7.94317396e-01] [ 4.14714361e-03 -7.17952239e-05 9.99991398e-01 3.05575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:79.53, Y:0.79, Z:0.29 [[ 9.99493814e-01 -3.15423333e-02 -4.14691926e-03 7.95296788e+01] [ 3.15422066e-02 9.99502416e-01 -9.59641428e-05 7.91816926e-01] [ 4.14788275e-03 -3.48874171e-05 9.99991397e-01 2.93572436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93863999999999 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:79.56, Y:0.82, Z:0.30 [[ 9.99714358e-01 2.35372272e-02 -4.14747121e-03 7.95593851e+01] [-2.35376136e-02 9.99722951e-01 -4.43643402e-05 8.18301711e-01] [ 4.14527795e-03 1.41973243e-04 9.99991398e-01 2.95552444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:79.59, Y:0.78, Z:0.29 [[ 9.99274805e-01 -3.78505257e-02 -4.14746293e-03 7.95900811e+01] [ 3.78506641e-02 9.99283406e-01 -4.51394846e-05 7.84664995e-01] [ 4.14619944e-03 -1.11877477e-04 9.99991398e-01 2.93414517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.62, Y:0.78, Z:0.29 [[ 9.99166758e-01 -4.06028149e-02 -4.14747027e-03 7.96221229e+01] [ 4.06029799e-02 9.99175358e-01 -4.44554818e-05 7.76391458e-01] [ 4.14585511e-03 -1.23981212e-04 9.99991398e-01 2.91750286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:79.65, Y:0.77, Z:0.31 [[ 9.99010646e-01 -4.42778368e-02 -4.14748802e-03 7.96496253e+01] [ 4.42780405e-02 9.99019246e-01 -4.27324921e-05 7.71772648e-01] [ 4.14531245e-03 -1.40952428e-04 9.99991398e-01 3.05029590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:79.68, Y:0.77, Z:0.31 [[ 9.99102030e-01 -4.21655895e-02 -4.14677317e-03 7.96829778e+01] [ 4.21654852e-02 9.99110634e-01 -1.12617669e-04 7.68909853e-01] [ 4.14783376e-03 -6.23341612e-05 9.99991396e-01 3.06314612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:0.76, Z:0.31 [[ 9.99234366e-01 -3.89035288e-02 -4.14695690e-03 7.97165060e+01] [ 3.89034768e-02 9.99242969e-01 -9.32504525e-05 7.61212974e-01] [ 4.14744529e-03 -6.81519844e-05 9.99991397e-01 3.06726534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:79.74, Y:0.77, Z:0.29 [[ 9.99940430e-01 -1.00962702e-02 -4.14739081e-03 7.97432893e+01] [ 1.00961701e-02 9.99949031e-01 -4.50759532e-05 7.71411297e-01] [ 4.14763452e-03 3.20050488e-06 9.99991399e-01 2.94384481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:0.75, Z:0.30 [[ 9.99271151e-01 -3.79470034e-02 -4.14638687e-03 7.97743476e+01] [ 3.79467106e-02 9.99279753e-01 -1.49297882e-04 7.48533357e-01] [ 4.14906585e-03 -8.15267583e-06 9.99991393e-01 3.03353839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:0.75, Z:0.29 [[ 9.99365625e-01 -3.53716104e-02 -4.14691865e-03 7.98072342e+01] [ 3.53715466e-02 9.99374227e-01 -8.87515418e-05 7.45964970e-01] [ 4.14746290e-03 -5.79876860e-05 9.99991398e-01 2.92133973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:0.74, Z:0.30 [[ 9.99597843e-01 -2.80526671e-02 -4.14736901e-03 7.98365544e+01] [ 2.80527661e-02 9.99606443e-01 -3.43047576e-05 7.44943305e-01] [ 4.14669912e-03 -8.20542111e-05 9.99991399e-01 3.00886879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:79.87, Y:0.73, Z:0.30 [[ 9.99383306e-01 -3.48684678e-02 -4.14697087e-03 7.98678776e+01] [ 3.48684194e-02 9.99391908e-01 -8.40021246e-05 7.33017951e-01] [ 4.14737816e-03 -6.06479985e-05 9.99991398e-01 3.03539686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:79.90, Y:0.73, Z:0.29 [[ 9.99418176e-01 -3.38542680e-02 -4.14715493e-03 7.98992536e+01] [ 3.38543078e-02 9.99426777e-01 -6.06349663e-05 7.27827215e-01] [ 4.14683044e-03 -7.97993721e-05 9.99991399e-01 2.92558621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:79.93, Y:0.73, Z:0.30 [[ 9.99437371e-01 -3.32827479e-02 -4.14737556e-03 7.99291756e+01] [ 3.32829000e-02 9.99445970e-01 -3.23488952e-05 7.25672153e-01] [ 4.14615445e-03 -1.05705991e-04 9.99991399e-01 3.04757229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:79.96, Y:0.73, Z:0.29 [[ 9.99490849e-01 -3.16361093e-02 -4.14717745e-03 7.99600083e+01] [ 3.16361397e-02 9.99499450e-01 -5.82871215e-05 7.25226152e-01] [ 4.14694556e-03 -7.29432407e-05 9.99991399e-01 2.92827927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:79.99, Y:0.72, Z:0.29 [[ 9.99574742e-01 -2.88640717e-02 -4.14738197e-03 7.99897117e+01] [ 2.88641947e-02 9.99583342e-01 -3.02173624e-05 7.22566231e-01] [ 4.14652613e-03 -8.95063282e-05 9.99991399e-01 2.91419018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:80.02, Y:0.72, Z:0.29 [[ 9.99607642e-01 -2.77012726e-02 -4.14738011e-03 8.00193283e+01] [ 2.77013845e-02 9.99616243e-01 -3.04702104e-05 7.22634441e-01] [ 4.14663259e-03 -8.44299158e-05 9.99991399e-01 2.92151833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:80.05, Y:0.72, Z:0.31 [[ 9.99706404e-01 -2.38726939e-02 -4.14737918e-03 8.00491794e+01] [ 2.38727724e-02 9.99715004e-01 -3.05968495e-05 7.22809278e-01] [ 4.14692762e-03 -6.84215727e-05 9.99991399e-01 3.06413976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:80.10, Y:0.75, Z:0.29 [[ 9.99123116e-01 4.16629108e-02 -4.14731452e-03 8.01018876e+01] [-4.16634321e-02 9.99131701e-01 -3.93585597e-05 7.52718152e-01] [ 4.14207362e-03 2.12115404e-04 9.99991399e-01 2.88545622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:80.11, Y:0.72, Z:0.31 [[ 9.99699299e-01 -2.41679259e-02 -4.15003408e-03 8.01065859e+01] [ 2.41699342e-02 9.99707770e-01 4.34454210e-04 7.20389024e-01] [ 4.13832146e-03 -5.34629620e-04 9.99991294e-01 3.05124810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:80.14, Y:0.72, Z:0.29 [[ 9.99756147e-01 -2.16901760e-02 -4.14514246e-03 8.01376886e+01] [ 2.16901582e-02 9.99764740e-01 -4.92562089e-05 7.22683628e-01] [ 4.14523564e-03 -4.06645980e-05 9.99991408e-01 2.91943741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.17, Y:0.72, Z:0.29 [[ 9.99775587e-01 -2.07748093e-02 -4.14522224e-03 8.01669644e+01] [ 2.07748169e-02 9.99784179e-01 -4.12357175e-05 7.23956425e-01] [ 4.14518428e-03 -4.48897693e-05 9.99991408e-01 2.91831264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:80.20, Y:0.73, Z:0.29 [[ 9.99807273e-01 -1.91894271e-02 -4.14521699e-03 8.01962120e+01] [ 1.91894189e-02 9.99815865e-01 -4.17572619e-05 7.25753614e-01] [ 4.14525501e-03 -3.77950912e-05 9.99991408e-01 2.91423545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.23, Y:0.73, Z:0.30 [[ 9.99808275e-01 -1.91371408e-02 -4.14521169e-03 8.02254329e+01] [ 1.91371299e-02 9.99816867e-01 -4.22764037e-05 7.25525021e-01] [ 4.14526162e-03 -3.70591566e-05 9.99991408e-01 3.04904920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:80.25, Y:0.73, Z:0.31 [[ 9.99819066e-01 -1.85648480e-02 -4.14518675e-03 8.02543383e+01] [ 1.85648222e-02 9.99827658e-01 -4.46968236e-05 7.26321819e-01] [ 4.14530215e-03 -3.22659186e-05 9.99991408e-01 3.05347008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65863999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.28, Y:0.73, Z:0.29 [[ 9.99814373e-01 -1.88159032e-02 -4.14508739e-03 8.02848514e+01] [ 1.88158403e-02 9.99822965e-01 -5.41728437e-05 7.28864844e-01] [ 4.14537288e-03 -2.38305146e-05 9.99991408e-01 2.91008167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:80.31, Y:0.73, Z:0.29 [[ 9.99833591e-01 -1.77653329e-02 -4.14520251e-03 8.03141466e+01] [ 1.77653069e-02 9.99842184e-01 -4.31022211e-05 7.32529335e-01] [ 4.14531405e-03 -3.05457462e-05 9.99991408e-01 2.91119881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:80.34, Y:0.73, Z:0.29 [[ 9.99831326e-01 -1.78923747e-02 -4.14519834e-03 8.03434514e+01] [ 1.78923481e-02 9.99839918e-01 -4.34993779e-05 7.32802741e-01] [ 4.14531307e-03 -3.06752911e-05 9.99991408e-01 2.91241408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.37, Y:0.73, Z:0.29 [[ 9.99836643e-01 -1.75927434e-02 -4.14519274e-03 8.03718595e+01] [ 1.75927121e-02 9.99845235e-01 -4.40260766e-05 7.34044144e-01] [ 4.14532575e-03 -2.89062978e-05 9.99991408e-01 2.90709542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:80.40, Y:0.73, Z:0.30 [[ 9.99833819e-01 -1.77525082e-02 -4.14518709e-03 8.04011435e+01] [ 1.77524761e-02 9.99842411e-01 -4.45522854e-05 7.34840439e-01] [ 4.14532477e-03 -2.90424529e-05 9.99991408e-01 3.02799051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:80.43, Y:0.73, Z:0.31 [[ 9.99846864e-01 -1.70019911e-02 -4.14494466e-03 8.04316864e+01] [ 1.70018580e-02 9.99855456e-01 -6.73444772e-05 7.34994109e-01] [ 4.14549052e-03 -3.13759606e-06 9.99991407e-01 3.05476404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:80.46, Y:0.74, Z:0.29 [[ 9.99839641e-01 -1.74214787e-02 -4.14529286e-03 8.04608648e+01] [ 1.74214878e-02 9.99848234e-01 -3.39238626e-05 7.35031024e-01] [ 4.14525475e-03 -3.82987462e-05 9.99991408e-01 2.90010263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:80.49, Y:0.73, Z:0.31 [[ 9.99843254e-01 -1.72129028e-02 -4.14518504e-03 8.04903760e+01] [ 1.72128680e-02 9.99851847e-01 -4.40661818e-05 7.33909307e-01] [ 4.14532942e-03 -2.72912484e-05 9.99991408e-01 3.05066687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.52, Y:0.73, Z:0.31 [[ 9.99805577e-01 -1.92775897e-02 -4.14519616e-03 8.05191905e+01] [ 1.92775770e-02 9.99814169e-01 -4.30329491e-05 7.33993609e-01] [ 4.14525542e-03 -3.68847555e-05 9.99991408e-01 3.05377284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:80.55, Y:0.73, Z:0.31 [[ 9.99813422e-01 -1.88664014e-02 -4.14493902e-03 8.05486848e+01] [ 1.88662869e-02 9.99822014e-01 -6.67359536e-05 7.34703143e-01] [ 4.14546034e-03 -1.14761066e-05 9.99991407e-01 3.05323324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:80.58, Y:0.73, Z:0.29 [[ 9.99850746e-01 -1.67721060e-02 -4.14504467e-03 8.05799315e+01] [ 1.67720145e-02 9.99859338e-01 -5.68587709e-05 7.34130757e-01] [ 4.14541526e-03 -1.26704646e-05 9.99991408e-01 2.91342832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:80.61, Y:0.73, Z:0.31 [[ 9.99857132e-01 -1.63869798e-02 -4.14518123e-03 8.06095804e+01] [ 1.63869383e-02 9.99865724e-01 -4.39914633e-05 7.32849754e-01] [ 4.14534552e-03 -2.39416506e-05 9.99991408e-01 3.06754644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01863999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.64, Y:0.73, Z:0.29 [[ 9.99884855e-01 -1.45977771e-02 -4.14510903e-03 8.06396409e+01] [ 1.45976917e-02 9.99893447e-01 -5.08761007e-05 7.32585530e-01] [ 4.14541003e-03 -9.63878092e-06 9.99991408e-01 2.91740580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:80.67, Y:0.73, Z:0.29 [[ 9.99890139e-01 -1.42311768e-02 -4.14519075e-03 8.06680123e+01] [ 1.42311209e-02 9.99898732e-01 -4.29979403e-05 7.32876670e-01] [ 4.14538288e-03 -1.59974940e-05 9.99991408e-01 2.91327357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:80.70, Y:0.73, Z:0.30 [[ 9.99900823e-01 -1.34596510e-02 -4.14518521e-03 8.06958653e+01] [ 1.34595863e-02 9.99909415e-01 -4.35255231e-05 7.32349339e-01] [ 4.14539555e-03 -1.22712714e-05 9.99991408e-01 3.04222230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:80.73, Y:0.73, Z:0.29 [[ 9.99950188e-01 -9.07973802e-03 -4.14480857e-03 8.07277928e+01] [ 9.07948962e-03 9.99958777e-01 -7.87437063e-05 7.33328812e-01] [ 4.14535269e-03 4.11070375e-05 9.99991407e-01 2.92524103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:80.76, Y:0.73, Z:0.29 [[ 9.99966324e-01 -7.08300809e-03 -4.14517908e-03 8.07564552e+01] [ 7.08289004e-03 9.99974915e-01 -4.31595647e-05 7.34462206e-01] [ 4.14538080e-03 1.37982636e-05 9.99991408e-01 2.92781085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:80.78, Y:0.74, Z:0.29 [[ 9.99989647e-01 -1.87695494e-03 -4.14517349e-03 8.07844629e+01] [ 1.87678996e-03 9.99998238e-01 -4.36896274e-05 7.35944389e-01] [ 4.14524819e-03 3.59095551e-05 9.99991408e-01 2.92543518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:80.81, Y:0.74, Z:0.29 [[ 9.99991295e-01 4.76500655e-04 -4.14514984e-03 8.08130065e+01] [-4.76694718e-04 9.99999885e-01 -4.58290687e-05 7.36214772e-01] [ 4.14512752e-03 4.78046408e-05 9.99991408e-01 2.93291594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:80.84, Y:0.74, Z:0.29 [[ 9.99990868e-01 1.04001263e-03 -4.14512839e-03 8.08413704e+01] [-1.04021925e-03 9.99999458e-01 -4.76928971e-05 7.36635979e-01] [ 4.14507654e-03 5.20043039e-05 9.99991408e-01 2.94093704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:80.87, Y:0.74, Z:0.30 [[ 9.99988389e-01 2.45766333e-03 -4.14510584e-03 8.08707645e+01] [-2.45788995e-03 9.99996978e-01 -4.95783169e-05 7.38112521e-01] [ 4.14497147e-03 5.97659552e-05 9.99991408e-01 3.01618505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:80.90, Y:0.74, Z:0.30 [[ 9.99979625e-01 4.85495330e-03 -4.14485994e-03 8.09013653e+01] [-4.85528496e-03 9.99988211e-01 -6.99585766e-05 7.39273391e-01] [ 4.14447143e-03 9.00816273e-05 9.99991408e-01 2.95297424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:80.93, Y:0.74, Z:0.29 [[ 9.99976759e-01 5.41290151e-03 -4.14509704e-03 8.09298891e+01] [-5.41315732e-03 9.99985347e-01 -5.04959436e-05 7.41365577e-01] [ 4.14476297e-03 7.29328324e-05 9.99991408e-01 2.94024085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:80.96, Y:0.74, Z:0.31 [[ 9.99984360e-01 3.75474872e-03 -4.14507326e-03 8.09570137e+01] [-3.75499808e-03 9.99992949e-01 -5.23774505e-05 7.44249804e-01] [ 4.14484737e-03 6.79413735e-05 9.99991408e-01 3.10493063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37863999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:80.99, Y:0.75, Z:0.29 [[ 9.99976140e-01 5.52638246e-03 -4.14465859e-03 8.09884871e+01] [-5.52678012e-03 9.99984724e-01 -8.44983820e-05 7.47382997e-01] [ 4.14412831e-03 1.07402983e-04 9.99991407e-01 2.94586843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:81.06, Y:0.78, Z:0.30 [[ 9.98665986e-01 5.14690942e-02 -4.14506343e-03 8.10585505e+01] [-5.14697540e-02 9.98674552e-01 -5.25895335e-05 7.77431909e-01] [ 4.13686263e-03 2.65864774e-04 9.99991408e-01 3.00202885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43863999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:81.04, Y:0.75, Z:0.31 [[ 9.99986401e-01 -3.15086043e-03 -4.15570150e-03 8.10376028e+01] [ 3.15432755e-03 9.99994682e-01 8.28015738e-04 7.48720562e-01] [ 4.15307044e-03 -8.41112922e-04 9.99991022e-01 3.07511822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:81.07, Y:0.75, Z:0.29 [[ 9.99988386e-01 -2.47321941e-03 -4.13659274e-03 8.10687310e+01] [ 2.47281643e-03 9.99996937e-01 -1.02528931e-04 7.54280150e-01] [ 4.13683364e-03 9.22987059e-05 9.99991439e-01 2.94666604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:81.10, Y:0.76, Z:0.31 [[ 9.99981799e-01 -4.39173849e-03 -4.13696555e-03 8.10970611e+01] [ 4.39142767e-03 9.99990354e-01 -8.42149444e-05 7.57989166e-01] [ 4.13729549e-03 6.60462267e-05 9.99991439e-01 3.08276124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:81.13, Y:0.76, Z:0.31 [[ 9.99976342e-01 -5.49601804e-03 -4.13642099e-03 8.11264370e+01] [ 5.49560646e-03 9.99984893e-01 -1.10861964e-04 7.63727693e-01] [ 4.13696780e-03 8.81271988e-05 9.99991439e-01 3.08121237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.16, Y:0.77, Z:0.31 [[ 9.99953050e-01 -8.76275717e-03 -4.13675442e-03 8.11551025e+01] [ 8.76244108e-03 9.99961605e-01 -9.45286390e-05 7.66431121e-01] [ 4.13742392e-03 5.82761339e-05 9.99991439e-01 3.05839672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:81.18, Y:0.77, Z:0.31 [[ 9.99943801e-01 -9.76145256e-03 -4.13640309e-03 8.11846444e+01] [ 9.76107260e-03 9.99952353e-01 -1.12036712e-04 7.69236514e-01] [ 4.13729965e-03 7.16546843e-05 9.99991439e-01 3.07994390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61864 meters Centerline goodness : 0.831270 Centerline is valid? [True, False] Translation: X:81.19, Y:0.79, Z:0.31 [[ 9.99889440e-01 -8.82294621e-03 -1.19692934e-02 8.11885346e+01] [ 8.56995494e-03 9.99742202e-01 -2.10258217e-02 7.90723236e-01] [ 1.21517175e-02 2.09209208e-02 9.99707283e-01 3.12138332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64864 meters Centerline goodness : 0.990708 Centerline is valid? [False, True] Translation: X:81.19, Y:0.79, Z:0.31 [[ 9.99915071e-01 -4.64533814e-03 -1.21766550e-02 8.11889456e+01] [ 4.44606192e-03 9.99856580e-01 -1.63417283e-02 7.88316181e-01] [ 1.22508215e-02 1.62862023e-02 9.99792317e-01 3.11788792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67864 meters Centerline goodness : 0.908975 Centerline is valid? [True, False] Translation: X:81.19, Y:0.79, Z:0.31 [[ 9.99911582e-01 -4.67297232e-03 -1.24495839e-02 8.11897462e+01] [ 4.46709216e-03 9.99853657e-01 -1.65139082e-02 7.88980165e-01] [ 1.25249310e-02 1.64568347e-02 9.99786126e-01 3.11262067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:81.18, Y:0.79, Z:0.31 [[ 9.99990924e-01 -3.91191772e-03 1.68782810e-03 8.11835317e+01] [ 3.94145622e-03 9.99832591e-01 -1.78677102e-02 7.89677601e-01] [-1.61764853e-03 1.78742005e-02 9.99838935e-01 3.09557019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73863999999999 meters Centerline goodness : 0.966724 Centerline is valid? [True, True] Translation: X:81.24, Y:0.82, Z:0.31 [[ 9.95882766e-01 9.06321278e-02 1.82600845e-03 8.12360813e+01] [-9.06322532e-02 9.95884428e-01 -1.41028627e-05 8.21404195e-01] [-1.81977156e-03 -1.51450463e-04 9.99998333e-01 3.06456423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:0.77, Z:0.31 [[ 9.99941110e-01 -1.06981754e-02 1.82348687e-03 8.12411825e+01] [ 1.06985931e-02 9.99942744e-01 -2.19446511e-04 7.69860724e-01] [-1.82103478e-03 2.38942332e-04 9.99998313e-01 3.07867875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79863999999999 meters Centerline goodness : 0.949796 Centerline is valid? [True, False] Translation: X:81.26, Y:0.77, Z:0.31 [[ 9.99974185e-01 -7.12227299e-03 -9.50131879e-04 8.12627403e+01] [ 7.11614930e-03 9.99954835e-01 -6.29988034e-03 7.72507688e-01] [ 9.94958434e-04 6.29295643e-03 9.99979704e-01 3.11113783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:81.28, Y:0.77, Z:0.31 [[ 9.99988576e-01 -1.08180943e-04 -4.77881663e-03 8.12841667e+01] [ 7.12694642e-05 9.99970171e-01 -7.72347395e-03 7.71600312e-01] [ 4.77950961e-03 7.72304513e-03 9.99958755e-01 3.14804949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:81.31, Y:0.76, Z:0.31 [[ 9.99982989e-01 -3.57350456e-03 -4.60986174e-03 8.13133486e+01] [ 3.57457635e-03 9.99993586e-01 2.24279518e-04 7.57041160e-01] [ 4.60903071e-03 -2.40754006e-04 9.99989349e-01 3.12599795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:81.34, Y:0.75, Z:0.32 [[ 9.99969503e-01 -6.30322575e-03 -4.61113433e-03 8.13398096e+01] [ 6.30404427e-03 9.99980116e-01 1.62995373e-04 7.51690881e-01] [ 4.61001525e-03 -1.92059197e-04 9.99989355e-01 3.16311027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:81.37, Y:0.74, Z:0.32 [[ 9.99966229e-01 -6.80221951e-03 -4.61205875e-03 8.13704456e+01] [ 6.80283162e-03 9.99976854e-01 1.17043929e-04 7.42164913e-01] [ 4.61115584e-03 -1.48415035e-04 9.99989358e-01 3.17421328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:81.40, Y:0.74, Z:0.32 [[ 9.99953146e-01 -8.51108192e-03 -4.61167647e-03 8.13991808e+01] [ 8.51180043e-03 9.99963765e-01 1.36197967e-04 7.36592896e-01] [ 4.61035017e-03 -1.75445255e-04 9.99989357e-01 3.17670763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:0.73, Z:0.30 [[ 9.99928235e-01 -1.10570063e-02 -4.61177367e-03 8.14273565e+01] [ 1.10577290e-02 9.99938853e-01 1.31239401e-04 7.33074280e-01] [ 4.61004056e-03 -1.82225726e-04 9.99989357e-01 3.02590748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.46, Y:0.72, Z:0.30 [[ 9.99929593e-01 -1.09331485e-02 -4.61258832e-03 8.14558242e+01] [ 1.09336754e-02 9.99940222e-01 8.90359971e-05 7.23808406e-01] [ 4.61133914e-03 -1.39462272e-04 9.99989358e-01 3.03199474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:0.72, Z:0.30 [[ 9.99932156e-01 -1.06961124e-02 -4.61259898e-03 8.14845332e+01] [ 1.06966342e-02 9.99942785e-01 8.84800089e-05 7.18670564e-01] [ 4.61138868e-03 -1.37813290e-04 9.99989358e-01 3.02824015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.51, Y:0.71, Z:0.30 [[ 9.99929376e-01 -1.09529028e-02 -4.61260955e-03 8.15136383e+01] [ 1.09534248e-02 9.99940006e-01 8.79252964e-05 7.14677233e-01] [ 4.61136979e-03 -1.38442959e-04 9.99989358e-01 3.03341888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.54, Y:0.71, Z:0.30 [[ 9.99930228e-01 -1.08749068e-02 -4.61262017e-03 8.15419968e+01] [ 1.08754254e-02 9.99940857e-01 8.73650379e-05 7.10634575e-01] [ 4.61139728e-03 -1.37523149e-04 9.99989358e-01 3.03495320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:81.57, Y:0.70, Z:0.32 [[ 9.99953182e-01 -8.50635528e-03 -4.61263065e-03 8.15715551e+01] [ 8.50684614e-03 9.99963812e-01 8.68077628e-05 7.02563604e-01] [ 4.61172532e-03 -1.26042638e-04 9.99989358e-01 3.18259202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15863999999999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:81.60, Y:0.70, Z:0.32 [[ 9.99967335e-01 -6.63727559e-03 -4.61258693e-03 8.15999229e+01] [ 6.63775734e-03 9.99977966e-01 8.91413302e-05 6.98774198e-01] [ 4.61189364e-03 -1.19755651e-04 9.99989358e-01 3.20088828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters Centerline goodness : 0.904205 Centerline is valid? [True, False] Translation: X:81.62, Y:0.70, Z:0.32 [[ 9.99967653e-01 1.28697820e-03 -7.93961143e-03 8.16223465e+01] [-1.29078384e-03 9.99999054e-01 -4.74217704e-04 6.95283358e-01] [ 7.93899362e-03 4.84450686e-04 9.99968368e-01 3.22688107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21864 meters Centerline goodness : 0.999263 Centerline is valid? [False, True] Translation: X:81.62, Y:0.70, Z:0.32 [[ 9.99963074e-01 -2.85225929e-03 -8.10648834e-03 8.16227297e+01] [ 2.81424065e-03 9.99985007e-01 -4.69744670e-03 6.95571559e-01] [ 8.11976514e-03 4.67445964e-03 9.99956108e-01 3.22859317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:81.65, Y:0.69, Z:0.32 [[ 9.99936157e-01 7.95876193e-03 -8.02127374e-03 8.16546975e+01] [-7.95827603e-03 9.99968328e-01 9.24924597e-05 6.90204041e-01] [ 8.02175582e-03 -2.86510441e-05 9.99967825e-01 3.23034124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27864 meters Centerline goodness : 0.959546 Centerline is valid? [True, True] Translation: X:81.73, Y:0.70, Z:0.30 [[ 9.99958862e-01 4.23890459e-03 -8.01910620e-03 8.17349193e+01] [-4.23735398e-03 9.99991000e-01 2.10344488e-04 6.99253731e-01] [ 8.01992566e-03 -1.76356043e-04 9.99967824e-01 2.99044099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30864 meters Centerline goodness : 0.927956 Centerline is valid? [True, False] Translation: X:81.76, Y:0.70, Z:0.30 [[ 9.99928133e-01 4.85087795e-03 -1.09635188e-02 8.17588362e+01] [-4.96005564e-03 9.99938165e-01 -9.95311634e-03 7.04327826e-01] [ 1.09145596e-02 1.00067807e-02 9.99890362e-01 3.00681826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:81.76, Y:0.70, Z:0.30 [[ 9.99927601e-01 4.73455359e-03 -1.10624290e-02 8.17591024e+01] [-4.82492915e-03 9.99955089e-01 -8.15723919e-03 6.96020363e-01] [ 1.10233113e-02 8.21002405e-03 9.99905537e-01 3.00492554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.79, Y:0.68, Z:0.30 [[ 9.99920847e-01 6.23334031e-03 -1.09291288e-02 8.17872096e+01] [-6.23179617e-03 9.99980567e-01 1.75336469e-04 6.83499970e-01] [ 1.09300093e-02 -1.07214487e-04 9.99940260e-01 3.00843377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.82, Y:0.68, Z:0.30 [[ 9.99913171e-01 7.36219483e-03 -1.09292159e-02 8.18176800e+01] [-7.36077941e-03 9.99972895e-01 1.69727967e-04 6.78228656e-01] [ 1.09301692e-02 -8.92656826e-05 9.99940260e-01 3.04212285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42864 meters Centerline goodness : 0.861119 Centerline is valid? [True, False] Translation: X:81.80, Y:0.67, Z:0.31 [[ 9.99984625e-01 -8.11939663e-04 5.48547550e-03 8.17999506e+01] [ 7.84873105e-04 9.99987517e-01 4.93457492e-03 6.69835104e-01] [-5.48941360e-03 -4.93019365e-03 9.99972779e-01 3.05509766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45864 meters Centerline goodness : 0.999115 Centerline is valid? [False, True] Translation: X:81.80, Y:0.67, Z:0.31 [[ 9.99973179e-01 -4.92094563e-03 5.42450147e-03 8.18001940e+01] [ 4.91785802e-03 9.99987738e-01 5.82388673e-04 6.70636594e-01] [-5.42730086e-03 -5.55696125e-04 9.99985118e-01 3.05375904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters Centerline goodness : 0.930179 Centerline is valid? [True, False] Translation: X:81.78, Y:0.67, Z:0.30 [[ 9.99960261e-01 -2.44001817e-04 8.91156801e-03 8.17771199e+01] [ 2.87784617e-04 9.99987894e-01 -4.91207801e-03 6.71695090e-01] [-8.91026158e-03 4.91444742e-03 9.99948226e-01 3.02877430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51863999999999 meters Centerline goodness : 0.998771 Centerline is valid? [False, True] Translation: X:81.75, Y:0.68, Z:0.30 [[ 9.99909226e-01 3.71398351e-03 1.29516811e-02 8.17546638e+01] [-3.56266815e-03 9.99925362e-01 -1.16866340e-02 6.76427813e-01] [-1.29941184e-02 1.16394307e-02 9.99847827e-01 2.99536828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:81.78, Y:0.67, Z:0.29 [[ 9.99856924e-01 1.09698689e-02 1.28761213e-02 8.17846311e+01] [-1.09718431e-02 9.99939804e-01 8.26941172e-05 6.66946703e-01] [-1.28744391e-02 -2.23957069e-04 9.99917096e-01 2.87794958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:81.82, Y:0.67, Z:0.29 [[ 9.99807141e-01 1.48285846e-02 1.28761044e-02 8.18176090e+01] [-1.48309116e-02 9.99890012e-01 8.52536429e-05 6.68955059e-01] [-1.28734240e-02 -2.76201567e-04 9.99917096e-01 2.87721138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:81.85, Y:0.67, Z:0.29 [[ 9.99747264e-01 1.84286284e-02 1.28761209e-02 8.18499288e+01] [-1.84312206e-02 9.99830127e-01 8.26750016e-05 6.70665215e-01] [-1.28724100e-02 -3.19976732e-04 9.99917096e-01 2.87717040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:81.88, Y:0.67, Z:0.29 [[ 9.99743578e-01 1.86274806e-02 1.28761316e-02 8.18834306e+01] [-1.86300674e-02 9.99826442e-01 8.09763253e-05 6.70920824e-01] [-1.28723885e-02 -3.20838761e-04 9.99917096e-01 2.87285664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:81.92, Y:0.67, Z:0.29 [[ 9.99635992e-01 2.37083876e-02 1.28761472e-02 8.19155707e+01] [-2.37113626e-02 9.99718843e-01 7.84152923e-05 6.74548037e-01] [-1.28706679e-02 -3.83697743e-04 9.99917096e-01 2.92511662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:81.95, Y:0.68, Z:0.30 [[ 9.99583276e-01 2.58355332e-02 1.28763035e-02 8.19490628e+01] [-2.58383425e-02 9.99666133e-01 5.18391241e-05 6.77292629e-01] [-1.28706652e-02 -3.84519861e-04 9.99917096e-01 2.98086100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:81.98, Y:0.68, Z:0.29 [[ 9.99567089e-01 2.64542283e-02 1.28766653e-02 8.19790241e+01] [-2.64562742e-02 9.99649971e-01 -1.14594565e-05 6.80405465e-01] [-1.28724613e-02 -3.29214094e-04 9.99917092e-01 2.85338099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:82.01, Y:0.69, Z:0.28 [[ 9.99643552e-01 2.33874641e-02 1.28761741e-02 8.20119715e+01] [-2.33903559e-02 9.99726405e-01 7.40102914e-05 6.85030998e-01] [-1.28709204e-02 -3.75162206e-04 9.99917096e-01 2.84355200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:82.04, Y:0.69, Z:0.28 [[ 9.99705250e-01 2.05819655e-02 1.28761880e-02 8.20445613e+01] [-2.05845925e-02 9.99788112e-01 7.15100514e-05 6.86458120e-01] [-1.28719879e-02 -3.36540057e-04 9.99917096e-01 2.84698199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.08, Y:0.69, Z:0.28 [[ 9.99739101e-01 1.88661822e-02 1.28761970e-02 8.20771756e+01] [-1.88686457e-02 9.99821969e-01 6.98531118e-05 6.88368167e-01] [-1.28725868e-02 -3.12791286e-04 9.99917096e-01 2.83989739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84864 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:82.11, Y:0.69, Z:0.28 [[ 9.99788291e-01 1.60491827e-02 1.28762103e-02 8.21101264e+01] [-1.60513800e-02 9.99871166e-01 6.73113723e-05 6.94915022e-01] [-1.28734711e-02 -2.73978066e-04 9.99917096e-01 2.83871835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87863999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:82.14, Y:0.70, Z:0.28 [[ 9.99798438e-01 1.54040697e-02 1.28762231e-02 8.21427147e+01] [-1.54061808e-02 9.99881316e-01 6.47740793e-05 6.98104680e-01] [-1.28736971e-02 -2.63134444e-04 9.99917096e-01 2.82558683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:82.18, Y:0.70, Z:0.28 [[ 9.99794835e-01 1.56361696e-02 1.28762354e-02 8.21756075e+01] [-1.56382670e-02 9.99877713e-01 6.22124249e-05 7.00521422e-01] [-1.28736881e-02 -2.63561668e-04 9.99917096e-01 2.82526395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93863999999999 meters Centerline goodness : 0.890158 Centerline is valid? [True, False] Translation: X:82.20, Y:0.70, Z:0.29 [[ 9.99963117e-01 3.82008995e-03 7.69235408e-03 8.21999628e+01] [-3.79527482e-03 9.99987556e-01 -3.23796490e-03 7.04855687e-01] [-7.70462767e-03 3.20865087e-03 9.99965171e-01 2.85249658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96864 meters Centerline goodness : 0.998525 Centerline is valid? [False, True] Translation: X:82.18, Y:0.72, Z:0.28 [[ 9.99914334e-01 4.23176338e-03 1.23861489e-02 8.21757860e+01] [-4.04037585e-03 9.99872692e-01 -1.54361873e-02 7.17163621e-01] [-1.24498944e-02 1.53848203e-02 9.99804135e-01 2.83600712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.21, Y:0.71, Z:0.28 [[ 9.99922161e-01 2.84427943e-03 1.21483015e-02 8.22070165e+01] [-2.84688747e-03 9.99995928e-01 1.97396108e-04 7.06008640e-01] [-1.21476906e-02 -2.31965591e-04 9.99926187e-01 2.75432405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:82.24, Y:0.71, Z:0.27 [[ 9.99926078e-01 5.02323208e-04 1.21485239e-02 8.22398111e+01] [-5.04578730e-04 9.99999856e-01 1.82597884e-04 7.09494563e-01] [-1.21484305e-02 -1.88714273e-04 9.99926187e-01 2.74548672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05864 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:82.27, Y:0.71, Z:0.29 [[ 9.99925991e-01 -6.50725250e-04 1.21486173e-02 8.22730411e+01] [ 6.48632997e-04 9.99999774e-01 1.76160805e-04 7.11423222e-01] [-1.21487292e-02 -1.68267773e-04 9.99926187e-01 2.86949382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:82.31, Y:0.71, Z:0.29 [[ 9.99924346e-01 -1.92121316e-03 1.21495372e-02 8.23063520e+01] [ 1.92000252e-03 9.99998151e-01 1.11308331e-04 7.13445328e-01] [-1.21497286e-02 -8.79727677e-05 9.99926185e-01 2.87172714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:82.34, Y:0.72, Z:0.29 [[ 9.99915015e-01 -4.72699010e-03 1.21498259e-02 8.23388643e+01] [ 4.72623502e-03 9.99988827e-01 9.08587720e-05 7.15923807e-01] [-1.21501197e-02 -3.34281175e-05 9.99926184e-01 2.85865506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:82.37, Y:0.72, Z:0.28 [[ 9.99902471e-01 -6.88645946e-03 1.21501387e-02 8.23705309e+01] [ 6.88613482e-03 9.99976288e-01 6.85545522e-05 7.16492993e-01] [-1.21503227e-02 1.51196270e-05 9.99926182e-01 2.84634152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17864 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:82.40, Y:0.72, Z:0.28 [[ 9.99892165e-01 -8.24890239e-03 1.21496424e-02 8.24031575e+01] [ 8.24824523e-03 9.99965977e-01 1.04197182e-04 7.16959915e-01] [-1.21500885e-02 -3.97271626e-06 9.99926185e-01 2.84859891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:82.44, Y:0.72, Z:0.28 [[ 9.99850436e-01 -1.23080393e-02 1.21497910e-02 8.24357385e+01] [ 1.23078132e-02 9.99924252e-01 9.33843969e-05 7.17294933e-01] [-1.21500200e-02 5.61669274e-05 9.99926184e-01 2.84227206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23863999999999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:82.47, Y:0.72, Z:0.27 [[ 9.99773914e-01 -1.74496227e-02 1.21503333e-02 8.24654581e+01] [ 1.74502688e-02 9.99847731e-01 5.28521629e-05 7.17240691e-01] [-1.21494054e-02 1.59186368e-04 9.99926181e-01 2.70875086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:82.50, Y:0.71, Z:0.28 [[ 9.99665830e-01 -2.28174391e-02 1.21488025e-02 8.24964462e+01] [ 2.28171145e-02 9.99739642e-01 1.65336209e-04 7.12915500e-01] [-1.21494121e-02 1.11919660e-04 9.99926187e-01 2.84757378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29863999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:82.53, Y:0.71, Z:0.27 [[ 9.99568788e-01 -2.67326231e-02 1.21493141e-02 8.25271111e+01] [ 2.67330457e-02 9.99642600e-01 1.27646395e-04 7.10955784e-01] [-1.21483843e-02 1.97196817e-04 9.99926186e-01 2.69790435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:82.56, Y:0.71, Z:0.27 [[ 9.99517241e-01 -2.85953143e-02 1.21488027e-02 8.25606220e+01] [ 2.85954175e-02 9.99591054e-01 1.65249549e-04 7.08607631e-01] [-1.21485598e-02 1.82230311e-04 9.99926187e-01 2.68936596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:82.59, Y:0.70, Z:0.27 [[ 9.99428121e-01 -3.15568477e-02 1.21488834e-02 8.25932785e+01] [ 3.15572445e-02 9.99501933e-01 1.59080489e-04 7.04946076e-01] [-1.21478526e-02 2.24395771e-04 9.99926187e-01 2.68017391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:82.63, Y:0.70, Z:0.27 [[ 9.99409485e-01 -3.21416281e-02 1.21489512e-02 8.26252818e+01] [ 3.21421332e-02 9.99483296e-01 1.53727744e-04 7.03743813e-01] [-1.21476148e-02 2.36856241e-04 9.99926187e-01 2.67655791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41864 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:82.66, Y:0.70, Z:0.28 [[ 9.99396017e-01 -3.25576764e-02 1.21490156e-02 8.26552987e+01] [ 3.25582763e-02 9.99469828e-01 1.48451088e-04 7.02245545e-01] [-1.21474078e-02 2.47189582e-04 9.99926187e-01 2.82668464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:82.69, Y:0.70, Z:0.27 [[ 9.99472379e-01 -3.01227851e-02 1.21483333e-02 8.26873556e+01] [ 3.01225118e-02 9.99546193e-01 2.05507598e-04 6.99332969e-01] [-1.21490107e-02 1.60539145e-04 9.99926185e-01 2.66801579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47864 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:82.72, Y:0.70, Z:0.28 [[ 9.99547566e-01 -2.75147961e-02 1.21490764e-02 8.27194962e+01] [ 2.75151036e-02 9.99621378e-01 1.41870392e-04 6.98017233e-01] [-1.21483800e-02 1.92476891e-04 9.99926187e-01 2.81085771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:82.75, Y:0.70, Z:0.28 [[ 9.99603970e-01 -2.53830146e-02 1.21493208e-02 8.27503869e+01] [ 2.53834250e-02 9.99677782e-01 1.20440996e-04 6.95400640e-01] [-1.21484633e-02 1.87998077e-04 9.99926187e-01 2.81910407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:82.78, Y:0.69, Z:0.27 [[ 9.99566845e-01 -2.68050818e-02 1.21494602e-02 8.27814832e+01] [ 2.68057490e-02 9.99640656e-01 1.07958462e-04 6.93759951e-01] [-1.21479882e-02 2.17763680e-04 9.99926187e-01 2.65264027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:82.81, Y:0.69, Z:0.26 [[ 9.99568004e-01 -2.67619637e-02 1.21491896e-02 8.28141864e+01] [ 2.67623267e-02 9.99641816e-01 1.32723549e-04 6.92220285e-01] [-1.21483899e-02 1.92474369e-04 9.99926187e-01 2.64809496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:82.85, Y:0.69, Z:0.27 [[ 9.99579344e-01 -2.63349685e-02 1.21492538e-02 8.28459694e+01] [ 2.63353748e-02 9.99653156e-01 1.26566502e-04 6.90606305e-01] [-1.21483730e-02 1.93441891e-04 9.99926187e-01 2.65847248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:82.88, Y:0.69, Z:0.27 [[ 9.99610622e-01 -2.51196880e-02 1.21493071e-02 8.28794373e+01] [ 2.51200695e-02 9.99684434e-01 1.21222194e-04 6.90643259e-01] [-1.21485183e-02 1.84016446e-04 9.99926187e-01 2.65275558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65863999999999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.91, Y:0.69, Z:0.27 [[ 9.99668608e-01 -2.26950772e-02 1.21493656e-02 8.29122147e+01] [ 2.26953548e-02 9.99742421e-01 1.15043381e-04 6.89953662e-01] [-1.21488471e-02 1.60728907e-04 9.99926187e-01 2.65001523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:82.94, Y:0.69, Z:0.28 [[ 9.99763263e-01 -1.80501898e-02 1.21494208e-02 8.29435934e+01] [ 1.80501992e-02 9.99837076e-01 1.08886248e-04 6.87480327e-01] [-1.21494068e-02 1.10438995e-04 9.99926187e-01 2.77158166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71864 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:82.98, Y:0.69, Z:0.28 [[ 9.99819943e-01 -1.45767974e-02 1.21490157e-02 8.29767379e+01] [ 1.45759908e-02 9.99893753e-01 1.54943086e-04 6.88477624e-01] [-1.21499835e-02 2.21687531e-05 9.99926186e-01 2.77445942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:83.01, Y:0.69, Z:0.27 [[ 9.99876234e-01 -9.99550555e-03 1.21493580e-02 8.30090515e+01] [ 9.99486973e-03 9.99950044e-01 1.13052382e-04 6.90031568e-01] [-1.21498811e-02 8.39286090e-06 9.99926187e-01 2.74808426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:83.04, Y:0.69, Z:0.26 [[ 9.99903522e-01 -6.73330595e-03 1.21494253e-02 8.30416472e+01] [ 6.73253509e-03 9.99977331e-01 1.04346826e-04 6.90162544e-01] [-1.21498525e-02 -2.25403265e-05 9.99926188e-01 2.63612617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:83.07, Y:0.69, Z:0.28 [[ 9.99904661e-01 -6.56177836e-03 1.21495394e-02 8.30725909e+01] [ 6.56118465e-03 9.99978471e-01 8.87258688e-05 6.89921267e-01] [-1.21498600e-02 -9.00203856e-06 9.99926188e-01 2.75475583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:83.11, Y:0.69, Z:0.28 [[ 9.99911709e-01 -5.38259614e-03 1.21491778e-02 8.31052664e+01] [ 5.38129567e-03 9.99985511e-01 1.39729923e-04 6.90225587e-01] [-1.21497539e-02 -7.43392679e-05 9.99926186e-01 2.75924870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:83.14, Y:0.69, Z:0.26 [[ 9.99921975e-01 -2.90532069e-03 1.21492175e-02 8.31383303e+01] [ 2.90391195e-03 9.99995775e-01 1.33592290e-04 6.91371383e-01] [-1.21495543e-02 -9.83016085e-05 9.99926187e-01 2.61379335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:83.17, Y:0.69, Z:0.27 [[ 9.99919968e-01 -3.52781808e-03 1.21495817e-02 8.31680173e+01] [ 3.52719348e-03 9.99993777e-01 7.28372536e-05 6.91787590e-01] [-1.21497631e-02 -2.99774988e-05 9.99926188e-01 2.74587207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:83.20, Y:0.69, Z:0.27 [[ 9.99926104e-01 4.28780593e-04 1.21491511e-02 8.32007057e+01] [-4.30583253e-04 9.99999897e-01 1.45762087e-04 6.94070640e-01] [-1.21490873e-02 -1.50982537e-04 9.99926186e-01 2.72928368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:83.23, Y:0.70, Z:0.26 [[ 9.99918858e-01 3.83025683e-03 1.21493404e-02 8.32335462e+01] [-3.83189787e-03 9.99992652e-01 1.11796338e-04 6.96706518e-01] [-1.21488230e-02 -1.58342298e-04 9.99926188e-01 2.60751699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:83.27, Y:0.70, Z:0.26 [[ 9.99909601e-01 5.76001877e-03 1.21495950e-02 8.32659214e+01] [-5.76119203e-03 9.99983402e-01 6.15705838e-05 6.99621377e-01] [-1.21490387e-02 -1.31561168e-04 9.99926189e-01 2.60496931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01863999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:83.30, Y:0.70, Z:0.27 [[ 9.99898345e-01 7.46230448e-03 1.21496028e-02 8.32970833e+01] [-7.46358409e-03 9.99972145e-01 5.99825508e-05 7.04319128e-01] [-1.21488168e-02 -1.50656036e-04 9.99926189e-01 2.71004226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:83.33, Y:0.71, Z:0.27 [[ 9.99880393e-01 9.57021649e-03 1.21494984e-02 8.33296669e+01] [-9.57192401e-03 9.99954185e-01 8.24000844e-05 7.07813863e-01] [-1.21481532e-02 -1.98684304e-04 9.99926189e-01 2.71921881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:83.36, Y:0.71, Z:0.27 [[ 9.99857330e-01 1.17348872e-02 1.21495362e-02 8.33623029e+01] [-1.17366426e-02 9.99931121e-01 7.31877177e-05 7.11879902e-01] [-1.21478405e-02 -2.15772040e-04 9.99926189e-01 2.69728658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:83.40, Y:0.72, Z:0.27 [[ 9.99838367e-01 1.32523991e-02 1.21496060e-02 8.33955988e+01] [-1.32540343e-02 9.99912160e-01 5.40785828e-05 7.19462198e-01] [-1.21478221e-02 -2.15101137e-04 9.99926189e-01 2.70190977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:83.43, Y:0.72, Z:0.26 [[ 9.99827912e-01 1.40189511e-02 1.21496914e-02 8.34267305e+01] [-1.40203292e-02 9.99901710e-01 2.82518812e-05 7.22881732e-01] [-1.21481012e-02 -1.98589692e-04 9.99926189e-01 2.57009104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:83.46, Y:0.73, Z:0.26 [[ 9.99859879e-01 1.15155827e-02 1.21496603e-02 8.34587215e+01] [-1.15168965e-02 9.99933678e-01 3.81712715e-05 7.29668673e-01] [-1.21484149e-02 -1.78092303e-04 9.99926189e-01 2.57845111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:83.49, Y:0.73, Z:0.27 [[ 9.99860807e-01 1.14346842e-02 1.21496651e-02 8.34906348e+01] [-1.14359726e-02 9.99934606e-01 3.65728147e-05 7.32912037e-01] [-1.21484524e-02 -1.75510961e-04 9.99926189e-01 2.69132073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:83.52, Y:0.73, Z:0.27 [[ 9.99887602e-01 8.78445195e-03 1.21497327e-02 8.35206385e+01] [-8.78524792e-03 9.99961409e-01 1.21428178e-05 7.34933398e-01] [-1.21491571e-02 -1.18879867e-04 9.99926189e-01 2.68795941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:83.55, Y:0.74, Z:0.27 [[ 9.99900898e-01 7.11201574e-03 1.21495960e-02 8.35521059e+01] [-7.11340737e-03 9.99974697e-01 7.13305102e-05 7.41360462e-01] [-1.21487813e-02 -1.57748467e-04 9.99926188e-01 2.71065944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:83.58, Y:0.75, Z:0.27 [[ 9.99901828e-01 6.97991246e-03 1.21496774e-02 8.35846855e+01] [-6.98077795e-03 9.99975634e-01 2.88276756e-05 7.45854326e-01] [-1.21491802e-02 -1.13639046e-04 9.99926190e-01 2.67603387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:83.62, Y:0.75, Z:0.27 [[ 9.99912779e-01 5.17843341e-03 1.21498007e-02 8.36163083e+01] [-5.17815368e-03 9.99986592e-01 -5.44810756e-05 7.49513865e-01] [-1.21499199e-02 -8.43721148e-06 9.99926187e-01 2.66963748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:83.65, Y:0.75, Z:0.25 [[ 9.99917748e-01 4.10856505e-03 1.21497593e-02 8.36470466e+01] [-4.10862510e-03 9.99991559e-01 -2.00179727e-05 7.51720077e-01] [-1.21497390e-02 -2.99024798e-05 9.99926189e-01 2.53077525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37863999999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:83.68, Y:0.76, Z:0.27 [[ 9.99922991e-01 2.52916745e-03 1.21497161e-02 8.36754716e+01] [-2.52953638e-03 9.99996801e-01 1.49980849e-05 7.55151850e-01] [-1.21496393e-02 -4.57300787e-05 9.99926189e-01 2.66684678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:83.71, Y:0.76, Z:0.27 [[ 9.99893754e-01 8.05416269e-03 1.21495583e-02 8.37098683e+01] [-8.05692653e-03 9.99967526e-01 1.78555083e-04 7.59732605e-01] [-1.21477256e-02 -2.76424210e-04 9.99926175e-01 2.66617943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43863999999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:83.74, Y:0.77, Z:0.27 [[ 9.99876610e-01 9.95748425e-03 1.21496533e-02 8.37414689e+01] [-9.95764872e-03 9.99950420e-01 -4.69576851e-05 7.71089012e-01] [-1.21495185e-02 -7.40300888e-05 9.99926189e-01 2.66750632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:83.77, Y:0.78, Z:0.27 [[ 9.99856679e-01 1.17901362e-02 1.21496392e-02 8.37744333e+01] [-1.17909073e-02 9.99930485e-01 -8.16562742e-06 7.76419051e-01] [-1.21488909e-02 -1.35090812e-04 9.99926190e-01 2.65742080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:83.81, Y:0.78, Z:0.27 [[ 9.99865592e-01 1.10083718e-02 1.21496429e-02 8.38061371e+01] [-1.10087692e-02 9.99939401e-01 -3.41668040e-05 7.80682194e-01] [-1.21492827e-02 -9.95904026e-05 9.99926190e-01 2.65047367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:83.84, Y:0.78, Z:0.26 [[ 9.99860588e-01 1.14538370e-02 1.21496443e-02 8.38387085e+01] [-1.14544579e-02 9.99934395e-01 -1.84819816e-05 7.80915562e-01] [-1.21490589e-02 -1.20688184e-04 9.99926190e-01 2.64649700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:83.87, Y:0.79, Z:0.25 [[ 9.99893505e-01 8.08483979e-03 1.21496414e-02 8.38693152e+01] [-8.08514692e-03 9.99967314e-01 -2.38396235e-05 7.88674186e-01] [-1.21494370e-02 -7.43945511e-05 9.99926190e-01 2.51094740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:83.90, Y:0.79, Z:0.25 [[ 9.99914999e-01 4.73073645e-03 1.21496521e-02 8.39014165e+01] [-4.73098271e-03 9.99988809e-01 -8.47200965e-06 7.92663855e-01] [-1.21495562e-02 -4.90085046e-05 9.99926190e-01 2.49582850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:83.93, Y:0.80, Z:0.25 [[ 9.99925692e-01 9.98091875e-04 1.21496458e-02 8.39344445e+01] [-9.97996128e-04 9.99999502e-01 -1.39434492e-05 7.96015449e-01] [-1.21496537e-02 1.81711354e-06 9.99926190e-01 2.49215913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:83.97, Y:0.80, Z:0.25 [[ 9.99907488e-01 -6.11563168e-03 1.21496421e-02 8.39664070e+01] [ 6.11628569e-03 9.99981295e-01 -1.66734454e-05 8.01358516e-01] [-1.21493129e-02 9.09825851e-05 9.99926190e-01 2.48259434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:84.00, Y:0.80, Z:0.25 [[ 9.99888942e-01 -8.63071297e-03 1.21496321e-02 8.39988710e+01] [ 8.63161903e-03 9.99962747e-01 -2.21381209e-05 8.03562865e-01] [-1.21489885e-02 1.27006658e-04 9.99926190e-01 2.46739983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70864 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:84.03, Y:0.81, Z:0.26 [[ 9.99854207e-01 -1.19979606e-02 1.21496202e-02 8.40300393e+01] [ 1.19991795e-02 9.99928007e-01 -2.74275756e-05 8.08374976e-01] [-1.21484164e-02 1.73209050e-04 9.99926190e-01 2.59936099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73863999999999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:84.06, Y:0.81, Z:0.25 [[ 9.99817417e-01 -1.47486274e-02 1.21495496e-02 8.40611405e+01] [ 1.47504192e-02 9.99891205e-01 -5.78768797e-05 8.10881137e-01] [-1.21473742e-02 2.37077262e-04 9.99926190e-01 2.46443263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:84.09, Y:0.81, Z:0.26 [[ 9.99843914e-01 -1.28270729e-02 1.21496181e-02 8.40941901e+01] [ 1.28284010e-02 9.99917712e-01 -3.13841687e-05 8.12507064e-01] [-1.21482157e-02 1.87239443e-04 9.99926190e-01 2.57887297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79863999999999 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:84.12, Y:0.81, Z:0.24 [[ 9.99746646e-01 -1.89483041e-02 1.21492895e-02 8.41229932e+01] [ 1.89514543e-02 9.99820395e-01 -1.44207588e-04 8.12553734e-01] [-1.21443749e-02 3.74417756e-04 9.99926184e-01 2.44305537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:84.16, Y:0.81, Z:0.24 [[ 9.99699165e-01 -2.13064940e-02 1.21495915e-02 8.41558116e+01] [ 2.13084674e-02 9.99772948e-01 -3.29818439e-05 8.12600481e-01] [-1.21461302e-02 2.91861096e-04 9.99926190e-01 2.43017805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:84.19, Y:0.81, Z:0.24 [[ 9.99651049e-01 -2.34556635e-02 1.21495728e-02 8.41875281e+01] [ 2.34578666e-02 9.99724826e-01 -3.88314778e-05 8.12351835e-01] [-1.21453187e-02 3.23820985e-04 9.99926190e-01 2.43205953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:84.22, Y:0.81, Z:0.24 [[ 9.99477921e-01 -2.99378144e-02 1.21495559e-02 8.42205448e+01] [ 2.99405531e-02 9.99551680e-01 -4.35441894e-05 8.09914634e-01] [-1.21428054e-02 4.07285879e-04 9.99926190e-01 2.42655025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91864 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:84.25, Y:0.81, Z:0.24 [[ 9.99387525e-01 -3.28171244e-02 1.21495325e-02 8.42524197e+01] [ 3.28201457e-02 9.99461273e-01 -4.93166111e-05 8.07973991e-01] [-1.21413688e-02 4.48035831e-04 9.99926190e-01 2.42741129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94864 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:84.28, Y:0.80, Z:0.24 [[ 9.99179690e-01 -3.86307685e-02 1.21495103e-02 8.42847600e+01] [ 3.86342789e-02 9.99253416e-01 -5.42816179e-05 8.02840978e-01] [-1.21383427e-02 5.23624659e-04 9.99926191e-01 2.42558874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:84.32, Y:0.80, Z:0.24 [[ 9.99160931e-01 -3.91129616e-02 1.21494860e-02 8.43176009e+01] [ 3.91165680e-02 9.99234652e-01 -5.92540298e-05 7.99655727e-01] [-1.21378699e-02 5.34450508e-04 9.99926191e-01 2.42293411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:84.35, Y:0.80, Z:0.24 [[ 9.99157407e-01 -3.92028848e-02 1.21494562e-02 8.43504695e+01] [ 3.92065657e-02 9.99231125e-01 -6.48464905e-05 7.95886385e-01] [-1.21375726e-02 5.41130303e-04 9.99926191e-01 2.41699238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03864 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:84.38, Y:0.79, Z:0.24 [[ 9.99180803e-01 -3.86019917e-02 1.21494237e-02 8.43838227e+01] [ 3.86056964e-02 9.99254520e-01 -7.04557696e-05 7.91898160e-01] [-1.21376468e-02 5.39435013e-04 9.99926191e-01 2.41572584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:84.42, Y:0.78, Z:0.24 [[ 9.99279439e-01 -3.59582530e-02 1.21493886e-02 8.44160362e+01] [ 3.59618306e-02 9.99353161e-01 -7.60549457e-05 7.84829942e-01] [-1.21387951e-02 5.12914398e-04 9.99926191e-01 2.40468281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:84.45, Y:0.78, Z:0.24 [[ 9.99372462e-01 -3.32727515e-02 1.21493557e-02 8.44486864e+01] [ 3.32761908e-02 9.99446191e-01 -8.09942122e-05 7.81118272e-01] [-1.21399324e-02 4.85227664e-04 9.99926191e-01 2.40126830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:84.48, Y:0.77, Z:0.24 [[ 9.99582211e-01 -2.62259087e-02 1.21493153e-02 8.44806110e+01] [ 2.62288969e-02 9.99655960e-01 -8.66533400e-05 7.72027202e-01] [-1.21428629e-02 4.05280276e-04 9.99926191e-01 2.38513828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15863999999999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:84.51, Y:0.77, Z:0.24 [[ 9.99695450e-01 -2.14802422e-02 1.21493024e-02 8.45125801e+01] [ 2.14829019e-02 9.99769212e-01 -8.84326070e-05 7.68955930e-01] [-1.21445989e-02 3.49407945e-04 9.99926191e-01 2.37061981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:84.55, Y:0.77, Z:0.24 [[ 9.99789039e-01 -1.65612072e-02 1.21492635e-02 8.45459378e+01] [ 1.65635652e-02 9.99862810e-01 -9.34819966e-05 7.67507066e-01] [-1.21460486e-02 2.94697393e-04 9.99926191e-01 2.37055349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:84.58, Y:0.77, Z:0.24 [[ 9.99909848e-01 -5.71778793e-03 1.21492155e-02 8.45794655e+01] [ 5.71941702e-03 9.99983639e-01 -9.93498761e-05 7.65921758e-01] [-1.21484487e-02 1.68827350e-04 9.99926191e-01 2.37069788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24864 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:84.61, Y:0.77, Z:0.25 [[ 9.99926195e-01 -3.78592540e-05 1.21491636e-02 8.46113073e+01] [ 3.91419297e-05 9.99999994e-01 -1.05339517e-04 7.65111560e-01] [-1.21491595e-02 1.05807284e-04 9.99926191e-01 2.51422651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:84.64, Y:0.77, Z:0.24 [[ 9.99896102e-01 7.75814634e-03 1.21488959e-02 8.46420429e+01] [-7.75706984e-03 9.99969904e-01 -1.35728745e-04 7.65673783e-01] [-1.21495833e-02 4.14748091e-05 9.99926190e-01 2.37202064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:84.67, Y:0.77, Z:0.24 [[ 9.99862387e-01 1.12962605e-02 1.21491560e-02 8.46739288e+01] [-1.12958076e-02 9.99936195e-01 -1.05896011e-04 7.66127712e-01] [-1.21495770e-02 -3.13530901e-05 9.99926191e-01 2.36702648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:84.71, Y:0.77, Z:0.24 [[ 9.99820117e-01 1.45647434e-02 1.21491421e-02 8.47073987e+01] [-1.45645129e-02 9.99893926e-01 -1.07459377e-04 7.66678697e-01] [-1.21494186e-02 -6.95062899e-05 9.99926191e-01 2.37253244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36864 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:84.74, Y:0.77, Z:0.25 [[ 9.99773011e-01 1.75021667e-02 1.21491207e-02 8.47380110e+01] [-1.75021242e-02 9.99846820e-01 -1.09829590e-04 7.67697051e-01] [-1.21491820e-02 -1.02830760e-04 9.99926191e-01 2.53911495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39864 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:84.77, Y:0.77, Z:0.24 [[ 9.99735222e-01 1.95417830e-02 1.21492880e-02 8.47697414e+01] [-1.95421105e-02 9.99809031e-01 -9.17693688e-05 7.68594241e-01] [-1.21487611e-02 -1.45677658e-04 9.99926190e-01 2.37423326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42864 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:84.80, Y:0.77, Z:0.25 [[ 9.99680749e-01 2.21540270e-02 1.21490608e-02 8.48019006e+01] [-2.21542573e-02 9.99754558e-01 -1.15639379e-04 7.71965180e-01] [-1.21486407e-02 -1.53550957e-04 9.99926191e-01 2.53216704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:84.83, Y:0.77, Z:0.24 [[ 9.99663888e-01 2.29023948e-02 1.21487141e-02 8.48331520e+01] [-2.29022455e-02 9.99737698e-01 -1.51428296e-04 7.72833684e-01] [-1.21489955e-02 -1.26855433e-04 9.99926190e-01 2.38656824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:84.85, Y:0.75, Z:0.24 [[ 9.99083338e-01 -4.10473331e-02 1.21490408e-02 8.48514788e+01] [ 4.10517913e-02 9.99157013e-01 -1.17702970e-04 7.48315367e-01] [-1.21339680e-02 6.16334966e-04 9.99926191e-01 2.37990724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51863999999999 meters Centerline goodness : 0.854920 Centerline is valid? [True, False] Translation: X:84.85, Y:0.76, Z:0.24 [[ 9.99613941e-01 -2.54301273e-02 1.11927131e-02 8.48508856e+01] [ 2.54872177e-02 9.99662704e-01 -4.98792033e-03 7.56478768e-01] [-1.10620944e-02 5.27126581e-03 9.99924919e-01 2.39130877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters Centerline goodness : 0.874029 Centerline is valid? [False, False] Translation: X:84.85, Y:0.77, Z:0.24 [[ 9.99831181e-01 -1.24593935e-02 1.35045890e-02 8.48479992e+01] [ 1.26522633e-02 9.99817817e-01 -1.42917173e-02 7.71706220e-01] [-1.33240625e-02 1.44601681e-02 9.99806668e-01 2.40303241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57864 meters Centerline goodness : 0.843590 Centerline is valid? [False, False] Translation: X:84.83, Y:0.78, Z:0.24 [[ 9.99889657e-01 -2.80922738e-03 1.45870738e-02 8.48272330e+01] [ 3.04972233e-03 9.99859365e-01 -1.64908680e-02 7.77344954e-01] [-1.45386958e-02 1.65335349e-02 9.99757605e-01 2.38801650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60864 meters Centerline goodness : 0.994207 Centerline is valid? [False, True] Translation: X:84.83, Y:0.79, Z:0.24 [[ 9.99890370e-01 -2.66136272e-03 1.45659083e-02 8.48273092e+01] [ 2.92696122e-03 9.99829291e-01 -1.82434163e-02 7.85327952e-01] [-1.45148694e-02 1.82840501e-02 9.99727469e-01 2.38821070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63864 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:84.86, Y:0.77, Z:0.24 [[ 9.99889594e-01 -4.60619738e-03 1.41273768e-02 8.48599335e+01] [ 4.60128906e-03 9.99989342e-01 3.79917468e-04 7.72552463e-01] [-1.41289762e-02 -3.14871378e-04 9.99900131e-01 2.35035539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66864 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:84.89, Y:0.78, Z:0.23 [[ 9.99879247e-01 -6.46603101e-03 1.41308846e-02 8.48930015e+01] [ 6.46339124e-03 9.99979085e-01 2.32469874e-04 7.76301507e-01] [-1.41320922e-02 -1.41108367e-04 9.99900127e-01 2.34211757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69864 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:84.93, Y:0.78, Z:0.23 [[ 9.99825773e-01 -1.21955320e-02 1.41312426e-02 8.49260532e+01] [ 1.21936771e-02 9.99925631e-01 2.17417840e-04 7.82682947e-01] [-1.41328432e-02 -4.50681512e-05 9.99900125e-01 2.34463819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72864 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:84.96, Y:0.79, Z:0.23 [[ 9.99794703e-01 -1.45205703e-02 1.41317178e-02 8.49578367e+01] [ 1.45192292e-02 9.99894571e-01 1.97493090e-04 7.85911114e-01] [-1.41330957e-02 7.72910529e-06 9.99900123e-01 2.33019117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75864 meters Centerline goodness : 0.878770 Centerline is valid? [True, False] Translation: X:84.96, Y:0.80, Z:0.24 [[ 9.99935994e-01 -8.95596334e-03 6.91371422e-03 8.49609287e+01] [ 9.06032246e-03 9.99843214e-01 -1.52137277e-02 8.02367484e-01] [-6.77637666e-03 1.52753944e-02 9.99860362e-01 2.35487453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78864 meters Centerline goodness : 0.994601 Centerline is valid? [False, True] Translation: X:84.96, Y:0.82, Z:0.24 [[ 9.99989428e-01 -4.59528218e-03 -1.62832820e-04 8.49624173e+01] [ 4.58787910e-03 9.99493882e-01 -3.14790715e-02 8.20286534e-01] [ 3.07405624e-04 3.14779917e-02 9.99504398e-01 2.38670913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81864 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:84.99, Y:0.79, Z:0.22 [[ 9.99965819e-01 -8.25921791e-03 -3.82890537e-04 8.49922328e+01] [ 8.25935607e-03 9.99965826e-01 3.60691584e-04 7.93765100e-01] [ 3.79898422e-04 -3.63841684e-04 9.99999862e-01 2.22202704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84864 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:85.02, Y:0.80, Z:0.23 [[ 9.99958329e-01 -9.12121717e-03 -3.80232599e-04 8.50233337e+01] [ 9.12121678e-03 9.99958401e-01 -2.78052764e-06 7.95851516e-01] [ 3.80242144e-04 -6.87772188e-07 9.99999928e-01 2.34385849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87863999999999 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:85.06, Y:0.80, Z:0.23 [[ 9.99954283e-01 -9.55439131e-03 -3.80260412e-04 8.50550566e+01] [ 9.55439244e-03 9.99954356e-01 1.15923680e-06 7.95885216e-01] [ 3.80231980e-04 -4.79234101e-06 9.99999928e-01 2.34739799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:85.08, Y:0.80, Z:0.22 [[ 9.99924196e-01 -1.23067857e-02 -3.80272683e-04 8.50835279e+01] [ 1.23067877e-02 9.99924269e-01 2.83310306e-06 7.95914567e-01] [ 3.80209018e-04 -7.51282347e-06 9.99999928e-01 2.22149200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93863999999999 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:85.12, Y:0.79, Z:0.22 [[ 9.99911796e-01 -1.32761166e-02 -3.80228102e-04 8.51156858e+01] [ 1.32761164e-02 9.99911868e-01 -2.93749178e-06 7.94768565e-01] [ 3.80233590e-04 -2.11071986e-06 9.99999928e-01 2.23747776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:85.15, Y:0.80, Z:0.22 [[ 9.99920696e-01 -1.25880049e-02 -3.80229317e-04 8.51474458e+01] [ 1.25880048e-02 9.99920768e-01 -2.77064712e-06 7.95516057e-01] [ 3.80234068e-04 -2.01590106e-06 9.99999928e-01 2.24572948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:85.18, Y:0.80, Z:0.24 [[ 9.99918328e-01 -1.27746946e-02 -3.80230398e-04 8.51784225e+01] [ 1.27746945e-02 9.99918400e-01 -2.61343912e-06 7.95914178e-01] [ 3.80232757e-04 -2.24410150e-06 9.99999928e-01 2.37521938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:85.21, Y:0.79, Z:0.22 [[ 9.99934760e-01 -1.14162682e-02 -3.80227958e-04 8.52091395e+01] [ 1.14162679e-02 9.99934832e-01 -2.97696030e-06 7.94870791e-01] [ 3.80237165e-04 -1.36401815e-06 9.99999928e-01 2.24596398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:85.24, Y:0.79, Z:0.22 [[ 9.99940286e-01 -1.09215609e-02 -3.80231339e-04 8.52400151e+01] [ 1.09215608e-02 9.99940358e-01 -2.45281548e-06 7.94544834e-01] [ 3.80235450e-04 -1.70005068e-06 9.99999928e-01 2.24525576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08864 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:85.27, Y:0.79, Z:0.24 [[ 9.99938589e-01 -1.10758367e-02 -3.80231494e-04 8.52704384e+01] [ 1.10758365e-02 9.99938661e-01 -2.42859938e-06 7.94861742e-01] [ 3.80235070e-04 -1.78293163e-06 9.99999928e-01 2.37410647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11864 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:85.30, Y:0.81, Z:0.23 [[ 9.99878577e-01 1.55784307e-02 -3.80221763e-04 8.53020698e+01] [-1.55784333e-02 9.99878649e-01 -4.00096362e-06 8.07240694e-01] [ 3.80113294e-04 9.92373720e-06 9.99999928e-01 2.30049237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:85.33, Y:0.79, Z:0.22 [[ 9.99945174e-01 -1.04644401e-02 -3.80227453e-04 8.53322554e+01] [ 1.04644397e-02 9.99945246e-01 -3.04262551e-06 7.93976216e-01] [ 3.80238474e-04 -9.36408568e-07 9.99999928e-01 2.24813187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:85.36, Y:0.79, Z:0.22 [[ 9.99948016e-01 -1.01892560e-02 -3.80232243e-04 8.53636144e+01] [ 1.01892559e-02 9.99948088e-01 -2.22350227e-06 7.93892241e-01] [ 3.80235160e-04 -1.65089694e-06 9.99999928e-01 2.24954528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:85.40, Y:0.80, Z:0.23 [[ 9.99978784e-01 -6.50281075e-03 -3.80232382e-04 8.53953703e+01] [ 6.50281039e-03 9.99978857e-01 -2.19953732e-06 7.97629979e-01] [ 3.80238645e-04 -2.73088422e-07 9.99999928e-01 2.25844160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23863999999999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:85.43, Y:0.80, Z:0.24 [[ 9.99990311e-01 -4.38566338e-03 -3.80232518e-04 8.54250223e+01] [ 4.38566287e-03 9.99990383e-01 -2.17565190e-06 8.00361342e-01] [ 3.80238403e-04 5.08059184e-07 9.99999928e-01 2.41445893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:85.46, Y:0.81, Z:0.24 [[ 9.99998995e-01 1.36575094e-03 -3.80224402e-04 8.54557490e+01] [-1.36575241e-03 9.99999067e-01 -3.60593599e-06 8.05703883e-01] [ 3.80219123e-04 4.12522475e-06 9.99999928e-01 2.38928849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:85.49, Y:0.81, Z:0.24 [[ 9.99981239e-01 6.11367281e-03 -3.80220970e-04 8.54866598e+01] [-6.11367485e-03 9.99981311e-01 -4.20160979e-06 8.09153553e-01] [ 3.80188177e-04 6.52607834e-06 9.99999928e-01 2.40642293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:85.52, Y:0.81, Z:0.24 [[ 9.99971135e-01 7.58847020e-03 -3.80236747e-04 8.55151209e+01] [-7.58847131e-03 9.99971207e-01 -1.48471094e-06 8.12666135e-01] [ 3.80214533e-04 4.37008373e-06 9.99999928e-01 2.38640449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:85.54, Y:0.82, Z:0.24 [[ 9.99942738e-01 1.06946558e-02 -3.80224771e-04 8.55443721e+01] [-1.06946579e-02 9.99942811e-01 -3.46549622e-06 8.19782615e-01] [ 3.80165964e-04 7.53167164e-06 9.99999928e-01 2.38221106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.57, Y:0.82, Z:0.24 [[ 9.99949264e-01 1.00660688e-02 -3.80228709e-04 8.55748808e+01] [-1.00660706e-02 9.99949336e-01 -2.82487918e-06 8.22488040e-01] [ 3.80181009e-04 6.65214487e-06 9.99999928e-01 2.39763371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.60, Y:0.83, Z:0.24 [[ 9.99980389e-01 6.25120627e-03 -3.80232376e-04 8.56048770e+01] [-6.25120757e-03 9.99980461e-01 -2.22747444e-06 8.28387039e-01] [ 3.80211023e-04 4.60434226e-06 9.99999928e-01 2.41340465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.63, Y:0.83, Z:0.24 [[ 9.99980875e-01 6.17289966e-03 -3.80230354e-04 8.56340246e+01] [-6.17290108e-03 9.99980947e-01 -2.55942160e-06 8.28533316e-01] [ 3.80207311e-04 4.90649702e-06 9.99999928e-01 2.41351610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.66, Y:0.83, Z:0.24 [[ 9.99998755e-01 1.53178737e-03 -3.80230181e-04 8.56623705e+01] [-1.53178846e-03 9.99998827e-01 -2.58763645e-06 8.30773242e-01] [ 3.80225771e-04 3.17006543e-06 9.99999928e-01 2.41984720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:0.83, Z:0.23 [[ 9.99997014e-01 2.41417416e-03 -3.80206977e-04 8.56951538e+01] [-2.41417694e-03 9.99997086e-01 -6.84696330e-06 8.32402383e-01] [ 3.80189339e-04 7.76482976e-06 9.99999928e-01 2.27425542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53864 meters Centerline goodness : 0.866516 Centerline is valid? [True, False] Translation: X:85.70, Y:0.84, Z:0.23 [[ 9.99983103e-01 -5.77950638e-03 -6.24990581e-04 8.56960072e+01] [ 5.77282432e-03 9.99931199e-01 -1.02113087e-02 8.40103471e-01] [ 6.83963905e-04 1.02075282e-02 9.99947668e-01 2.28082949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:85.72, Y:0.84, Z:0.23 [[ 9.99985298e-01 1.83428437e-04 -5.41945153e-03 8.57167939e+01] [-2.53355190e-04 9.99916694e-01 -1.29050528e-02 8.44422779e-01] [ 5.41663290e-03 1.29062362e-02 9.99902040e-01 2.32481991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:0.83, Z:0.23 [[ 9.99971957e-01 -5.21167993e-03 -5.37801842e-03 8.57459340e+01] [ 5.21184904e-03 9.99986418e-01 1.74303248e-05 8.32634057e-01] [ 5.37785454e-03 -4.54592562e-05 9.99985538e-01 2.30451304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:85.77, Y:0.83, Z:0.25 [[ 9.99947718e-01 -8.69703120e-03 -5.37802505e-03 8.57745318e+01] [ 8.69723800e-03 9.99962178e-01 1.50662438e-05 8.30747829e-01] [ 5.37769061e-03 -6.18394199e-05 9.99985538e-01 2.46154100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:0.83, Z:0.23 [[ 9.99947390e-01 -8.73465397e-03 -5.37810018e-03 8.58053853e+01] [ 8.73470563e-03 9.99961852e-01 -1.38846226e-05 8.29803370e-01] [ 5.37801629e-03 -3.30922298e-05 9.99985538e-01 2.32027303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:85.84, Y:0.83, Z:0.24 [[ 9.99944718e-01 -9.03539259e-03 -5.37801996e-03 8.58359179e+01] [ 9.03560370e-03 9.99959178e-01 1.49583964e-05 8.28699230e-01] [ 5.37766526e-03 -6.35512265e-05 9.99985538e-01 2.43306880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:0.83, Z:0.23 [[ 9.99906892e-01 -1.25413102e-02 -5.37793877e-03 8.58648567e+01] [ 1.25417218e-02 9.99921349e-01 4.28072211e-05 8.25459199e-01] [ 5.37697893e-03 -1.10251847e-04 9.99985538e-01 2.31232461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74864 meters Centerline goodness : 0.978840 Centerline is valid? [True, True] Translation: X:85.92, Y:0.79, Z:0.23 [[ 9.97983366e-01 -6.32477528e-02 -5.37801835e-03 8.59209288e+01] [ 6.32487529e-02 9.97997793e-01 1.59134181e-05 7.92621817e-01] [ 5.36624395e-03 -3.56034280e-04 9.99985538e-01 2.28124102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:0.82, Z:0.23 [[ 9.99879760e-01 -1.45464156e-02 -5.37291617e-03 8.59216830e+01] [ 1.45503866e-02 9.99893892e-01 7.00725196e-04 8.15715164e-01] [ 5.36215302e-03 -7.78818949e-04 9.99985320e-01 2.29543310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.95, Y:0.81, Z:0.23 [[ 9.99881263e-01 -1.44420233e-02 -5.37468588e-03 8.59500380e+01] [ 1.44423062e-02 9.99895704e-01 1.38374972e-05 8.13885190e-01] [ 5.37392548e-03 -9.14587135e-05 9.99985556e-01 2.29818268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.98, Y:0.81, Z:0.23 [[ 9.99892536e-01 -1.36392477e-02 -5.37468750e-03 8.59786665e+01] [ 1.36395156e-02 9.99906977e-01 1.31780828e-05 8.12368665e-01] [ 5.37400779e-03 -8.64848004e-05 9.99985556e-01 2.29645550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:86.01, Y:0.81, Z:0.24 [[ 9.99859086e-01 -1.59034791e-02 -5.37468903e-03 8.60055456e+01] [ 1.59037761e-02 9.99873527e-01 1.25217441e-05 8.10301075e-01] [ 5.37381013e-03 -9.79978307e-05 9.99985556e-01 2.44436083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:86.04, Y:0.81, Z:0.23 [[ 9.99965421e-01 -6.34570517e-03 -5.37491248e-03 8.60395271e+01] [ 6.34538025e-03 9.99979865e-01 -7.75021095e-05 8.07402738e-01] [ 5.37529606e-03 4.33935661e-05 9.99985552e-01 2.31213028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:86.07, Y:0.81, Z:0.25 [[ 9.99963368e-01 -6.66148506e-03 -5.37462961e-03 8.60670518e+01] [ 6.66166846e-03 9.99977811e-01 1.62224345e-05 8.05672912e-01] [ 5.37440229e-03 -5.20258408e-05 9.99985556e-01 2.45804018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.10, Y:0.81, Z:0.23 [[ 9.99985505e-01 -3.18240511e-04 -5.37474509e-03 8.60985201e+01] [ 3.18103884e-04 9.99999949e-01 -2.62750140e-05 8.05200285e-01] [ 5.37475318e-03 2.45649058e-05 9.99985556e-01 2.31850022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters Centerline goodness : 0.838973 Centerline is valid? [True, False] Translation: X:86.12, Y:0.81, Z:0.24 [[ 9.99946589e-01 1.76322846e-03 -1.01838296e-02 8.61196256e+01] [-1.83789044e-03 9.99971470e-01 -7.32672472e-03 8.11176314e-01] [ 1.01706204e-02 7.34505016e-03 9.99921301e-01 2.36837612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01863999999999 meters Centerline goodness : 0.998770 Centerline is valid? [False, True] Translation: X:86.12, Y:0.81, Z:0.24 [[ 9.99945803e-01 1.82154430e-03 -1.02505180e-02 8.61198366e+01] [-1.89536390e-03 9.99972309e-01 -7.19644723e-03 8.10825800e-01] [ 1.02371255e-02 7.21548566e-03 9.99921566e-01 2.36721037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:86.15, Y:0.79, Z:0.25 [[ 9.99520761e-01 -2.91285532e-02 -1.04774185e-02 8.61473160e+01] [ 2.91262278e-02 9.99575671e-01 -3.74499579e-04 7.92597569e-01] [ 1.04838812e-02 6.91524266e-05 9.99945040e-01 2.46115234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:86.18, Y:0.80, Z:0.25 [[ 9.99617790e-01 -2.55843413e-02 -1.04745335e-02 8.61773556e+01] [ 2.55809126e-02 9.99672649e-01 -4.61212441e-04 7.95803047e-01] [ 1.04829045e-02 1.93088035e-04 9.99945034e-01 2.45852054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:86.21, Y:0.80, Z:0.25 [[ 9.99754675e-01 -1.95151631e-02 -1.04760967e-02 8.62073750e+01] [ 1.95118923e-02 9.99809539e-01 -4.14341810e-04 8.00206223e-01] [ 1.04821873e-02 2.09831691e-04 9.99945038e-01 2.45993670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:86.24, Y:0.80, Z:0.25 [[ 9.99791157e-01 -1.75467787e-02 -1.04763474e-02 8.62361066e+01] [ 1.75434786e-02 9.99846019e-01 -4.06828303e-04 8.02936023e-01] [ 1.04818728e-02 2.22951763e-04 9.99945039e-01 2.47559684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:86.27, Y:0.81, Z:0.24 [[ 9.99893617e-01 -1.01498729e-02 -1.04754282e-02 8.62676085e+01] [ 1.01458795e-02 9.99948435e-01 -4.34287041e-04 8.08213033e-01] [ 1.04792959e-02 3.27958409e-04 9.99945037e-01 2.36637763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:86.29, Y:0.81, Z:0.25 [[ 9.99869169e-01 -1.23228043e-02 -1.04782289e-02 8.62935617e+01] [ 1.23198067e-02 9.99924047e-01 -3.50578736e-04 8.11612749e-01] [ 1.04817531e-02 2.21443116e-04 9.99945040e-01 2.49769696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:86.32, Y:0.82, Z:0.25 [[ 9.99891491e-01 -1.03581240e-02 -1.04745142e-02 8.63220678e+01] [ 1.03538701e-02 9.99946291e-01 -4.60269077e-04 8.15945754e-01] [ 1.04787192e-02 3.51767374e-04 9.99945035e-01 2.49286346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25864 meters Centerline goodness : 0.984776 Centerline is valid? [True, True] Translation: X:86.38, Y:0.86, Z:0.23 [[ 9.97002678e-01 7.66545195e-02 -1.04758852e-02 8.63764018e+01] [-7.66631066e-02 9.97056965e-01 -4.20015757e-04 8.56432011e-01] [ 1.04128582e-02 1.22187073e-03 9.99945038e-01 2.29460526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.38, Y:0.82, Z:0.24 [[ 9.99902851e-01 -9.14755838e-03 -1.05171694e-02 8.63822161e+01] [ 9.15750105e-03 9.99957666e-01 8.97606339e-04 8.23128209e-01] [ 1.05085133e-02 -9.93830127e-04 9.99944290e-01 2.39136355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:86.41, Y:0.83, Z:0.24 [[ 9.99886451e-01 -1.08366911e-02 -1.04714023e-02 8.64099328e+01] [ 1.08333444e-02 9.99941247e-01 -3.76278054e-04 8.28192685e-01] [ 1.04748647e-02 2.62795020e-04 9.99945103e-01 2.40380910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.44, Y:0.83, Z:0.24 [[ 9.99841549e-01 -1.43954196e-02 -1.04713286e-02 8.64381889e+01] [ 1.43922466e-02 9.99896355e-01 -3.78320208e-04 8.34550536e-01] [ 1.04756893e-02 2.27554320e-04 9.99945103e-01 2.40742914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:86.47, Y:0.84, Z:0.24 [[ 9.99798350e-01 -1.71351225e-02 -1.04712796e-02 8.64671190e+01] [ 1.71320855e-02 9.99853163e-01 -3.79669412e-04 8.37250555e-01] [ 1.04762478e-02 2.00197994e-04 9.99945103e-01 2.40553191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:86.50, Y:0.84, Z:0.24 [[ 9.99689363e-01 -2.26170306e-02 -1.04712309e-02 8.64955711e+01] [ 2.26142802e-02 9.99744192e-01 -3.81009489e-04 8.39012506e-01] [ 1.04771696e-02 1.44091784e-04 9.99945103e-01 2.41775815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43863999999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:86.52, Y:0.84, Z:0.26 [[ 9.99612356e-01 -2.57971218e-02 -1.04711819e-02 8.65241549e+01] [ 2.57945318e-02 9.99667193e-01 -3.82350815e-04 8.40529663e-01] [ 1.04775606e-02 1.12103365e-04 9.99945103e-01 2.58639914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.55, Y:0.84, Z:0.24 [[ 9.99563262e-01 -2.76343944e-02 -1.04701842e-02 8.65541702e+01] [ 2.76316204e-02 9.99618090e-01 -4.09542371e-04 8.42452374e-01] [ 1.04775029e-02 1.20055354e-04 9.99945102e-01 2.44104813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.58, Y:0.84, Z:0.24 [[ 9.99372926e-01 -3.38247040e-02 -1.04711324e-02 8.65829548e+01] [ 3.38225407e-02 9.99427781e-01 -3.83663252e-04 8.41828204e-01] [ 1.04781179e-02 2.92623651e-05 9.99945103e-01 2.44611418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:0.84, Z:0.24 [[ 9.99255602e-01 -3.71294900e-02 -1.04710834e-02 8.66128867e+01] [ 3.71274942e-02 9.99310463e-01 -3.84995791e-04 8.41184552e-01] [ 1.04781579e-02 -4.05588658e-06 9.99945103e-01 2.44183893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:0.84, Z:0.24 [[ 9.99120927e-01 -4.05922441e-02 -1.04710588e-02 8.66426091e+01] [ 4.05904314e-02 9.99175794e-01 -3.85662008e-04 8.39732305e-01] [ 1.04780834e-02 -3.97018124e-05 9.99945103e-01 2.44969592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:0.84, Z:0.25 [[ 9.98991287e-01 -4.36665351e-02 -1.04710344e-02 8.66721997e+01] [ 4.36648843e-02 9.99046159e-01 -3.86325616e-04 8.38566845e-01] [ 1.04779162e-02 -7.12805800e-05 9.99945103e-01 2.45445864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:0.83, Z:0.25 [[ 9.98749014e-01 -4.88954469e-02 -1.04710102e-02 8.67029218e+01] [ 4.88940765e-02 9.98803894e-01 -3.86978644e-04 8.33590127e-01] [ 1.04774073e-02 -1.25475836e-04 9.99945103e-01 2.45081305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:0.83, Z:0.24 [[ 9.98673707e-01 -5.04101605e-02 -1.04710102e-02 8.67334676e+01] [ 5.04088734e-02 9.98728590e-01 -3.86978644e-04 8.31610059e-01] [ 1.04772049e-02 -1.41366431e-04 9.99945103e-01 2.44892297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:0.83, Z:0.25 [[ 9.98592861e-01 -5.19870772e-02 -1.04710102e-02 8.67640533e+01] [ 5.19858767e-02 9.98647745e-01 -3.86978644e-04 8.27363735e-01] [ 1.04769686e-02 -1.57910535e-04 9.99945103e-01 2.45440376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.80, Y:0.83, Z:0.26 [[ 9.98607063e-01 -5.17135531e-02 -1.04710102e-02 8.67954670e+01] [ 5.17123376e-02 9.98661947e-01 -3.86978644e-04 8.25229757e-01] [ 1.04770115e-02 -1.55040809e-04 9.99945103e-01 2.59782037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:0.82, Z:0.25 [[ 9.98481567e-01 -5.40821922e-02 -1.04726375e-02 8.68252447e+01] [ 5.40815680e-02 9.98536462e-01 -3.43002229e-04 8.22594836e-01] [ 1.04758607e-02 -2.23895252e-04 9.99945102e-01 2.46101281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:0.81, Z:0.25 [[ 9.98430432e-01 -5.50184724e-02 -1.04709264e-02 8.68560457e+01] [ 5.50174168e-02 9.98485319e-01 -3.89054193e-04 8.14035001e-01] [ 1.04764714e-02 -1.87639776e-04 9.99945103e-01 2.46276443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:86.89, Y:0.81, Z:0.26 [[ 9.98561915e-01 -5.25781518e-02 -1.04709264e-02 8.68869774e+01] [ 5.25769620e-02 9.98616799e-01 -3.89054193e-04 8.10273253e-01] [ 1.04768988e-02 -1.62034800e-04 9.99945103e-01 2.59220108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:0.81, Z:0.25 [[ 9.98465812e-01 -5.43720724e-02 -1.04737577e-02 8.69170439e+01] [ 5.43717856e-02 9.98520712e-01 -3.12332262e-04 8.06953933e-01] [ 1.04752462e-02 -2.57623823e-04 9.99945100e-01 2.45587410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:86.95, Y:0.80, Z:0.26 [[ 9.98744477e-01 -4.89880393e-02 -1.04710025e-02 8.69491446e+01] [ 4.89866748e-02 9.98799357e-01 -3.86900677e-04 8.02146690e-01] [ 1.04773840e-02 -1.26524678e-04 9.99945103e-01 2.60292335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:86.98, Y:0.80, Z:0.25 [[ 9.98744418e-01 -4.89885093e-02 -1.04743812e-02 8.69784852e+01] [ 4.89881065e-02 9.98799318e-01 -2.95177279e-04 8.00772272e-01] [ 1.04762651e-02 -2.18313440e-04 9.99945099e-01 2.47565376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:0.80, Z:0.25 [[ 9.99063518e-01 -4.19815050e-02 -1.04709022e-02 8.70083420e+01] [ 4.19797351e-02 9.99118387e-01 -3.88858344e-04 7.97440109e-01] [ 1.04779957e-02 -5.10715140e-05 9.99945103e-01 2.48048527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:0.80, Z:0.25 [[ 9.99207566e-01 -3.84005379e-02 -1.04708777e-02 8.70367916e+01] [ 3.83985645e-02 9.99262427e-01 -3.89516064e-04 7.96831453e-01] [ 1.04781123e-02 -1.28592744e-05 9.99945103e-01 2.47552322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.07, Y:0.80, Z:0.25 [[ 9.99346137e-01 -3.46072343e-02 -1.04708280e-02 8.70656503e+01] [ 3.46050387e-02 9.99400990e-01 -3.90848571e-04 7.96860262e-01] [ 1.04780820e-02 2.82496023e-05 9.99945103e-01 2.48335107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:0.80, Z:0.25 [[ 9.99524616e-01 -2.89983480e-02 -1.04707777e-02 8.70949433e+01] [ 2.89958305e-02 9.99579456e-01 -3.92189845e-04 7.97018825e-01] [ 1.04777471e-02 8.83945083e-05 9.99945103e-01 2.47271065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:87.13, Y:0.80, Z:0.26 [[ 9.99631113e-01 -2.50599756e-02 -1.04707397e-02 8.71266306e+01] [ 2.50572315e-02 9.99685941e-01 -3.93201457e-04 7.98804623e-01] [ 1.04773049e-02 1.30688660e-04 9.99945103e-01 2.64252860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:87.16, Y:0.80, Z:0.26 [[ 9.99737515e-01 -2.03759210e-02 -1.04748847e-02 8.71561581e+01] [ 2.03740808e-02 9.99792387e-01 -2.82370529e-04 8.03576806e-01] [ 1.04784636e-02 6.88802630e-05 9.99945097e-01 2.60930807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:87.19, Y:0.81, Z:0.26 [[ 9.99763166e-01 -1.90763683e-02 -1.04739858e-02 8.71860544e+01] [ 1.90742092e-02 9.99818024e-01 -3.06000591e-04 8.06405619e-01] [ 1.04779172e-02 1.06145124e-04 9.99945099e-01 2.63855803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.21, Y:0.81, Z:0.25 [[ 9.99789102e-01 -1.76646486e-02 -1.04743324e-02 8.72140116e+01] [ 1.76625067e-02 9.99843962e-01 -2.96974296e-04 8.10611861e-01] [ 1.04779439e-02 1.11908700e-04 9.99945099e-01 2.47891662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:0.82, Z:0.25 [[ 9.99835321e-01 -1.48224662e-02 -1.04701715e-02 8.72422395e+01] [ 1.48190411e-02 9.99890110e-01 -4.04639825e-04 8.19915879e-01] [ 1.04750187e-02 2.49415288e-04 9.99945104e-01 2.48168947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:87.27, Y:0.82, Z:0.26 [[ 9.99863938e-01 -1.27468594e-02 -1.04701188e-02 8.72740182e+01] [ 1.27433063e-02 9.99918718e-01 -4.05999702e-04 8.23989890e-01] [ 1.04744430e-02 2.72520531e-04 9.99945104e-01 2.63988251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:87.30, Y:0.83, Z:0.26 [[ 9.99859660e-01 -1.30743356e-02 -1.04748399e-02 8.73040245e+01] [ 1.30720818e-02 9.99914516e-01 -2.83603093e-04 8.27003475e-01] [ 1.04776524e-02 1.46635329e-04 9.99945097e-01 2.62859633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:87.33, Y:0.83, Z:0.26 [[ 9.99815294e-01 -1.61133043e-02 -1.04756857e-02 8.73312233e+01] [ 1.61114448e-02 9.99870168e-01 -2.61885163e-04 8.32880302e-01] [ 1.04785455e-02 9.30583587e-05 9.99945094e-01 2.63248018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:87.36, Y:0.84, Z:0.26 [[ 9.99785442e-01 -1.78708872e-02 -1.04738814e-02 8.73601040e+01] [ 1.78686451e-02 9.99840296e-01 -3.07615246e-04 8.36811481e-01] [ 1.04777060e-02 1.20395176e-04 9.99945100e-01 2.64459344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:0.84, Z:0.25 [[ 9.99697773e-01 -2.22406902e-02 -1.04744902e-02 8.73872406e+01] [ 2.22388464e-02 9.99752643e-01 -2.92483021e-04 8.42530946e-01] [ 1.04784043e-02 5.94540453e-05 9.99945098e-01 2.46851803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:0.84, Z:0.25 [[ 9.99694953e-01 -2.23696334e-02 -1.04690688e-02 8.74165076e+01] [ 2.23664007e-02 9.99749750e-01 -4.25786118e-04 8.43811291e-01] [ 1.04759736e-02 1.91500846e-04 9.99945107e-01 2.47182118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:87.45, Y:0.85, Z:0.26 [[ 9.99709341e-01 -2.17171267e-02 -1.04690143e-02 8.74485539e+01] [ 2.17138442e-02 9.99764135e-01 -4.27121882e-04 8.45859794e-01] [ 1.04758209e-02 1.99675190e-04 9.99945107e-01 2.61043630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:87.48, Y:0.85, Z:0.26 [[ 9.99652739e-01 -2.41801280e-02 -1.04748721e-02 8.74773450e+01] [ 2.41784934e-02 9.99707618e-01 -2.82684204e-04 8.46924210e-01] [ 1.04786448e-02 2.93194126e-05 9.99945097e-01 2.62928485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:87.51, Y:0.85, Z:0.26 [[ 9.99579144e-01 -2.70525599e-02 -1.04735041e-02 8.75061124e+01] [ 2.70507338e-02 9.99634012e-01 -3.15998605e-04 8.48483965e-01] [ 1.04782195e-02 3.25496439e-05 9.99945101e-01 2.62958844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:0.85, Z:0.25 [[ 9.99498012e-01 -2.99009362e-02 -1.04717948e-02 8.75343262e+01] [ 2.98988353e-02 9.99552866e-01 -3.57151405e-04 8.49699309e-01] [ 1.04777916e-02 4.38776522e-05 9.99945105e-01 2.45628920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.56, Y:0.85, Z:0.25 [[ 9.99468181e-01 -3.08831004e-02 -1.04684939e-02 8.75628246e+01] [ 3.08802238e-02 9.99522997e-01 -4.36344771e-04 8.50000430e-01] [ 1.04769761e-02 1.12843281e-04 9.99945109e-01 2.45938202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:87.59, Y:0.85, Z:0.25 [[ 9.99318868e-01 -3.53866026e-02 -1.04684385e-02 8.75919201e+01] [ 3.53839593e-02 9.99373696e-01 -4.37668315e-04 8.48668469e-01] [ 1.04773697e-02 6.69554024e-05 9.99945109e-01 2.46178883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.62, Y:0.85, Z:0.25 [[ 9.99257211e-01 -3.70869195e-02 -1.04683830e-02 8.76203385e+01] [ 3.70843556e-02 9.99312042e-01 -4.38992091e-04 8.48146946e-01] [ 1.04774621e-02 5.04527730e-05 9.99945109e-01 2.46134503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57864 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:87.65, Y:0.85, Z:0.27 [[ 9.99258658e-01 -3.70479343e-02 -1.04683273e-02 8.76515219e+01] [ 3.70453543e-02 9.99313488e-01 -4.40317835e-04 8.47609721e-01] [ 1.04774535e-02 5.21885156e-05 9.99945109e-01 2.65834763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:87.68, Y:0.84, Z:0.25 [[ 9.99086966e-01 -4.14194460e-02 -1.04720969e-02 8.76806735e+01] [ 4.14180492e-02 9.99141843e-01 -3.50308266e-04 8.44883905e-01] [ 1.04776198e-02 -8.37454034e-05 9.99945105e-01 2.46432001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:0.85, Z:0.25 [[ 9.99067548e-01 -4.18861353e-02 -1.04683886e-02 8.77099809e+01] [ 4.18838369e-02 9.99122391e-01 -4.38782396e-04 8.45115883e-01] [ 1.04775803e-02 -8.30278071e-08 9.99945109e-01 2.47050087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:87.74, Y:0.84, Z:0.26 [[ 9.99011980e-01 -4.31911778e-02 -1.04683610e-02 8.77381955e+01] [ 4.31889442e-02 9.99066826e-01 -4.39438869e-04 8.44181106e-01] [ 1.04775721e-02 -1.31127656e-05 9.99945109e-01 2.64918860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:87.77, Y:0.84, Z:0.27 [[ 9.99102104e-01 -4.10542875e-02 -1.04657612e-02 8.77712792e+01] [ 4.10512896e-02 9.99156915e-01 -5.01206910e-04 8.43810672e-01] [ 1.04775144e-02 7.11238842e-05 9.99945107e-01 2.65462108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:87.80, Y:0.84, Z:0.25 [[ 9.99024429e-01 -4.29016550e-02 -1.04708581e-02 8.78002726e+01] [ 4.29000389e-02 9.99079298e-01 -3.79002158e-04 8.42902529e-01] [ 1.04774774e-02 -7.05678047e-05 9.99945107e-01 2.47987700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:87.83, Y:0.84, Z:0.25 [[ 9.99081048e-01 -4.15628975e-02 -1.04683257e-02 8.78301699e+01] [ 4.15605756e-02 9.99135889e-01 -4.39342140e-04 8.43851594e-01] [ 1.04775402e-02 3.86876324e-06 9.99945109e-01 2.48501807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78864 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:87.86, Y:0.84, Z:0.27 [[ 9.99129947e-01 -4.03703362e-02 -1.04682975e-02 8.78598930e+01] [ 4.03679418e-02 9.99184786e-01 -4.40013073e-04 8.43730007e-01] [ 1.04775271e-02 1.70466140e-05 9.99945109e-01 2.67005337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81864 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:87.89, Y:0.84, Z:0.27 [[ 9.99169805e-01 -3.93710734e-02 -1.04699312e-02 8.78887621e+01] [ 3.93690307e-02 9.99224659e-01 -4.01212664e-04 8.44262452e-01] [ 1.04776096e-02 -1.13114654e-05 9.99945108e-01 2.67762126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84864 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:87.92, Y:0.84, Z:0.27 [[ 9.99272800e-01 -3.66645770e-02 -1.04680251e-02 8.79191751e+01] [ 3.66619121e-02 9.99327626e-01 -4.46420242e-04 8.44988274e-01] [ 1.04773545e-02 6.23177889e-05 9.99945109e-01 2.65867307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:0.85, Z:0.25 [[ 9.99353430e-01 -3.43966186e-02 -1.04687496e-02 8.79489866e+01] [ 3.43940099e-02 9.99408259e-01 -4.29179574e-04 8.47743587e-01] [ 1.04773171e-02 6.88398030e-05 9.99945109e-01 2.49032056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:87.98, Y:0.85, Z:0.26 [[ 9.99460258e-01 -3.11385159e-02 -1.04683309e-02 8.79790856e+01] [ 3.11356239e-02 9.99515072e-01 -4.39159265e-04 8.49442085e-01] [ 1.04769293e-02 1.12984218e-04 9.99945109e-01 2.62974597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:88.01, Y:0.85, Z:0.25 [[ 9.99484381e-01 -3.03538681e-02 -1.04697556e-02 8.80085035e+01] [ 3.03512884e-02 9.99539211e-01 -4.05233721e-04 8.50763967e-01] [ 1.04772316e-02 8.72542044e-05 9.99945108e-01 2.50752593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96864 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:88.04, Y:0.85, Z:0.27 [[ 9.99511515e-01 -2.94473585e-02 -1.04682702e-02 8.80385735e+01] [ 2.94443595e-02 9.99566324e-01 -4.40529820e-04 8.52962802e-01] [ 1.04767028e-02 1.32083116e-04 9.99945109e-01 2.66791417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99864 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:88.07, Y:0.85, Z:0.27 [[ 9.99506071e-01 -2.96313659e-02 -1.04688580e-02 8.80694169e+01] [ 2.96285226e-02 9.99560888e-01 -4.26621176e-04 8.54595984e-01] [ 1.04769023e-02 1.16233661e-04 9.99945109e-01 2.68613632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02864 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:88.10, Y:0.86, Z:0.27 [[ 9.99529183e-01 -2.88411169e-02 -1.04691526e-02 8.81001808e+01] [ 2.88383030e-02 9.99584002e-01 -4.19671943e-04 8.55534142e-01] [ 1.04769013e-02 1.17561759e-04 9.99945109e-01 2.71415245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:88.13, Y:0.86, Z:0.25 [[ 9.99474810e-01 -3.06664197e-02 -1.04725642e-02 8.81288671e+01] [ 3.06645504e-02 9.99529675e-01 -3.39058731e-04 8.55521098e-01] [ 1.04780364e-02 1.77441895e-05 9.99945104e-01 2.52833598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:88.16, Y:0.86, Z:0.25 [[ 9.99379335e-01 -3.36357851e-02 -1.04680338e-02 8.81576354e+01] [ 3.36329636e-02 9.99434153e-01 -4.45508707e-04 8.55082879e-01] [ 1.04770956e-02 9.31611941e-05 9.99945109e-01 2.53143006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11864 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:88.19, Y:0.86, Z:0.27 [[ 9.99377021e-01 -3.37044622e-02 -1.04679762e-02 8.81895624e+01] [ 3.37016304e-02 9.99431839e-01 -4.46859537e-04 8.55981963e-01] [ 1.04770898e-02 9.37932903e-05 9.99945109e-01 2.73205933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14864 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:88.22, Y:0.86, Z:0.27 [[ 9.99250194e-01 -3.72746106e-02 -1.04715820e-02 8.82193984e+01] [ 3.72728614e-02 9.99305060e-01 -3.62212925e-04 8.55370130e-01] [ 1.04778062e-02 -2.83644904e-05 9.99945106e-01 2.70435981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17864 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:88.25, Y:0.85, Z:0.27 [[ 9.99214693e-01 -3.82149357e-02 -1.04697247e-02 8.82493066e+01] [ 3.82127845e-02 9.99269543e-01 -4.05512351e-04 8.54283350e-01] [ 1.04775736e-02 5.11656699e-06 9.99945109e-01 2.71654442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20864 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:88.28, Y:0.85, Z:0.27 [[ 9.99190241e-01 -3.88491702e-02 -1.04692043e-02 8.82805391e+01] [ 3.88469267e-02 9.99245086e-01 -4.17640124e-04 8.53823311e-01] [ 1.04775259e-02 1.06055243e-05 9.99945109e-01 2.68840455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23863999999999 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:88.31, Y:0.85, Z:0.27 [[ 9.99199218e-01 -3.86171359e-02 -1.04708806e-02 8.83110727e+01] [ 3.86152886e-02 9.99254080e-01 -3.78611871e-04 8.53600429e-01] [ 1.04776911e-02 -2.60273924e-05 9.99945107e-01 2.67224968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:88.34, Y:0.85, Z:0.27 [[ 9.99043426e-01 -4.24566012e-02 -1.04723491e-02 8.83399052e+01] [ 4.24553215e-02 9.99098307e-01 -3.44581505e-04 8.52168395e-01] [ 1.04775360e-02 -1.00355059e-04 9.99945104e-01 2.69420413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29863999999999 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:88.37, Y:0.85, Z:0.27 [[ 9.98953188e-01 -4.45299305e-02 -1.04696221e-02 8.83692525e+01] [ 4.45281126e-02 9.99008049e-01 -4.06790789e-04 8.52267508e-01] [ 1.04773511e-02 -5.98275546e-05 9.99945109e-01 2.68470138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32864 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:88.40, Y:0.85, Z:0.27 [[ 9.98873420e-01 -4.62849306e-02 -1.04688024e-02 8.83991899e+01] [ 4.62830133e-02 9.98928277e-01 -4.25473788e-04 8.50348201e-01] [ 1.04772758e-02 -5.95332629e-05 9.99945110e-01 2.70588496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35864 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:88.43, Y:0.85, Z:0.27 [[ 9.98633249e-01 -5.12055565e-02 -1.04701835e-02 8.84266257e+01] [ 5.12042384e-02 9.98688125e-01 -3.94099405e-04 8.49194337e-01] [ 1.04766280e-02 -1.42557003e-04 9.99945108e-01 2.69657211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:88.46, Y:0.85, Z:0.25 [[ 9.98650836e-01 -5.08630802e-02 -1.04620334e-02 8.84599924e+01] [ 5.08597940e-02 9.98705635e-01 -5.80091235e-04 8.46732862e-01] [ 1.04779969e-02 4.72117352e-05 9.99945103e-01 2.52207057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:88.49, Y:0.85, Z:0.25 [[ 9.98556870e-01 -5.26745577e-02 -1.04674750e-02 8.84896777e+01] [ 5.26726832e-02 9.98611727e-01 -4.54868850e-04 8.45460544e-01] [ 1.04769033e-02 -9.71375815e-05 9.99945111e-01 2.52716966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.52, Y:0.84, Z:0.25 [[ 9.98461954e-01 -5.44440901e-02 -1.04674465e-02 8.85193094e+01] [ 5.44423060e-02 9.98516814e-01 -4.55525751e-04 8.44541598e-01] [ 1.04767220e-02 -1.15046791e-04 9.99945111e-01 2.53351689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47864 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:88.55, Y:0.84, Z:0.27 [[ 9.98191486e-01 -5.91962009e-02 -1.04674182e-02 8.85489739e+01] [ 5.91946711e-02 9.98246354e-01 -4.56174510e-04 8.39551744e-01] [ 1.04760658e-02 -1.64265864e-04 9.99945111e-01 2.69853838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50864 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:88.58, Y:0.84, Z:0.27 [[ 9.98051855e-01 -6.15056755e-02 -1.04664786e-02 8.85788736e+01] [ 6.15040473e-02 9.98106720e-01 -4.77670337e-04 8.38119879e-01] [ 1.04760420e-02 -1.66991028e-04 9.99945111e-01 2.72376436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:88.61, Y:0.84, Z:0.25 [[ 9.97979200e-01 -6.26738268e-02 -1.04645662e-02 8.86106416e+01] [ 6.26718012e-02 9.98034054e-01 -5.21707151e-04 8.37019962e-01] [ 1.04766908e-02 -1.35180328e-04 9.99945109e-01 2.54439904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:88.64, Y:0.83, Z:0.25 [[ 9.97799686e-01 -6.54691885e-02 -1.04676432e-02 8.86404758e+01] [ 6.54680667e-02 9.97854563e-01 -4.50156628e-04 8.30926792e-01] [ 1.04746570e-02 -2.36130223e-04 9.99945111e-01 2.54344283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:88.67, Y:0.83, Z:0.25 [[ 9.97753176e-01 -6.61742327e-02 -1.04676155e-02 8.86702039e+01] [ 6.61731430e-02 9.97808054e-01 -4.50800244e-04 8.28143290e-01] [ 1.04745024e-02 -2.42887642e-04 9.99945111e-01 2.54475971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:88.70, Y:0.82, Z:0.26 [[ 9.97735591e-01 -6.64388429e-02 -1.04675878e-02 8.86997597e+01] [ 6.64377610e-02 9.97790469e-01 -4.51442928e-04 8.24217803e-01] [ 1.04744527e-02 -2.45022419e-04 9.99945111e-01 2.56819166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65863999999999 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:88.73, Y:0.82, Z:0.27 [[ 9.97759545e-01 -6.60781394e-02 -1.04675601e-02 8.87280833e+01] [ 6.60770309e-02 9.97814422e-01 -4.52084457e-04 8.22685985e-01] [ 1.04745553e-02 -2.40593709e-04 9.99945111e-01 2.73996602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:88.76, Y:0.82, Z:0.26 [[ 9.97944897e-01 -6.32179936e-02 -1.04626773e-02 8.87606333e+01] [ 6.32155456e-02 9.97999737e-01 -5.64851808e-04 8.21657961e-01] [ 1.04774580e-02 -9.77128747e-05 9.99945105e-01 2.56587316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71864 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:88.78, Y:0.81, Z:0.28 [[ 9.96693100e-01 -8.05809670e-02 -1.04676381e-02 8.87756804e+01] [ 8.05806861e-02 9.96747988e-01 -4.49270175e-04 8.06225804e-01] [ 1.04697999e-02 -3.95704979e-04 9.99945112e-01 2.75873611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:88.82, Y:0.82, Z:0.28 [[ 9.98305617e-01 -5.72451110e-02 -1.04351762e-02 8.88188765e+01] [ 5.72358718e-02 9.98359984e-01 -1.18213406e-03 8.18484071e-01] [ 1.04857337e-02 5.82864667e-04 9.99944853e-01 2.78929462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:88.85, Y:0.82, Z:0.28 [[ 9.98452987e-01 -5.46092668e-02 -1.04623253e-02 8.88492314e+01] [ 5.46066846e-02 9.98507800e-01 -5.32529583e-04 8.16000840e-01] [ 1.04757945e-02 -3.96071467e-05 9.99945127e-01 2.76884315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80864 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:88.88, Y:0.82, Z:0.28 [[ 9.98577967e-01 -5.22742382e-02 -1.04617762e-02 8.88790589e+01] [ 5.22713893e-02 9.98632767e-01 -5.45749811e-04 8.16159332e-01] [ 1.04760012e-02 -1.87784161e-06 9.99945125e-01 2.76123816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:88.91, Y:0.82, Z:0.28 [[ 9.98708030e-01 -4.97273381e-02 -1.04624515e-02 8.89091752e+01] [ 4.97245217e-02 9.98762831e-01 -5.29311957e-04 8.16682627e-01] [ 1.04758290e-02 8.38770340e-06 9.99945127e-01 2.77002008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86864 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:88.94, Y:0.82, Z:0.28 [[ 9.98855133e-01 -4.66791024e-02 -1.04634480e-02 8.89376222e+01] [ 4.66763746e-02 9.98909936e-01 -5.04885238e-04 8.17414835e-01] [ 1.04756098e-02 1.59113918e-05 9.99945129e-01 2.78285706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:88.97, Y:0.82, Z:0.28 [[ 9.98961229e-01 -4.43507040e-02 -1.04631557e-02 8.89675865e+01] [ 4.43477735e-02 9.99016022e-01 -5.12040093e-04 8.18257294e-01] [ 1.04755695e-02 4.74905399e-05 9.99945129e-01 2.77563787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:89.00, Y:0.82, Z:0.28 [[ 9.99096781e-01 -4.11840509e-02 -1.04640536e-02 8.89961601e+01] [ 4.11811784e-02 9.99151575e-01 -4.89922683e-04 8.18650820e-01] [ 1.04753526e-02 5.85581180e-05 9.99945130e-01 2.78680939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:89.03, Y:0.82, Z:0.28 [[ 9.99138403e-01 -4.01616492e-02 -1.04639402e-02 8.90251801e+01] [ 4.01586913e-02 9.99193193e-01 -4.92721346e-04 8.20080539e-01] [ 1.04752863e-02 7.20786750e-05 9.99945130e-01 2.78492524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:89.05, Y:0.82, Z:0.28 [[ 9.99146148e-01 -3.99684211e-02 -1.04642246e-02 8.90538924e+01] [ 3.99655260e-02 9.99200941e-01 -4.85721053e-04 8.21980282e-01] [ 1.04752765e-02 6.70980806e-05 9.99945131e-01 2.79103600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01863999999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:89.08, Y:0.82, Z:0.28 [[ 9.99164972e-01 -3.94952582e-02 -1.04633903e-02 8.90830435e+01] [ 3.94921222e-02 9.99219754e-01 -5.06240109e-04 8.23989456e-01] [ 1.04752204e-02 9.25958944e-05 9.99945129e-01 2.78312579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:89.11, Y:0.83, Z:0.28 [[ 9.99212316e-01 -3.82790798e-02 -1.04622929e-02 8.91144996e+01] [ 3.82755922e-02 9.99267079e-01 -5.33443619e-04 8.25402160e-01] [ 1.04750446e-02 1.32572977e-04 9.99945126e-01 2.79844960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.15, Y:0.83, Z:0.26 [[ 9.99235487e-01 -3.76685167e-02 -1.04653622e-02 8.91453161e+01] [ 3.76657992e-02 9.99290288e-01 -4.56708399e-04 8.26896606e-01] [ 1.04751383e-02 6.21730083e-05 9.99945132e-01 2.62785674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:89.17, Y:0.83, Z:0.28 [[ 9.99074346e-01 -4.17240208e-02 -1.04669215e-02 8.91727989e+01] [ 4.17219352e-02 9.99129174e-01 -4.17628763e-04 8.27602065e-01] [ 1.04752317e-02 -1.94580360e-05 9.99945133e-01 2.79817249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:89.20, Y:0.83, Z:0.28 [[ 9.99048003e-01 -4.23510544e-02 -1.04630312e-02 8.92013981e+01] [ 4.23479829e-02 9.99102789e-01 -5.15028201e-04 8.28339969e-01] [ 1.04754556e-02 7.14496301e-05 9.99945128e-01 2.78393442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:89.23, Y:0.83, Z:0.28 [[ 9.98933063e-01 -4.49806356e-02 -1.04632043e-02 8.92305942e+01] [ 4.49777538e-02 9.98987858e-01 -5.10690446e-04 8.29269228e-01] [ 1.04755852e-02 3.95341448e-05 9.99945129e-01 2.81191219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:89.26, Y:0.83, Z:0.28 [[ 9.98929093e-01 -4.50688411e-02 -1.04625987e-02 8.92603046e+01] [ 4.50658044e-02 9.98983882e-01 -5.25948105e-04 8.31043303e-01] [ 1.04756713e-02 5.38794379e-05 9.99945127e-01 2.82534119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:89.29, Y:0.83, Z:0.28 [[ 9.98921993e-01 -4.52259149e-02 -1.04627076e-02 8.92897272e+01] [ 4.52229156e-02 9.98976784e-01 -5.23193171e-04 8.31886717e-01] [ 1.04756639e-02 4.94750222e-05 9.99945128e-01 2.83111673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:89.32, Y:0.83, Z:0.28 [[ 9.98925484e-01 -4.51485647e-02 -1.04635238e-02 8.93180268e+01] [ 4.51457799e-02 9.98980283e-01 -5.02311434e-04 8.33009685e-01] [ 1.04755326e-02 2.93877494e-05 9.99945130e-01 2.83406634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:89.35, Y:0.83, Z:0.28 [[ 9.98894604e-01 -4.58266746e-02 -1.04635667e-02 8.93469523e+01] [ 4.58239385e-02 9.98949406e-01 -5.01210709e-04 8.34109932e-01] [ 1.04755426e-02 2.11748357e-05 9.99945130e-01 2.84467987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.38, Y:0.83, Z:0.27 [[ 9.99046363e-01 -4.23899774e-02 -1.04620880e-02 8.93803039e+01] [ 4.23866532e-02 9.99101136e-01 -5.39365198e-04 8.34974550e-01] [ 1.04755477e-02 9.53979410e-05 9.99945125e-01 2.66307671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:0.84, Z:0.27 [[ 9.99026755e-01 -4.28482952e-02 -1.04673879e-02 8.94093935e+01] [ 4.28464451e-02 9.99081589e-01 -4.01036303e-04 8.35740835e-01] [ 1.04749583e-02 -4.78443662e-05 9.99945135e-01 2.67440189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37863999999999 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:89.43, Y:0.83, Z:0.29 [[ 9.98839242e-01 -4.70170603e-02 -1.04673359e-02 8.94349220e+01] [ 4.70154249e-02 9.98894082e-01 -4.02389356e-04 8.34885309e-01] [ 1.04746791e-02 -9.02039662e-05 9.99945135e-01 2.90703803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:89.47, Y:0.84, Z:0.29 [[ 9.99076105e-01 -4.16839120e-02 -1.04589089e-02 8.94679394e+01] [ 4.16797109e-02 9.99130831e-01 -6.19415087e-04 8.38495814e-01] [ 1.04756380e-02 1.82918511e-04 9.99945112e-01 2.85618961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43863999999999 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:89.50, Y:0.84, Z:0.29 [[ 9.99071761e-01 -4.17862338e-02 -1.04655116e-02 8.94970971e+01] [ 4.17838538e-02 9.99126574e-01 -4.46060428e-04 8.39142207e-01] [ 1.04750099e-02 8.35697082e-06 9.99945136e-01 2.85234722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:89.53, Y:0.84, Z:0.29 [[ 9.99139286e-01 -4.01393406e-02 -1.04651677e-02 8.95276550e+01] [ 4.01367750e-02 9.99194091e-01 -4.55148659e-04 8.38940179e-01] [ 1.04750031e-02 3.47188268e-05 9.99945135e-01 2.86280141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49864 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:89.56, Y:0.84, Z:0.29 [[ 9.99171539e-01 -3.93277069e-02 -1.04674716e-02 8.95577338e+01] [ 3.93257372e-02 9.99226366e-01 -3.94010818e-04 8.40140021e-01] [ 1.04748692e-02 -1.79566427e-05 9.99945137e-01 2.87243667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:89.59, Y:0.84, Z:0.29 [[ 9.99295198e-01 -3.60493327e-02 -1.04667829e-02 8.95871944e+01] [ 3.60469927e-02 9.99350011e-01 -4.12191580e-04 8.42631302e-01] [ 1.04748388e-02 3.46050193e-05 9.99945137e-01 2.86782559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:89.62, Y:0.84, Z:0.29 [[ 9.99361001e-01 -3.41762193e-02 -1.04678423e-02 8.96156590e+01] [ 3.41740695e-02 9.99415822e-01 -3.84221993e-04 8.43677513e-01] [ 1.04748585e-02 2.62477036e-05 9.99945137e-01 2.87645711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:89.64, Y:0.84, Z:0.29 [[ 9.99386244e-01 -3.34296489e-02 -1.04687353e-02 8.96442573e+01] [ 3.34277046e-02 9.99441073e-01 -3.60698921e-04 8.44189995e-01] [ 1.04749421e-02 1.05317477e-05 9.99945136e-01 2.88018267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:89.67, Y:0.85, Z:0.29 [[ 9.99426646e-01 -3.21993508e-02 -1.04680860e-02 8.96728749e+01] [ 3.21971600e-02 9.99481466e-01 -3.77782751e-04 8.46629254e-01] [ 1.04748223e-02 4.05235077e-05 9.99945137e-01 2.88666422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:89.70, Y:0.85, Z:0.29 [[ 9.99405964e-01 -3.28347284e-02 -1.04690278e-02 8.97025535e+01] [ 3.28328306e-02 9.99460795e-01 -3.53141648e-04 8.49687546e-01] [ 1.04749782e-02 9.20405282e-06 9.99945136e-01 2.88797608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:89.73, Y:0.85, Z:0.29 [[ 9.99391276e-01 -3.32790514e-02 -1.04681721e-02 8.97316730e+01] [ 3.32769454e-02 9.99446099e-01 -3.75344116e-04 8.52477728e-01] [ 1.04748649e-02 2.67668443e-05 9.99945137e-01 2.88848004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:89.76, Y:0.85, Z:0.29 [[ 9.99366512e-01 -3.40146820e-02 -1.04678761e-02 8.97607169e+01] [ 3.40125362e-02 9.99421333e-01 -3.82996289e-04 8.54149111e-01] [ 1.04748462e-02 2.67146504e-05 9.99945137e-01 2.89422905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:89.79, Y:0.86, Z:0.29 [[ 9.99395959e-01 -3.31383329e-02 -1.04675169e-02 8.97900031e+01] [ 3.31360420e-02 9.99450774e-01 -3.92257883e-04 8.56324374e-01] [ 1.04747666e-02 4.51688627e-05 9.99945137e-01 2.89209031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:89.82, Y:0.86, Z:0.29 [[ 9.99400338e-01 -3.30057764e-02 -1.04682421e-02 8.98200589e+01] [ 3.30036740e-02 9.99455161e-01 -3.73570936e-04 8.60173705e-01] [ 1.04748686e-02 2.78564689e-05 9.99945137e-01 2.86672263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:89.85, Y:0.86, Z:0.29 [[ 9.99370820e-01 -3.38875910e-02 -1.04687312e-02 8.98497039e+01] [ 3.38856683e-02 9.99425651e-01 -3.61030187e-04 8.61617836e-01] [ 1.04749530e-02 6.06307941e-06 9.99945136e-01 2.89968732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:0.86, Z:0.28 [[ 9.99320106e-01 -3.53518078e-02 -1.04678349e-02 8.98786372e+01] [ 3.53497268e-02 9.99374929e-01 -3.83812343e-04 8.64440054e-01] [ 1.04748602e-02 1.35162897e-05 9.99945137e-01 2.75268002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:89.91, Y:0.87, Z:0.29 [[ 9.99316236e-01 -3.54613957e-02 -1.04666477e-02 8.99090778e+01] [ 3.54590062e-02 9.99371046e-01 -4.13837964e-04 8.67414166e-01] [ 1.04747399e-02 4.24180714e-05 9.99945138e-01 2.91528893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:89.94, Y:0.87, Z:0.29 [[ 9.99292106e-01 -3.61346177e-02 -1.04679132e-02 8.99386940e+01] [ 3.61326004e-02 9.99346931e-01 -3.81831309e-04 8.69661619e-01] [ 1.04748742e-02 3.32809000e-06 9.99945137e-01 2.90718849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:89.97, Y:0.87, Z:0.29 [[ 9.99290845e-01 -3.61696073e-02 -1.04674252e-02 8.99683270e+01] [ 3.61674633e-02 9.99345666e-01 -3.94115015e-04 8.71872845e-01] [ 1.04748310e-02 1.52553094e-05 9.99945137e-01 2.92321733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:90.00, Y:0.88, Z:0.29 [[ 9.99276041e-01 -3.65760869e-02 -1.04682127e-02 8.99993246e+01] [ 3.65741728e-02 9.99330871e-01 -3.74287519e-04 8.77040718e-01] [ 1.04748981e-02 -8.84966977e-06 9.99945137e-01 2.87937591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:90.03, Y:0.89, Z:0.29 [[ 9.99238281e-01 -3.75932240e-02 -1.04693112e-02 9.00281808e+01] [ 3.75916551e-02 9.99293124e-01 -3.46672458e-04 8.85766896e-01] [ 1.04749433e-02 -4.71503466e-05 9.99945135e-01 2.91882659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:0.89, Z:0.28 [[ 9.99163862e-01 -3.95219346e-02 -1.04686798e-02 9.00568119e+01] [ 3.95203062e-02 9.99218702e-01 -3.62446296e-04 8.89740626e-01] [ 1.04748252e-02 -5.15821897e-05 9.99945136e-01 2.75578604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:90.09, Y:0.89, Z:0.29 [[ 9.99178877e-01 -3.91411356e-02 -1.04662784e-02 9.00877321e+01] [ 3.91388625e-02 9.99233692e-01 -4.22003705e-04 8.92538103e-01] [ 1.04747757e-02 1.20189565e-05 9.99945138e-01 2.90937158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.12, Y:0.90, Z:0.28 [[ 9.99052692e-01 -4.22389301e-02 -1.04686024e-02 9.01162858e+01] [ 4.22374333e-02 9.99107535e-01 -3.64124880e-04 8.95150088e-01] [ 1.04746398e-02 -7.83869545e-05 9.99945136e-01 2.77106193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.15, Y:0.90, Z:0.28 [[ 9.98893973e-01 -4.58398130e-02 -1.04662082e-02 9.01452276e+01] [ 4.58378936e-02 9.98948802e-01 -4.23319028e-04 9.01628719e-01] [ 1.04746110e-02 -5.68981143e-05 9.99945138e-01 2.76274043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.17, Y:0.90, Z:0.28 [[ 9.98777395e-01 -4.83133006e-02 -1.04661542e-02 9.01737427e+01] [ 4.83115031e-02 9.98832227e-01 -4.24649942e-04 9.04008117e-01] [ 1.04744484e-02 -8.15048800e-05 9.99945138e-01 2.75929696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:0.90, Z:0.28 [[ 9.98475038e-01 -5.42038621e-02 -1.04661004e-02 9.02028686e+01] [ 5.42023742e-02 9.98529880e-01 -4.25972206e-04 9.03674495e-01] [ 1.04738033e-02 -1.41964876e-04 9.99945138e-01 2.75686481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:0.90, Z:0.28 [[ 9.98314209e-01 -5.70894253e-02 -1.04660469e-02 9.02329948e+01] [ 5.70880822e-02 9.98369054e-01 -4.27283991e-04 9.04806862e-01] [ 1.04733707e-02 -1.70922864e-04 9.99945138e-01 2.75056681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:0.91, Z:0.28 [[ 9.98217806e-01 -5.87509588e-02 -1.04660203e-02 9.02621716e+01] [ 5.87497001e-02 9.98272653e-01 -4.27934203e-04 9.06148818e-01] [ 1.04730834e-02 -1.87704012e-04 9.99945138e-01 2.77109320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:0.91, Z:0.28 [[ 9.98177434e-01 -5.94329255e-02 -1.04659938e-02 9.02915739e+01] [ 5.94316975e-02 9.98232282e-01 -4.28580173e-04 9.08535499e-01] [ 1.04729647e-02 -1.94212722e-04 9.99945138e-01 2.76987418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.32, Y:0.91, Z:0.29 [[ 9.98355287e-01 -5.63665153e-02 -1.04659672e-02 9.03228015e+01] [ 5.63651121e-02 9.98410131e-01 -4.29230381e-04 9.09741760e-01] [ 1.04735219e-02 -1.61390991e-04 9.99945138e-01 2.87775008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:0.91, Z:0.28 [[ 9.98409373e-01 -5.53996966e-02 -1.04688662e-02 9.03519074e+01] [ 5.53989825e-02 9.98464233e-01 -3.58417004e-04 9.13436444e-01] [ 1.04726447e-02 -2.22117639e-04 9.99945136e-01 2.77338591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:90.38, Y:0.92, Z:0.29 [[ 9.98645595e-01 -5.09650776e-02 -1.04659293e-02 9.03821861e+01] [ 5.09633705e-02 9.98700431e-01 -4.29913531e-04 9.15867332e-01] [ 1.04742387e-02 -1.04047780e-04 9.99945138e-01 2.91463629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:0.92, Z:0.28 [[ 9.98717825e-01 -4.95289574e-02 -1.04684373e-02 9.04108887e+01] [ 4.95278111e-02 9.98772677e-01 -3.68879569e-04 9.19941185e-01] [ 1.04738594e-02 -1.50072185e-04 9.99945136e-01 2.78711525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:0.92, Z:0.28 [[ 9.98742946e-01 -4.90203404e-02 -1.04658105e-02 9.04397099e+01] [ 4.90185000e-02 9.98797777e-01 -4.32452468e-04 9.22692018e-01] [ 1.04744272e-02 -8.11094800e-05 9.99945138e-01 2.78600383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:0.93, Z:0.28 [[ 9.98805334e-01 -4.77323124e-02 -1.04657556e-02 9.04687765e+01] [ 4.77303873e-02 9.98860161e-01 -4.33776898e-04 9.25740907e-01] [ 1.04745315e-02 -6.62758897e-05 9.99945138e-01 2.79408116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:0.93, Z:0.28 [[ 9.98869630e-01 -4.63673498e-02 -1.04657002e-02 9.04973930e+01] [ 4.63653359e-02 9.98924455e-01 -4.35109751e-04 9.29554902e-01] [ 1.04746187e-02 -5.06277889e-05 9.99945138e-01 2.80109572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:0.94, Z:0.28 [[ 9.98969551e-01 -4.41622794e-02 -1.04656451e-02 9.05256566e+01] [ 4.41601306e-02 9.99024370e-01 -4.36431957e-04 9.36195715e-01] [ 1.04747083e-02 -2.61820166e-05 9.99945138e-01 2.82337583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:90.55, Y:0.94, Z:0.30 [[ 9.98985489e-01 -4.38002656e-02 -1.04656035e-02 9.05539962e+01] [ 4.37980865e-02 9.99040308e-01 -4.37425954e-04 9.40352878e-01] [ 1.04747191e-02 -2.13912280e-05 9.99945138e-01 2.97433670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:90.59, Y:0.95, Z:0.28 [[ 9.99104759e-01 -4.09901177e-02 -1.04638227e-02 9.05851274e+01] [ 4.09873380e-02 9.99159551e-01 -4.80048728e-04 9.49479586e-01] [ 1.04747057e-02 5.07347301e-05 9.99945137e-01 2.81038600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:90.61, Y:0.95, Z:0.28 [[ 9.99123194e-01 -4.05377780e-02 -1.04657264e-02 9.06133678e+01] [ 4.05354541e-02 9.99178006e-01 -4.34158950e-04 9.53986305e-01] [ 1.04747235e-02 9.54530316e-06 9.99945139e-01 2.80459293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:90.64, Y:0.96, Z:0.28 [[ 9.99107153e-01 -4.09312332e-02 -1.04656713e-02 9.06418251e+01] [ 4.09289170e-02 9.99161966e-01 -4.35483369e-04 9.58299502e-01] [ 1.04747256e-02 6.74595620e-06 9.99945139e-01 2.81036981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:90.67, Y:0.97, Z:0.28 [[ 9.99049648e-01 -4.23115950e-02 -1.04656154e-02 9.06710940e+01] [ 4.23093406e-02 9.99104463e-01 -4.36823983e-04 9.65458608e-01] [ 1.04747257e-02 -6.38443826e-06 9.99945139e-01 2.80508098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66864 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:90.72, Y:0.99, Z:0.29 [[ 9.99944514e-01 1.19984296e-03 -1.04655875e-02 9.07188228e+01] [-1.20448739e-03 9.99999179e-01 -4.37489353e-04 9.89832397e-01] [ 1.04650540e-02 4.50070747e-04 9.99945139e-01 2.91489958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:90.73, Y:0.97, Z:0.28 [[ 9.98772474e-01 -4.84067221e-02 -1.05039862e-02 9.07299127e+01] [ 4.84148803e-02 9.98827175e-01 5.23634851e-04 9.72388616e-01] [ 1.04663194e-02 -1.03154131e-03 9.99944695e-01 2.81770327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:90.76, Y:0.98, Z:0.28 [[ 9.98682470e-01 -5.02382518e-02 -1.04614683e-02 9.07596827e+01] [ 5.02362449e-02 9.98737259e-01 -4.54702281e-04 9.76367823e-01] [ 1.04711016e-02 -7.14416849e-05 9.99945174e-01 2.81436500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:90.79, Y:0.98, Z:0.29 [[ 9.98591796e-01 -5.20094582e-02 -1.04614396e-02 9.07897711e+01] [ 5.20075415e-02 9.98646588e-01 -4.55361596e-04 9.78967000e-01] [ 1.04709641e-02 -8.93533989e-05 9.99945174e-01 2.94260793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:90.82, Y:0.98, Z:0.28 [[ 9.98244276e-01 -5.83002774e-02 -1.04615414e-02 9.08202720e+01] [ 5.82987305e-02 9.98299080e-01 -4.53024612e-04 9.81657807e-01] [ 1.04701586e-02 -1.57665355e-04 9.99945174e-01 2.81479199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:90.85, Y:0.98, Z:0.30 [[ 9.98161420e-01 -5.97020665e-02 -1.04614476e-02 9.08501248e+01] [ 5.97005739e-02 9.98216226e-01 -4.55179915e-04 9.82821979e-01] [ 1.04699619e-02 -1.70211394e-04 9.99945174e-01 2.98453425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:90.88, Y:0.98, Z:0.28 [[ 9.97978798e-01 -6.26810536e-02 -1.04596654e-02 9.08823211e+01] [ 6.26792943e-02 9.98033597e-01 -4.96245613e-04 9.83153629e-01] [ 1.04702026e-02 -1.60361844e-04 9.99945173e-01 2.82712886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87863999999999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:90.91, Y:0.98, Z:0.30 [[ 9.97696080e-01 -6.70304783e-02 -1.04616472e-02 9.09113893e+01] [ 6.70294405e-02 9.97750896e-01 -4.50190705e-04 9.80694382e-01] [ 1.04682944e-02 -2.52084859e-04 9.99945174e-01 2.98922212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters Centerline goodness : 0.896422 Centerline is valid? [True, False] Translation: X:90.91, Y:0.99, Z:0.30 [[ 9.98490446e-01 -5.41362041e-02 -9.27899958e-03 9.09104738e+01] [ 5.40672118e-02 9.98508893e-01 -7.53171626e-03 9.86769101e-01] [ 9.67290213e-03 7.01865709e-03 9.99928584e-01 2.98997036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93863999999999 meters Centerline goodness : 0.997531 Centerline is valid? [False, True] Translation: X:90.91, Y:0.99, Z:0.30 [[ 9.99187582e-01 -3.97534811e-02 -6.62098870e-03 9.09095418e+01] [ 3.96724077e-02 9.99141202e-01 -1.19564925e-02 9.88284457e-01] [ 7.09061481e-03 1.16841082e-02 9.99906598e-01 2.98003855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96864 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:90.95, Y:0.99, Z:0.29 [[ 9.99972180e-01 -3.10110609e-03 -6.78403958e-03 9.09493222e+01] [ 3.09964566e-03 9.99995171e-01 -2.25778135e-04 9.90856239e-01] [ 6.78470698e-03 2.04743735e-04 9.99976963e-01 2.87885901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99864 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:90.97, Y:0.97, Z:0.30 [[ 9.99212955e-01 -3.90816253e-02 -6.78955376e-03 9.09707694e+01] [ 3.90838172e-02 9.99235918e-01 1.90398707e-04 9.73038323e-01] [ 6.77692489e-03 -4.55610532e-04 9.99976933e-01 2.97305799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02864 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:91.00, Y:0.97, Z:0.30 [[ 9.99236941e-01 -3.84642510e-02 -6.78505039e-03 9.10015710e+01] [ 3.84643329e-02 9.99259967e-01 -1.18459117e-04 9.69556651e-01] [ 6.78458567e-03 -1.42613712e-04 9.99976974e-01 2.96494979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:91.03, Y:0.97, Z:0.28 [[ 9.99253556e-01 -3.80302186e-02 -6.78477220e-03 9.10331308e+01] [ 3.80301599e-02 9.99276582e-01 -1.37707194e-04 9.68057581e-01] [ 6.78510101e-03 -1.20421569e-04 9.99976974e-01 2.81938888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08864 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:91.06, Y:0.96, Z:0.30 [[ 9.99364713e-01 -3.49875735e-02 -6.78535407e-03 9.10631331e+01] [ 3.49877210e-02 9.99387738e-01 -9.70082277e-05 9.63664431e-01] [ 6.78459373e-03 -1.40457475e-04 9.99976975e-01 2.95995691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:91.09, Y:0.96, Z:0.29 [[ 9.99439165e-01 -3.27919530e-02 -6.78554971e-03 9.10939702e+01] [ 3.27921425e-02 9.99462190e-01 -8.33686668e-05 9.62692109e-01] [ 6.78463419e-03 -1.39190802e-04 9.99976974e-01 2.94520709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:91.12, Y:0.96, Z:0.29 [[ 9.99435759e-01 -3.28955431e-02 -6.78572320e-03 9.11239581e+01] [ 3.28958171e-02 9.99458784e-01 -7.12501442e-05 9.63076327e-01] [ 6.78439447e-03 -1.52011968e-04 9.99976974e-01 2.94722485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:91.15, Y:0.96, Z:0.28 [[ 9.99474115e-01 -3.17087968e-02 -6.78571229e-03 9.11535304e+01] [ 3.17090384e-02 9.99497139e-01 -7.20067059e-05 9.63052060e-01] [ 6.78458327e-03 -1.43199573e-04 9.99976974e-01 2.83404448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:91.18, Y:0.96, Z:0.28 [[ 9.99571344e-01 -2.84795949e-02 -6.78533675e-03 9.11827976e+01] [ 2.84795857e-02 9.99594370e-01 -9.80067697e-05 9.63108150e-01] [ 6.78537560e-03 -9.52788206e-05 9.99976975e-01 2.83616659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23863999999999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:91.21, Y:0.96, Z:0.30 [[ 9.99601105e-01 -2.74151525e-02 -6.78533070e-03 9.12118060e+01] [ 2.74151159e-02 9.99624130e-01 -9.84236604e-05 9.62922587e-01] [ 6.78547860e-03 -8.76362280e-05 9.99976975e-01 2.98284310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:91.24, Y:0.96, Z:0.28 [[ 9.99643026e-01 -2.58414824e-02 -6.78509766e-03 9.12426178e+01] [ 2.58413017e-02 9.99666051e-01 -1.14324961e-04 9.64576151e-01] [ 6.78578611e-03 -6.10516055e-05 9.99976974e-01 2.84154809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29863999999999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:91.27, Y:0.97, Z:0.28 [[ 9.99715320e-01 -2.28744017e-02 -6.78532812e-03 9.12710867e+01] [ 2.28742604e-02 9.99738345e-01 -9.84391531e-05 9.65805798e-01] [ 6.78580445e-03 -5.67982333e-05 9.99976975e-01 2.84979191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:91.30, Y:0.97, Z:0.29 [[ 9.99751047e-01 -2.12556835e-02 -6.78531579e-03 9.12996511e+01] [ 2.12554992e-02 9.99774071e-01 -9.92821292e-05 9.66535865e-01] [ 6.78589310e-03 -4.49678619e-05 9.99976975e-01 2.85062826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:91.33, Y:0.97, Z:0.30 [[ 9.99845664e-01 -1.62051912e-02 -6.78530325e-03 9.13312090e+01] [ 1.62048849e-02 9.99868687e-01 -1.00131925e-04 9.67887180e-01] [ 6.78603491e-03 -9.83858647e-06 9.99976975e-01 3.00520162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:91.36, Y:0.97, Z:0.29 [[ 9.99833998e-01 -1.69093016e-02 -6.78618577e-03 9.13597734e+01] [ 1.69094212e-02 9.99857025e-01 -3.97582523e-05 9.69800346e-01] [ 6.78588780e-03 -7.49988212e-05 9.99976973e-01 2.86236672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:91.39, Y:0.97, Z:0.30 [[ 9.99877622e-01 -1.40961357e-02 -6.78526133e-03 9.13909700e+01] [ 1.40957712e-02 9.99900645e-01 -1.01536198e-04 9.72138208e-01] [ 6.78601844e-03 5.88028138e-06 9.99976975e-01 2.99369831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:91.42, Y:0.98, Z:0.29 [[ 9.99913197e-01 -1.12939654e-02 -6.78561885e-03 9.14207555e+01] [ 1.12936989e-02 9.99936221e-01 -7.75993818e-05 9.76251942e-01] [ 6.78606248e-03 9.57909976e-07 9.99976974e-01 2.87124006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:91.45, Y:0.98, Z:0.30 [[ 9.99929582e-01 -9.73607076e-03 -6.78525276e-03 9.14508066e+01] [ 9.73560301e-03 9.99952603e-01 -1.01962087e-04 9.78034269e-01] [ 6.78592386e-03 3.58963802e-05 9.99976975e-01 3.02023058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50864 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:91.48, Y:0.98, Z:0.30 [[ 9.99957786e-01 -6.19538526e-03 -6.78552813e-03 9.14820836e+01] [ 6.19496076e-03 9.99980808e-01 -8.35768370e-05 9.82236721e-01] [ 6.78591569e-03 4.15372284e-05 9.99976975e-01 3.01257104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:91.51, Y:0.99, Z:0.29 [[ 9.99952682e-01 -6.97013374e-03 -6.78609201e-03 9.15105569e+01] [ 6.96998317e-03 9.99975708e-01 -4.58371328e-05 9.85433587e-01] [ 6.78624666e-03 -1.46398328e-06 9.99976973e-01 2.87684115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:91.54, Y:0.99, Z:0.30 [[ 9.99963105e-01 -5.26783354e-03 -6.78519975e-03 9.15419290e+01] [ 5.26724889e-03 9.99986123e-01 -1.04032801e-04 9.89001298e-01] [ 6.78565362e-03 6.82896267e-05 9.99976975e-01 3.01250296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59863999999999 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:91.57, Y:1.00, Z:0.30 [[ 9.99965705e-01 -4.74759460e-03 -6.78602078e-03 9.15707620e+01] [ 4.74735902e-03 9.99988730e-01 -5.08235504e-05 9.95202596e-01] [ 6.78618559e-03 1.86061305e-05 9.99976973e-01 3.00433836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:91.60, Y:1.00, Z:0.30 [[ 9.99962885e-01 -5.30835869e-03 -6.78597063e-03 9.15995057e+01] [ 5.30811450e-03 9.99985910e-01 -5.39947413e-05 9.97965277e-01] [ 6.78616164e-03 1.79720283e-05 9.99976974e-01 3.02108001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65863999999999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:91.63, Y:1.00, Z:0.30 [[ 9.99964071e-01 -5.08042810e-03 -6.78574769e-03 9.16281172e+01] [ 5.08008625e-03 9.99987094e-01 -6.76135017e-05 1.00478534e+00] [ 6.78600362e-03 3.31388889e-05 9.99976974e-01 3.01907823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999999 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:91.66, Y:1.01, Z:0.29 [[ 9.99957732e-01 -6.20398060e-03 -6.78565975e-03 9.16567000e+01] [ 6.20362870e-03 9.99980755e-01 -7.29060364e-05 1.00867633e+00] [ 6.78598147e-03 3.08072412e-05 9.99976974e-01 2.87141352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71864 meters Centerline goodness : 0.856446 Centerline is valid? [True, False] Translation: X:91.66, Y:1.03, Z:0.29 [[ 9.99871663e-01 -4.47231894e-03 -1.53836120e-02 9.16625382e+01] [ 4.15120329e-03 9.99774146e-01 -2.08428498e-02 1.02895228e+00] [ 1.54733534e-02 2.07763144e-02 9.99664404e-01 2.92373220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74864 meters Centerline goodness : 0.998229 Centerline is valid? [False, True] Translation: X:91.67, Y:1.04, Z:0.30 [[ 9.99953984e-01 -2.44873411e-03 -9.27543880e-03 9.16696823e+01] [ 2.14105987e-03 9.99451844e-01 -3.30367630e-02 1.04423879e+00] [ 9.35125266e-03 3.30153835e-02 9.99411096e-01 2.97241445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:91.70, Y:1.02, Z:0.29 [[ 9.99947545e-01 -3.22722100e-03 -9.72072438e-03 9.16986387e+01] [ 3.22824500e-03 9.99994785e-01 8.96524380e-05 1.01785297e+00] [ 9.72038436e-03 -1.21028615e-04 9.99952749e-01 2.89446415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:91.73, Y:1.02, Z:0.27 [[ 9.99941053e-01 -4.84244010e-03 -9.71805812e-03 9.17282113e+01] [ 4.84164754e-03 9.99988274e-01 -1.05079442e-04 1.02102509e+00] [ 9.71845301e-03 5.80218352e-05 9.99952773e-01 2.73365851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:91.75, Y:1.02, Z:0.29 [[ 9.99851295e-01 -1.42462542e-02 -9.71765313e-03 9.17527488e+01] [ 1.42456211e-02 9.99898517e-01 -1.34369270e-04 1.02439399e+00] [ 9.71858121e-03 -4.08471520e-06 9.99952773e-01 2.92565781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:91.79, Y:1.03, Z:0.29 [[ 9.99857532e-01 -1.38037483e-02 -9.71450065e-03 9.17858726e+01] [ 1.38009325e-02 9.99904699e-01 -3.56831989e-04 1.02714259e+00] [ 9.71850047e-03 2.22711984e-04 9.99952749e-01 2.91173143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89864 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:91.82, Y:1.03, Z:0.29 [[ 9.99763102e-01 -1.94765715e-02 -9.71614399e-03 9.18155976e+01] [ 1.94752303e-02 9.99810313e-01 -2.32643513e-04 1.02852131e+00] [ 9.71883206e-03 4.33642586e-05 9.99952770e-01 2.91900571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:91.85, Y:1.03, Z:0.27 [[ 9.99789692e-01 -1.80603313e-02 -9.71577997e-03 9.18490556e+01] [ 1.80586495e-02 9.99836895e-01 -2.60813388e-04 1.02913073e+00] [ 9.71890566e-03 8.53046717e-05 9.99952767e-01 2.71981015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95864 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:91.88, Y:1.03, Z:0.29 [[ 9.99674259e-01 -2.35996980e-02 -9.71752100e-03 9.18769113e+01] [ 2.35996365e-02 9.99721482e-01 -1.21008200e-04 1.02939980e+00] [ 9.71767026e-03 -1.08361180e-04 9.99952776e-01 2.91724921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:91.91, Y:1.03, Z:0.29 [[ 9.99588928e-01 -2.69735275e-02 -9.71620930e-03 9.19072502e+01] [ 2.69726245e-02 9.99636147e-01 -2.23989097e-04 1.03041318e+00] [ 9.71871581e-03 -3.81746441e-05 9.99952771e-01 2.90866964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01863999999999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:91.94, Y:1.03, Z:0.27 [[ 9.99574766e-01 -2.74932334e-02 -9.71648830e-03 9.19391409e+01] [ 2.74925733e-02 9.99621987e-01 -2.01524043e-04 1.03036697e+00] [ 9.71835589e-03 -6.56929187e-05 9.99952774e-01 2.74161380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:91.97, Y:1.03, Z:0.27 [[ 9.99407148e-01 -3.30291084e-02 -9.71750272e-03 9.19684847e+01] [ 3.30295221e-02 9.99454370e-01 -1.17957584e-04 1.02700676e+00] [ 9.71609658e-03 -2.03076818e-04 9.99952777e-01 2.73317828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07864 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:92.00, Y:1.02, Z:0.29 [[ 9.99219561e-01 -3.82862846e-02 -9.71749198e-03 9.19962222e+01] [ 3.82869382e-02 9.99266779e-01 -1.18835908e-04 1.02469631e+00] [ 9.71491670e-03 -2.53309850e-04 9.99952777e-01 2.93175383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10864 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:92.03, Y:1.02, Z:0.29 [[ 9.99095196e-01 -4.14051220e-02 -9.71618793e-03 9.20263447e+01] [ 4.14048983e-02 9.99142424e-01 -2.24263983e-04 1.02204539e+00] [ 9.71714125e-03 -1.78236705e-04 9.99952772e-01 2.92206220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13864 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:92.06, Y:1.02, Z:0.29 [[ 9.98904369e-01 -4.57783735e-02 -9.71606381e-03 9.20574632e+01] [ 4.57782552e-02 9.98951599e-01 -2.34681918e-04 1.01552560e+00] [ 9.71662083e-03 -2.10359656e-04 9.99952770e-01 2.91993898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16864 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:92.09, Y:1.01, Z:0.29 [[ 9.98744352e-01 -4.91457814e-02 -9.71658426e-03 9.20879873e+01] [ 4.91462642e-02 9.98791574e-01 -1.89217529e-04 1.01174112e+00] [ 9.71414174e-03 -2.88553880e-04 9.99952775e-01 2.92565649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19864 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:92.12, Y:1.01, Z:0.29 [[ 9.98828733e-01 -4.74000628e-02 -9.71573409e-03 9.21194922e+01] [ 4.73997073e-02 9.98875967e-01 -2.66989771e-04 1.00549541e+00] [ 9.71746861e-03 -1.93845896e-04 9.99952765e-01 2.91520308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22864 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:92.15, Y:1.00, Z:0.29 [[ 9.98941517e-01 -4.49603515e-02 -9.71656457e-03 9.21506393e+01] [ 4.49606467e-02 9.98988741e-01 -1.88170415e-04 1.00194803e+00] [ 9.71519882e-03 -2.48891786e-04 9.99952775e-01 2.93545373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25864 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:92.18, Y:1.00, Z:0.29 [[ 9.99003906e-01 -4.35520161e-02 -9.71689765e-03 9.21804279e+01] [ 4.35525576e-02 9.99051125e-01 -1.55969320e-04 9.98040319e-01] [ 9.71447031e-03 -2.67381785e-04 9.99952778e-01 2.94095558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28864 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:92.21, Y:0.99, Z:0.29 [[ 9.99075439e-01 -4.18790527e-02 -9.71659950e-03 9.22107668e+01] [ 4.18792289e-02 9.99122663e-01 -1.85414152e-04 9.90248725e-01] [ 9.71583974e-03 -2.21680970e-04 9.99952776e-01 2.93369408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31864 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:92.24, Y:0.99, Z:0.29 [[ 9.99160179e-01 -3.98061989e-02 -9.71614270e-03 9.22403710e+01] [ 3.98058204e-02 9.99207407e-01 -2.32417349e-04 9.87154068e-01] [ 9.71769341e-03 -1.54536871e-04 9.99952770e-01 2.93861332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:92.27, Y:0.98, Z:0.28 [[ 9.99411102e-01 -3.29096324e-02 -9.71621308e-03 9.22733628e+01] [ 3.29089989e-02 9.99458327e-01 -2.25117307e-04 9.82345436e-01] [ 9.71835860e-03 -9.47661096e-05 9.99952771e-01 2.77003455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37863999999999 meters Centerline goodness : 0.983376 Centerline is valid? [True, True] Translation: X:92.34, Y:1.00, Z:0.29 [[ 9.99609432e-01 2.62021716e-02 -9.71746121e-03 9.23352061e+01] [-2.62042760e-02 9.99656605e-01 -8.92842177e-05 1.00325667e+00] [ 9.71178484e-03 3.43888382e-04 9.99952780e-01 2.86416360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:92.31, Y:0.96, Z:0.29 [[ 9.98750968e-01 -4.90084363e-02 -9.73026659e-03 9.23140064e+01] [ 4.90241189e-02 9.98796642e-01 1.37967267e-03 9.63753675e-01] [ 9.65094199e-03 -1.85496716e-03 9.99951708e-01 2.94740952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43863999999999 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:92.36, Y:0.97, Z:0.28 [[ 9.99547450e-01 -2.84743684e-02 -9.70076225e-03 9.23561146e+01] [ 2.84702878e-02 9.99594483e-01 -5.58510563e-04 9.72460315e-01] [ 9.71273166e-03 2.82074316e-04 9.99952791e-01 2.78753053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46864 meters Centerline goodness : 0.971700 Centerline is valid? [True, True] Translation: X:92.41, Y:0.94, Z:0.27 [[ 9.96484678e-01 -8.32110007e-02 -9.70644805e-03 9.24101321e+01] [ 8.32136796e-02 9.96531719e-01 -1.28247716e-04 9.39308568e-01] [ 9.68345498e-03 -6.79912374e-04 9.99952883e-01 2.66336481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49864 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:92.41, Y:0.97, Z:0.28 [[ 9.99628614e-01 -2.54600001e-02 -9.71715010e-03 9.24142957e+01] [ 2.54708127e-02 9.99675075e-01 9.90590355e-04 9.69207694e-01] [ 9.68877233e-03 -1.23772617e-03 9.99952297e-01 2.79890317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52864 meters Centerline goodness : 0.901922 Centerline is valid? [True, False] Translation: X:92.41, Y:0.98, Z:0.28 [[ 9.99869140e-01 -1.37643790e-02 -8.49966113e-03 9.24136228e+01] [ 1.36976699e-02 9.99875310e-01 -7.85740034e-03 9.78288234e-01] [ 8.60675354e-03 7.73994657e-03 9.99933006e-01 2.80155259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55864 meters Centerline goodness : 0.909552 Centerline is valid? [False, False] Translation: X:92.44, Y:0.98, Z:0.28 [[ 9.99925520e-01 -5.03147801e-03 -1.11193188e-02 9.24371934e+01] [ 4.93315208e-03 9.99948646e-01 -8.85260729e-03 9.80366691e-01] [ 1.11632895e-02 8.79709466e-03 9.99898991e-01 2.81615309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58864 meters Centerline goodness : 0.986979 Centerline is valid? [False, True] Translation: X:92.44, Y:0.98, Z:0.28 [[ 9.99920722e-01 -3.28539413e-03 -1.21554609e-02 9.24424498e+01] [ 3.19925621e-03 9.99969684e-01 -7.09902730e-03 9.79730404e-01] [ 1.21784155e-02 7.05957607e-03 9.99900919e-01 2.77359286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61864 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:92.42, Y:0.98, Z:0.30 [[ 9.99788602e-01 1.69119286e-02 -1.16935037e-02 9.24192335e+01] [-1.68608363e-02 9.99847925e-01 4.45415727e-03 9.84937833e-01] [ 1.17670538e-02 -4.25605341e-03 9.99921708e-01 3.00038814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64864 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:92.45, Y:0.99, Z:0.30 [[ 9.99849764e-01 1.26772944e-02 -1.18209746e-02 9.24471684e+01] [-1.26738231e-02 9.99919616e-01 3.68525895e-04 9.87326589e-01] [ 1.18246963e-02 -2.18653588e-04 9.99930062e-01 3.02390409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67864 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:92.48, Y:0.98, Z:0.30 [[ 9.99884910e-01 9.50926773e-03 -1.18211526e-02 9.24750472e+01] [-9.50564366e-03 9.99954755e-01 3.62724493e-04 9.84564830e-01] [ 1.18240670e-02 -2.50315084e-04 9.99930062e-01 3.03015244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70864 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:92.51, Y:0.98, Z:0.32 [[ 9.99901989e-01 7.50130030e-03 -1.18213281e-02 9.25053610e+01] [-7.49760469e-03 9.99971829e-01 3.56909380e-04 9.78312333e-01] [ 1.18236724e-02 -2.68242754e-04 9.99930062e-01 3.18627639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73863999999999 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:92.53, Y:0.98, Z:0.30 [[ 9.99928789e-01 1.64787460e-03 -1.18195462e-02 9.25335628e+01] [-1.64306832e-03 9.99998563e-01 4.16336699e-04 9.76004593e-01] [ 1.18202153e-02 -3.96886729e-04 9.99930060e-01 3.03603179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:92.56, Y:0.97, Z:0.30 [[ 9.99929977e-01 -5.41161842e-04 -1.18214798e-02 9.25620826e+01] [ 5.45352376e-04 9.99999790e-01 3.51264051e-04 9.73348340e-01] [ 1.18212872e-02 -3.57686327e-04 9.99930062e-01 3.03637028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79863999999999 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:92.59, Y:0.97, Z:0.32 [[ 9.99922480e-01 -3.90956184e-03 -1.18215217e-02 9.25886630e+01] [ 3.91397083e-03 9.99992279e-01 3.49850050e-04 9.66969761e-01] [ 1.18200626e-02 -3.96092020e-04 9.99930062e-01 3.19312730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82864 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:92.62, Y:0.96, Z:0.32 [[ 9.99929756e-01 -8.06291720e-04 -1.18250723e-02 9.26229508e+01] [ 8.09047576e-04 9.99999647e-01 2.28270074e-04 9.62491461e-01] [ 1.18248841e-02 -2.37821086e-04 9.99930055e-01 3.18907453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85864 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:92.65, Y:0.95, Z:0.32 [[ 9.99887933e-01 -9.19058875e-03 -1.18175547e-02 9.26472066e+01] [ 9.19697993e-03 9.99957588e-01 4.86588521e-04 9.52177734e-01] [ 1.18125815e-02 -5.95219805e-04 9.99930052e-01 3.19270600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88864 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:92.68, Y:0.95, Z:0.32 [[ 9.99888104e-01 -9.16289259e-03 -1.18246029e-02 9.26783697e+01] [ 9.16634984e-03 9.99957960e-01 2.38213277e-04 9.47731643e-01] [ 1.18219231e-02 -3.46575069e-04 9.99930059e-01 3.20886356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91864 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:92.71, Y:0.94, Z:0.30 [[ 9.99842828e-01 -1.32117035e-02 -1.18224080e-02 9.27093765e+01] [ 1.32163542e-02 9.99912610e-01 3.15335393e-04 9.42722326e-01] [ 1.18172088e-02 -4.71534963e-04 9.99930063e-01 3.04929781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94864 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:92.74, Y:0.94, Z:0.32 [[ 9.99815773e-01 -1.51216277e-02 -1.18218563e-02 9.27359912e+01] [ 1.51266416e-02 9.99885530e-01 3.34816201e-04 9.36738648e-01] [ 1.18154401e-02 -5.13579502e-04 9.99930063e-01 3.20726736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97864 meters Centerline goodness : 0.969135 Centerline is valid? [True, True] Translation: X:92.80, Y:0.97, Z:0.31 [[ 9.97412716e-01 7.09087294e-02 -1.18247721e-02 9.28011479e+01] [-7.09109648e-02 9.97482622e-01 2.30645491e-04 9.65061093e-01] [ 1.18113595e-02 6.08457253e-04 9.99930058e-01 3.06817734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00864 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:92.79, Y:0.91, Z:0.32 [[ 9.99731777e-01 -1.99480725e-02 -1.17663855e-02 9.27931919e+01] [ 1.99736174e-02 9.99798390e-01 2.05749242e-03 9.11336721e-01] [ 1.17229703e-02 -2.29195784e-03 9.99928657e-01 3.20506775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03864 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:92.82, Y:0.91, Z:0.32 [[ 9.99737689e-01 -1.96211534e-02 -1.18137165e-02 9.28218046e+01] [ 1.96255902e-02 9.99807366e-01 2.59745326e-04 9.07783465e-01] [ 1.18063443e-02 -4.91528351e-04 9.99930182e-01 3.21291640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06864 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:92.85, Y:0.91, Z:0.32 [[ 9.99736544e-01 -1.96796062e-02 -1.18133894e-02 9.28501122e+01] [ 1.96841934e-02 9.99806210e-01 2.72152488e-04 9.07011005e-01] [ 1.18057442e-02 -5.04617829e-04 9.99930182e-01 3.21625263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09863999999999 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:92.88, Y:0.90, Z:0.32 [[ 9.99757247e-01 -1.85981619e-02 -1.18134005e-02 9.28775479e+01] [ 1.86026688e-02 9.99826918e-01 2.71729547e-04 9.01553125e-01] [ 1.18063022e-02 -4.91424361e-04 9.99930182e-01 3.21486385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12863999999999 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:92.91, Y:0.89, Z:0.31 [[ 9.99810188e-01 -1.54924947e-02 -1.18139655e-02 9.29085073e+01] [ 1.54965296e-02 9.99879890e-01 2.50071762e-04 8.89604307e-01] [ 1.18086723e-02 -4.33099762e-04 9.99930181e-01 3.07491733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15863999999999 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:92.94, Y:0.88, Z:0.31 [[ 9.99851159e-01 -1.25748596e-02 -1.18123732e-02 9.29360401e+01] [ 1.25794056e-02 9.99920828e-01 3.10625254e-04 8.83433765e-01] [ 1.18075319e-02 -4.59171653e-04 9.99930183e-01 3.08088872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18863999999999 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:92.96, Y:0.87, Z:0.31 [[ 9.99921098e-01 -4.27373404e-03 -1.18124283e-02 9.29644083e+01] [ 4.27767656e-03 9.99990803e-01 3.08513889e-04 8.73978078e-01] [ 1.18110012e-02 -3.59019294e-04 9.99930183e-01 3.08986769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21864 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:92.99, Y:0.87, Z:0.32 [[ 9.99928503e-01 1.85786265e-03 -1.18125577e-02 9.29934309e+01] [-1.85440710e-03 9.99998235e-01 3.03478057e-04 8.69618374e-01] [ 1.18131007e-02 -2.81551068e-04 9.99930183e-01 3.23988552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24864 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:93.02, Y:0.87, Z:0.32 [[ 9.99917813e-01 4.98304948e-03 -1.18125787e-02 9.30223714e+01] [-4.97982157e-03 9.99987555e-01 3.02658063e-04 8.65824000e-01] [ 1.18139398e-02 -2.43808654e-04 9.99930183e-01 3.24710360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27864 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:93.05, Y:0.86, Z:0.33 [[ 9.99814408e-01 1.52182402e-02 -1.18133197e-02 9.30533376e+01] [-1.52160703e-02 9.99884191e-01 2.73545519e-04 8.58858904e-01] [ 1.18161145e-02 -9.37424490e-05 9.99930183e-01 3.25115645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30864 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:93.08, Y:0.86, Z:0.32 [[ 9.99762544e-01 1.83124251e-02 -1.18114346e-02 9.30832306e+01] [-1.83095992e-02 9.99832305e-01 3.47349981e-04 8.56498500e-01] [ 1.18158147e-02 -1.31004867e-04 9.99930182e-01 3.23117830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:93.11, Y:0.85, Z:0.33 [[ 9.99610247e-01 2.52949734e-02 -1.18117549e-02 9.31118163e+01] [-2.52927858e-02 9.99680030e-01 3.34575978e-04 8.54871814e-01] [ 1.18164385e-02 -3.56933906e-05 9.99930183e-01 3.25343561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:93.14, Y:0.86, Z:0.32 [[ 9.99495413e-01 2.94856684e-02 -1.18116766e-02 9.31419792e+01] [-2.94837360e-02 9.99565203e-01 3.37734564e-04 8.55867444e-01] [ 1.18164993e-02 1.06882080e-05 9.99930183e-01 3.24036583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39864 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:93.17, Y:0.86, Z:0.33 [[ 9.99412571e-01 3.21715715e-02 -1.18111455e-02 9.31709610e+01] [-3.21695709e-02 9.99482361e-01 3.59382037e-04 8.56037819e-01] [ 1.18165935e-02 2.07885568e-05 9.99930181e-01 3.25067341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:93.20, Y:0.86, Z:0.31 [[ 9.99297572e-01 3.55650447e-02 -1.18106045e-02 9.31989701e+01] [-3.55630161e-02 9.99367363e-01 3.81800338e-04 8.57025315e-01] [ 1.18167114e-02 3.84885677e-05 9.99930179e-01 3.12170673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45864 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:93.23, Y:0.86, Z:0.33 [[ 9.99231550e-01 3.73732681e-02 -1.18130210e-02 9.32303837e+01] [-3.73725718e-02 9.99301362e-01 2.79766285e-04 8.57164110e-01] [ 1.18152238e-02 1.61931678e-04 9.99930185e-01 3.25271613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:93.26, Y:0.86, Z:0.31 [[ 9.99188209e-01 3.85152574e-02 -1.18109653e-02 9.32581018e+01] [-3.85136202e-02 9.99258008e-01 3.66117945e-04 8.58847224e-01] [ 1.18163028e-02 8.90622967e-05 9.99930181e-01 3.11928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51863999999999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:93.29, Y:0.86, Z:0.33 [[ 9.99191355e-01 3.84328860e-02 -1.18130867e-02 9.32880186e+01] [-3.84323203e-02 9.99261168e-01 2.74985287e-04 8.58824892e-01] [ 1.18149273e-02 1.79241409e-04 9.99930185e-01 3.28190487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:93.32, Y:0.86, Z:0.32 [[ 9.99209858e-01 3.79491847e-02 -1.18117955e-02 9.33183028e+01] [-3.79479191e-02 9.99279663e-01 3.31335360e-04 8.58171997e-01] [ 1.18158609e-02 1.17159501e-04 9.99930183e-01 3.24873726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:93.35, Y:0.86, Z:0.33 [[ 9.99268103e-01 3.63835612e-02 -1.18107954e-02 9.33468251e+01] [-3.63816641e-02 9.99337898e-01 3.75509876e-04 8.59809090e-01] [ 1.18166378e-02 5.44613475e-05 9.99930180e-01 3.25239686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:93.38, Y:0.86, Z:0.33 [[ 9.99324723e-01 3.47936858e-02 -1.18108818e-02 9.33753797e+01] [-3.47917233e-02 9.99394516e-01 3.71641503e-04 8.61964269e-01] [ 1.18166613e-02 3.95303906e-05 9.99930180e-01 3.26846684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:93.40, Y:0.86, Z:0.33 [[ 9.99335809e-01 3.44737042e-02 -1.18111758e-02 9.34040495e+01] [-3.44718788e-02 9.99405604e-01 3.58156550e-04 8.61794065e-01] [ 1.18165023e-02 4.92347565e-05 9.99930181e-01 3.28035915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:93.43, Y:0.86, Z:0.33 [[ 9.99337266e-01 3.44311537e-02 -1.18120621e-02 9.34325817e+01] [-3.44298161e-02 9.99407068e-01 3.16633844e-04 8.61340105e-01] [ 1.18159605e-02 9.02631275e-05 9.99930185e-01 3.29578275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:93.46, Y:0.86, Z:0.33 [[ 9.99364172e-01 3.36413166e-02 -1.18115709e-02 9.34607520e+01] [-3.36396446e-02 9.99433969e-01 3.40253934e-04 8.61412996e-01] [ 1.18163318e-02 5.72994563e-05 9.99930183e-01 3.31013496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.49, Y:0.86, Z:0.32 [[ 9.99346539e-01 3.41608208e-02 -1.18124462e-02 9.34901979e+01] [-3.41597006e-02 9.99416343e-01 2.96635866e-04 8.63619857e-01] [ 1.18156851e-02 1.07067599e-04 9.99930187e-01 3.15208229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75864 meters Centerline goodness : 0.968284 Centerline is valid? [True, True] Translation: X:93.50, Y:0.83, Z:0.31 [[ 9.98094145e-01 -6.05682654e-02 -1.18136941e-02 9.35022001e+01] [ 6.05752443e-02 9.98163606e-01 2.33496063e-04 8.25871779e-01] [ 1.17778571e-02 -9.48668462e-04 9.99930189e-01 3.09738952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78864 meters Centerline goodness : 0.865794 Centerline is valid? [True, False] Translation: X:93.50, Y:0.83, Z:0.31 [[ 9.98865946e-01 -4.62784079e-02 -1.11862293e-02 9.35013321e+01] [ 4.62168675e-02 9.98915174e-01 -5.69886758e-03 8.33027572e-01] [ 1.14378287e-02 5.17541228e-03 9.99921192e-01 3.10460564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81864 meters Centerline goodness : 0.922540 Centerline is valid? [False, False] Translation: X:93.50, Y:0.84, Z:0.31 [[ 9.99430590e-01 -3.19643708e-02 -1.08062400e-02 9.35018262e+01] [ 3.18400129e-02 9.99426926e-01 -1.14905787e-02 8.40193624e-01] [ 1.11673363e-02 1.11399651e-02 9.99875588e-01 3.10065992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84863999999999 meters Centerline goodness : 0.912934 Centerline is valid? [False, False] Translation: X:93.50, Y:0.85, Z:0.31 [[ 9.99819961e-01 -1.77328597e-02 -6.75206951e-03 9.34997294e+01] [ 1.76178721e-02 9.99704903e-01 -1.67247416e-02 8.46254544e-01] [ 7.04665450e-03 1.66027734e-02 9.99837333e-01 3.09929566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87863999999999 meters Centerline goodness : 0.948176 Centerline is valid? [False, False] Translation: X:93.48, Y:0.84, Z:0.31 [[ 9.99973036e-01 -7.31914480e-03 -5.98428464e-04 9.34776964e+01] [ 7.31027166e-03 9.99879638e-01 -1.36846785e-02 8.43741660e-01] [ 6.98516579e-04 1.36799349e-02 9.99906181e-01 3.06159352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90863999999999 meters Centerline goodness : 0.999311 Centerline is valid? [False, True] Translation: X:93.48, Y:0.84, Z:0.31 [[ 9.99994624e-01 -3.21334273e-03 -6.53468951e-04 9.34778085e+01] [ 3.20780120e-03 9.99960314e-01 -8.31142267e-03 8.38407468e-01] [ 6.80150467e-04 8.30928179e-03 9.99965246e-01 3.06114649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93863999999999 meters Centerline goodness : 0.803535 Centerline is valid? [True, False] Translation: X:93.48, Y:0.84, Z:0.31 [[ 9.99994638e-01 -3.21896012e-03 -6.01230701e-04 9.34777041e+01] [ 3.21401051e-03 9.99962356e-01 -8.05958914e-03 8.37296566e-01] [ 6.27151564e-04 8.05761357e-03 9.99967340e-01 3.06300993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96864 meters Centerline goodness : 0.816574 Centerline is valid? [False, False] Translation: X:93.48, Y:0.84, Z:0.30 [[ 9.99985203e-01 -5.24005247e-03 -1.46160985e-03 9.34828707e+01] [ 5.22494072e-03 9.99934754e-01 -1.01580937e-02 8.37955748e-01] [ 1.51474343e-03 1.01503066e-02 9.99947337e-01 3.01709304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99864 meters Centerline goodness : 0.999508 Centerline is valid? [False, True] Translation: X:93.48, Y:0.84, Z:0.30 [[ 9.99954933e-01 -9.39390877e-03 -1.37373372e-03 9.34826891e+01] [ 9.37234513e-03 9.99844452e-01 -1.49409039e-02 8.40531670e-01] [ 1.51387352e-03 1.49273554e-02 9.99887435e-01 3.01883939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:93.51, Y:0.83, Z:0.30 [[ 9.99957420e-01 -9.07231384e-03 -1.68866355e-03 9.35116826e+01] [ 9.07230029e-03 9.99958846e-01 -1.56844580e-05 8.27595339e-01] [ 1.68873635e-03 3.63727309e-07 9.99998574e-01 3.00418246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:93.54, Y:0.83, Z:0.30 [[ 9.99976212e-01 -6.68768690e-03 -1.68812661e-03 9.35417657e+01] [ 6.68762756e-03 9.99977637e-01 -4.07954356e-05 8.26372019e-01] [ 1.68836168e-03 2.95049032e-05 9.99998574e-01 3.00680512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08864 meters Centerline goodness : 0.810605 Centerline is valid? [True, False] Translation: X:93.52, Y:0.83, Z:0.30 [[ 9.99982624e-01 -3.87464535e-03 4.44294291e-03 9.35182982e+01] [ 3.90641822e-03 9.99966700e-01 -7.16507393e-03 8.31985011e-01] [-4.41503284e-03 7.18230542e-03 9.99964460e-01 2.97462241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11864 meters Centerline goodness : 0.994540 Centerline is valid? [False, True] Translation: X:93.52, Y:0.83, Z:0.30 [[ 9.99983047e-01 -3.86028272e-03 4.35934138e-03 9.35185408e+01] [ 3.89101360e-03 9.99967486e-01 -7.06309269e-03 8.31588143e-01] [-4.33193411e-03 7.07993521e-03 9.99965554e-01 2.97285996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.56, Y:0.85, Z:0.31 [[ 9.97998437e-01 6.30661976e-02 4.66637116e-03 9.35598795e+01] [-6.30650294e-02 9.98009341e-01 -3.97193477e-04 8.53114588e-01] [-4.68213148e-03 1.02113635e-04 9.99989034e-01 3.08138429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.59, Y:0.85, Z:0.31 [[ 9.97936391e-01 6.40398485e-02 4.67518367e-03 9.35915378e+01] [-6.40395524e-02 9.97947338e-01 -2.13169407e-04 8.51866011e-01] [-4.67923843e-03 -8.66671602e-05 9.99989049e-01 3.08369878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.62, Y:0.85, Z:0.30 [[ 9.97830161e-01 6.56743169e-02 4.67476634e-03 9.36221753e+01] [-6.56739978e-02 9.97841108e-01 -2.21905020e-04 8.51100166e-01] [-4.67924748e-03 -8.55870722e-05 9.99989049e-01 2.96010956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:93.65, Y:0.85, Z:0.31 [[ 9.97762941e-01 6.66877836e-02 4.67469491e-03 9.36525822e+01] [-6.66874686e-02 9.97773888e-01 -2.23399611e-04 8.50009835e-01] [-4.67918654e-03 -8.88437171e-05 9.99989049e-01 3.07767605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters Centerline goodness : 0.822358 Centerline is valid? [True, False] Translation: X:93.65, Y:0.84, Z:0.31 [[ 9.98614032e-01 5.12478553e-02 1.19863707e-02 9.36481966e+01] [-5.12826313e-02 9.98680765e-01 2.61195902e-03 8.44674156e-01] [-1.18367005e-02 -3.22303155e-03 9.99924749e-01 3.07503243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:93.65, Y:0.84, Z:0.31 [[ 9.99314725e-01 3.49986196e-02 1.20489072e-02 9.36491869e+01] [-3.50825890e-02 9.99361080e-01 6.82962229e-03 8.39018975e-01] [-1.18021815e-02 -7.24764898e-03 9.99904085e-01 3.07214754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:0.85, Z:0.26 [[ 9.98967439e-01 4.38372320e-02 1.19311891e-02 9.36791456e+01] [-4.38368764e-02 9.99038660e-01 -2.91446055e-04 8.51063776e-01] [-1.19324953e-02 -2.31880943e-04 9.99928778e-01 2.64587364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.71, Y:0.85, Z:0.29 [[ 9.99380568e-01 3.31072668e-02 1.19327293e-02 9.37109879e+01] [-3.31072479e-02 9.99451785e-01 -1.99173134e-04 8.46366717e-01] [-1.19327817e-02 -1.96010067e-04 9.99928783e-01 2.92792955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:93.74, Y:0.85, Z:0.30 [[ 9.99384663e-01 3.29834298e-02 1.19327097e-02 9.37430527e+01] [-3.29833881e-02 9.99455880e-01 -2.00343168e-04 8.47247342e-01] [-1.19328248e-02 -1.93361304e-04 9.99928783e-01 3.02590200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.77, Y:0.85, Z:0.29 [[ 9.99409109e-01 3.22343555e-02 1.19322689e-02 9.37742755e+01] [-3.22339498e-02 9.99480326e-01 -2.26370683e-04 8.47511174e-01] [-1.19333649e-02 -1.58387233e-04 9.99928782e-01 2.91646728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44864 meters Centerline goodness : 0.844066 Centerline is valid? [True, False] Translation: X:93.78, Y:0.84, Z:0.29 [[ 9.99822686e-01 1.54391385e-02 1.07809906e-02 9.37774033e+01] [-1.54763918e-02 9.99874518e-01 3.38062864e-03 8.43507471e-01] [-1.07274438e-02 -3.54688005e-03 9.99936169e-01 2.90713365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47864 meters Centerline goodness : 0.945569 Centerline is valid? [False, False] Translation: X:93.78, Y:0.85, Z:0.29 [[ 9.99877000e-01 1.13585372e-02 1.08152355e-02 9.37772239e+01] [-1.13413553e-02 9.99934326e-01 -1.64869008e-03 8.46850119e-01] [-1.08332519e-02 1.52582786e-03 9.99940154e-01 2.90503248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50864 meters Centerline goodness : 0.999212 Centerline is valid? [False, True] Translation: X:93.80, Y:0.85, Z:0.29 [[ 9.99975431e-01 3.05335778e-03 6.30982794e-03 9.38008103e+01] [-3.05423698e-03 9.99995327e-01 1.29706681e-04 8.45914913e-01] [-6.30940242e-03 -1.48975204e-04 9.99980084e-01 2.93863848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:93.82, Y:0.82, Z:0.28 [[ 9.98299775e-01 -5.79459392e-02 6.31081767e-03 9.38203339e+01] [ 5.79469082e-02 9.98319666e-01 2.93446300e-05 8.23056459e-01] [-6.30191379e-03 3.36397635e-04 9.99980086e-01 2.78740562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:93.86, Y:0.85, Z:0.29 [[ 9.99967428e-01 5.03587925e-03 6.30734180e-03 9.38619777e+01] [-5.03849291e-03 9.99987227e-01 3.98562640e-04 8.48788566e-01] [-6.30525413e-03 -4.30329155e-04 9.99980029e-01 2.92047551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:93.89, Y:0.85, Z:0.29 [[ 9.99964112e-01 5.65301083e-03 6.31011847e-03 9.38945212e+01] [-5.65323294e-03 9.99984020e-01 1.73632275e-05 8.51118673e-01] [-6.30991949e-03 -5.30351740e-05 9.99980091e-01 2.91067049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:93.93, Y:0.86, Z:0.29 [[ 9.99953749e-01 7.25824753e-03 6.31013543e-03 9.39259374e+01] [-7.25848696e-03 9.99973657e-01 1.50436674e-05 8.55077065e-01] [-6.30986001e-03 -6.08450074e-05 9.99980091e-01 2.90963632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:93.96, Y:0.86, Z:0.29 [[ 9.99951613e-01 7.54674726e-03 6.31015601e-03 9.39568552e+01] [-7.54697507e-03 9.99971521e-01 1.22912555e-05 8.56213407e-01] [-6.30988355e-03 -5.99132509e-05 9.99980091e-01 2.89544425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:93.99, Y:0.86, Z:0.29 [[ 9.99953089e-01 7.34862911e-03 6.31013115e-03 9.39884739e+01] [-7.34887375e-03 9.99972997e-01 1.55838962e-05 8.56560249e-01] [-6.30984623e-03 -6.19555223e-05 9.99980091e-01 2.87264694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:94.02, Y:0.86, Z:0.29 [[ 9.99967247e-01 5.06819998e-03 6.31021642e-03 9.40194292e+01] [-5.06832881e-03 9.99987156e-01 4.42487090e-06 8.58245570e-01] [-6.31011294e-03 -3.64069776e-05 9.99980090e-01 2.90452195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:94.05, Y:0.86, Z:0.29 [[ 9.99973376e-01 3.66459451e-03 6.31016104e-03 9.40511095e+01] [-3.66474097e-03 9.99993285e-01 1.16466582e-05 8.59803155e-01] [-6.31007599e-03 -3.47714538e-05 9.99980091e-01 2.89155058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77864 meters Centerline goodness : 0.936161 Centerline is valid? [True, False] Translation: X:94.06, Y:0.88, Z:0.29 [[ 9.99983938e-01 5.16773641e-03 -2.32772543e-03 9.40550565e+01] [-5.21188215e-03 9.99798680e-01 -1.93761693e-02 8.76985754e-01] [ 2.22712588e-03 1.93879899e-02 9.99809555e-01 2.91758192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80864 meters Centerline goodness : 0.998721 Centerline is valid? [False, True] Translation: X:94.03, Y:0.87, Z:0.29 [[ 9.99991499e-01 -6.85395161e-04 4.06598364e-03 9.40325492e+01] [ 7.53073786e-04 9.99860813e-01 -1.66669684e-02 8.73122247e-01] [-4.05399425e-03 1.66698887e-02 9.99852829e-01 2.87453367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:94.06, Y:0.86, Z:0.27 [[ 9.99989886e-01 -2.23581850e-03 3.90236637e-03 9.40633324e+01] [ 2.23553837e-03 9.99997498e-01 7.61444790e-05 8.59289394e-01] [-3.90252686e-03 -6.74198192e-05 9.99992383e-01 2.72962165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86864 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:94.10, Y:0.86, Z:0.29 [[ 9.99987591e-01 -3.09628831e-03 3.90273773e-03 9.40951215e+01] [ 3.09616163e-03 9.99995206e-01 3.84998798e-05 8.60544406e-01] [-3.90283823e-03 -2.64158953e-05 9.99992384e-01 2.89259752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:94.13, Y:0.86, Z:0.27 [[ 9.99976219e-01 -5.68586365e-03 3.90278999e-03 9.41257850e+01] [ 5.68577755e-03 9.99983835e-01 3.31543461e-05 8.59557068e-01] [-3.90291541e-03 -1.09631619e-05 9.99992384e-01 2.72635228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92864 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:94.16, Y:0.86, Z:0.29 [[ 9.99964920e-01 -7.41123242e-03 3.90274673e-03 9.41559073e+01] [ 7.41114196e-03 9.99972536e-01 3.76400371e-05 8.59158806e-01] [-3.90291850e-03 -8.71490672e-06 9.99992384e-01 2.89216327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95864 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:94.19, Y:0.86, Z:0.29 [[ 9.99968145e-01 -6.96265799e-03 3.90272728e-03 9.41876125e+01] [ 6.96255619e-03 9.99975760e-01 3.96688039e-05 8.59735250e-01] [-3.90290888e-03 -1.24945822e-05 9.99992384e-01 2.89092423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:94.22, Y:0.86, Z:0.29 [[ 9.99955337e-01 -8.60771019e-03 3.90274321e-03 9.42177703e+01] [ 8.60762773e-03 9.99962953e-01 3.79251680e-05 8.59428845e-01] [-3.90292508e-03 -4.33011342e-06 9.99992384e-01 2.90865448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01863999999999 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:94.25, Y:0.86, Z:0.29 [[ 9.99962412e-01 -7.74244877e-03 3.90253178e-03 9.42508390e+01] [ 7.74226675e-03 9.99970026e-01 6.17463616e-05 8.59117012e-01] [-3.90289287e-03 -3.15295986e-05 9.99992383e-01 2.92069770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:94.28, Y:0.86, Z:0.27 [[ 9.99964787e-01 -7.42927322e-03 3.90268041e-03 9.42821753e+01] [ 7.42915842e-03 9.99972402e-01 4.39117958e-05 8.59051489e-01] [-3.90289894e-03 -1.49166185e-05 9.99992384e-01 2.70609814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:94.31, Y:0.86, Z:0.27 [[ 9.99964073e-01 -7.52473625e-03 3.90277766e-03 9.43139968e+01] [ 7.52466836e-03 9.99971689e-01 3.20801566e-05 8.58868315e-01] [-3.90290857e-03 -2.71189643e-06 9.99992384e-01 2.69926124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10864 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:94.34, Y:0.86, Z:0.29 [[ 9.99959422e-01 -8.11929803e-03 3.90279144e-03 9.43446330e+01] [ 8.11924159e-03 9.99967038e-01 3.03059828e-05 8.58201729e-01] [-3.90290886e-03 1.38295358e-06 9.99992384e-01 2.87389062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13864 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:94.38, Y:0.86, Z:0.29 [[ 9.99963213e-01 -7.63808336e-03 3.90274205e-03 9.43763901e+01] [ 7.63799775e-03 9.99970829e-01 3.68404044e-05 8.57043648e-01] [-3.90290960e-03 -7.02991419e-06 9.99992384e-01 2.86708652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16864 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:94.41, Y:0.85, Z:0.29 [[ 9.99952240e-01 -8.96025377e-03 3.90276420e-03 9.44072700e+01] [ 8.96019039e-03 9.99959856e-01 3.37253999e-05 8.53990700e-01] [-3.90290972e-03 1.24572118e-06 9.99992384e-01 2.86120206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19864 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:94.44, Y:0.85, Z:0.29 [[ 9.99953964e-01 -8.76572400e-03 3.90271617e-03 9.44389903e+01] [ 8.76563202e-03 9.99961580e-01 4.06712759e-05 8.53363085e-01] [-3.90292274e-03 -6.45962979e-06 9.99992384e-01 2.86795031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:94.47, Y:0.85, Z:0.27 [[ 9.99962438e-01 -7.73899532e-03 3.90270077e-03 9.44717509e+01] [ 7.73888635e-03 9.99970053e-01 4.30226856e-05 8.52645203e-01] [-3.90291685e-03 -1.28185118e-05 9.99992384e-01 2.67877158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25864 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:94.47, Y:0.82, Z:0.28 [[ 9.97766670e-01 -6.66816317e-02 3.90281775e-03 9.44660868e+01] [ 6.66820461e-02 9.97774275e-01 2.39975215e-05 8.18644964e-01] [-3.89573135e-03 2.36303946e-04 9.99992384e-01 2.82302289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28864 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:94.53, Y:0.85, Z:0.28 [[ 9.99991635e-01 -1.24391156e-03 3.89648745e-03 9.45264630e+01] [ 1.24166111e-03 9.99999061e-01 5.79925160e-04 8.49409694e-01] [-3.89720517e-03 -5.75082192e-04 9.99992241e-01 2.84720280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:94.56, Y:0.85, Z:0.27 [[ 9.99991646e-01 1.22632693e-03 3.89930549e-03 9.45593022e+01] [-1.22648697e-03 9.99999247e-01 3.86516147e-05 8.50533973e-01] [-3.89925516e-03 -4.34337392e-05 9.99992397e-01 2.69124824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:94.59, Y:0.85, Z:0.27 [[ 9.99985514e-01 3.71043446e-03 3.89940121e-03 9.45918043e+01] [-3.71054004e-03 9.99993116e-01 1.98403619e-05 8.50996721e-01] [-3.89930074e-03 -3.43089588e-05 9.99992397e-01 2.67415624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37863999999999 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:94.62, Y:0.85, Z:0.28 [[ 9.99978316e-01 5.30673488e-03 3.89940374e-03 9.46219188e+01] [-5.30685059e-03 9.99985918e-01 1.93286609e-05 8.50803358e-01] [-3.89924626e-03 -4.00217948e-05 9.99992397e-01 2.82818682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999999 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:94.65, Y:0.85, Z:0.28 [[ 9.99974908e-01 5.91427354e-03 3.89934927e-03 9.46545626e+01] [-5.91443655e-03 9.99982509e-01 3.02759445e-05 8.51639594e-01] [-3.89910201e-03 -5.33376387e-05 9.99992397e-01 2.81249770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43863999999999 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:94.69, Y:0.85, Z:0.27 [[ 9.99960170e-01 8.02828049e-03 3.89936049e-03 9.46859466e+01] [-8.02845053e-03 9.99967771e-01 2.79554094e-05 8.53446342e-01] [-3.89901039e-03 -5.92601187e-05 9.99992397e-01 2.69376535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46864 meters Centerline goodness : 0.882628 Centerline is valid? [True, False] Translation: X:94.69, Y:0.86, Z:0.27 [[ 9.99984146e-01 3.94870577e-03 4.01447292e-03 9.46856640e+01] [-3.92858606e-03 9.99979746e-01 -5.00738636e-03 8.56991904e-01] [-4.03416431e-03 4.99153577e-03 9.99979405e-01 2.69296709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49864 meters Centerline goodness : 0.998422 Centerline is valid? [False, True] Translation: X:94.66, Y:0.87, Z:0.27 [[ 9.99978175e-01 1.90775917e-03 6.32527556e-03 9.46619355e+01] [-1.77880910e-03 9.99791746e-01 -2.03297998e-02 8.69153312e-01] [-6.36274266e-03 2.03181046e-02 9.99773319e-01 2.69542148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:94.69, Y:0.86, Z:0.27 [[ 9.99965801e-01 5.63272712e-03 6.05553107e-03 9.46940541e+01] [-5.63331728e-03 9.99984130e-01 8.04052395e-05 8.56537915e-01] [-6.05498207e-03 -1.14515218e-04 9.99981662e-01 2.68723580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:94.73, Y:0.86, Z:0.27 [[ 9.99949417e-01 8.03082140e-03 6.05554154e-03 9.47262656e+01] [-8.03145070e-03 9.99967744e-01 7.96090360e-05 8.60543450e-01] [-6.05470689e-03 -1.28239792e-04 9.99981662e-01 2.68181423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58864 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:94.76, Y:0.87, Z:0.28 [[ 9.99927390e-01 1.04184849e-02 6.05555186e-03 9.47571677e+01] [-1.04191532e-02 9.99945716e-01 7.88163715e-05 8.67241718e-01] [-6.05440199e-03 -1.41904371e-04 9.99981662e-01 2.77780418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61864 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:94.79, Y:0.87, Z:0.28 [[ 9.99876040e-01 1.45339438e-02 6.05557055e-03 9.47902900e+01] [-1.45346788e-02 9.99894363e-01 7.73788725e-05 8.71727374e-01] [-6.05380624e-03 -1.65385053e-04 9.99981662e-01 2.81212371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:94.82, Y:0.86, Z:0.27 [[ 9.99448194e-01 -3.26593549e-02 6.05588886e-03 9.48152850e+01] [ 3.26596340e-02 9.99466530e-01 5.28387046e-05 8.57693808e-01] [-6.05438391e-03 1.44973566e-04 9.99981662e-01 2.69309759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67864 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:94.85, Y:0.89, Z:0.28 [[ 9.99800372e-01 1.90412263e-02 6.05379498e-03 9.48519094e+01] [-1.90428735e-02 9.99818645e-01 2.14565836e-04 8.87917058e-01] [-6.04861149e-03 -3.29804655e-04 9.99981653e-01 2.80180443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70864 meters Centerline goodness : 0.879516 Centerline is valid? [True, False] Translation: X:94.88, Y:0.89, Z:0.28 [[ 9.99956627e-01 8.41940930e-03 3.98218051e-03 9.48767692e+01] [-8.41870296e-03 9.99964543e-01 -1.94106715e-04 8.91240333e-01] [-3.98367358e-03 1.60573502e-04 9.99992052e-01 2.80588484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73863999999999 meters Centerline goodness : 0.997247 Centerline is valid? [False, True] Translation: X:94.88, Y:0.90, Z:0.28 [[ 9.99956473e-01 8.45725468e-03 3.94042486e-03 9.48770618e+01] [-8.44893782e-03 9.99962054e-01 -2.12253936e-03 8.99132341e-01] [-3.95822619e-03 2.08915457e-03 9.99989984e-01 2.80133107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:94.91, Y:0.90, Z:0.28 [[ 9.99974708e-01 5.95195245e-03 3.89339744e-03 9.49095716e+01] [-5.95232081e-03 9.99982281e-01 8.30321423e-05 9.01637211e-01] [-3.89283425e-03 -1.06204793e-04 9.99992417e-01 2.79632779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79863999999999 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:94.94, Y:0.91, Z:0.28 [[ 9.99989969e-01 2.21452880e-03 3.89340816e-03 9.49413722e+01] [-2.21486689e-03 9.99997544e-01 8.25262990e-05 9.10174922e-01] [-3.89321584e-03 -9.11488520e-05 9.99992417e-01 2.79737048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82864 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:94.97, Y:0.91, Z:0.28 [[ 9.99992239e-01 6.02746420e-04 3.89344480e-03 9.49743525e+01] [-6.03065424e-04 9.99999815e-01 8.07600304e-05 9.14560732e-01] [-3.89339540e-03 -8.31074056e-05 9.99992417e-01 2.78995879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85864 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:95.01, Y:0.92, Z:0.28 [[ 9.99991603e-01 -1.27860398e-03 3.89348546e-03 9.50073443e+01] [ 1.27830705e-03 9.99999180e-01 7.87498709e-05 9.18061681e-01] [-3.89358296e-03 -7.37721397e-05 9.99992417e-01 2.78513133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88864 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:95.04, Y:0.93, Z:0.29 [[ 9.99987841e-01 -3.02618117e-03 3.89352525e-03 9.50393477e+01] [ 3.02590534e-03 9.99995419e-01 7.67306444e-05 9.25502693e-01] [-3.89373962e-03 -6.49482726e-05 9.99992417e-01 2.92816670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91864 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:95.07, Y:0.93, Z:0.28 [[ 9.99965481e-01 -7.33982670e-03 3.89410082e-03 9.50688794e+01] [ 7.33969883e-03 9.99973063e-01 4.71255553e-05 9.28540186e-01] [-3.89434181e-03 -1.85424013e-05 9.99992417e-01 2.76989336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94864 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:95.10, Y:0.93, Z:0.29 [[ 9.99965563e-01 -7.32891044e-03 3.89353944e-03 9.51018531e+01] [ 7.32867039e-03 9.99973142e-01 7.59169047e-05 9.32988025e-01] [-3.89399126e-03 -4.73798232e-05 9.99992417e-01 2.91432322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97864 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:95.14, Y:0.94, Z:0.29 [[ 9.99961510e-01 -7.86224101e-03 3.89411433e-03 9.51352356e+01] [ 7.86212198e-03 9.99969092e-01 4.58725107e-05 9.35580273e-01] [-3.89435463e-03 -1.52547432e-05 9.99992417e-01 2.92047776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00864 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:95.17, Y:0.94, Z:0.29 [[ 9.99945685e-01 -9.66756676e-03 3.89420634e-03 9.51676832e+01] [ 9.66748034e-03 9.99953268e-01 4.10151031e-05 9.42338596e-01] [-3.89442087e-03 -3.36571215e-06 9.99992417e-01 2.93594976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03864 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:95.20, Y:0.95, Z:0.28 [[ 9.99910883e-01 -1.27695680e-02 3.89414427e-03 9.51981293e+01] [ 1.27694925e-02 9.99918466e-01 4.42599113e-05 9.45695575e-01] [-3.89439194e-03 5.47027904e-06 9.99992417e-01 2.78492499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06864 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:95.23, Y:0.95, Z:0.29 [[ 9.99922094e-01 -1.18594240e-02 3.89357335e-03 9.52315519e+01] [ 1.18592250e-02 9.99929674e-01 7.42131726e-05 9.50581269e-01] [-3.89417966e-03 -2.80326287e-05 9.99992417e-01 2.91095425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09863999999999 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:95.26, Y:0.95, Z:0.29 [[ 9.99893764e-01 -1.40461697e-02 3.89435221e-03 9.52618091e+01] [ 1.40461483e-02 9.99901347e-01 3.28481271e-05 9.52438040e-01] [-3.89442941e-03 2.18560113e-05 9.99992416e-01 2.93571063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:95.29, Y:0.95, Z:0.30 [[ 9.99875090e-01 -1.53179858e-02 3.89409357e-03 9.52941013e+01] [ 1.53179221e-02 9.99882673e-01 4.62021751e-05 9.54840508e-01] [-3.89434441e-03 1.34530179e-05 9.99992417e-01 2.95771511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15863999999999 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:95.32, Y:0.96, Z:0.29 [[ 9.99746266e-01 -2.21864195e-02 3.89446917e-03 9.53238702e+01] [ 2.21864822e-02 9.99753849e-01 2.71132539e-05 9.56886814e-01] [-3.89411209e-03 5.92981967e-05 9.99992416e-01 2.94529200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:95.35, Y:0.96, Z:0.28 [[ 9.99661798e-01 -2.57124204e-02 3.89377378e-03 9.53543491e+01] [ 2.57123743e-02 9.99669380e-01 6.18965542e-05 9.57732384e-01] [-3.89407793e-03 3.82425484e-05 9.99992417e-01 2.77955705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:95.39, Y:0.96, Z:0.28 [[ 9.99627961e-01 -2.69959215e-02 3.89346165e-03 9.53864891e+01] [ 2.69958242e-02 9.99635543e-01 7.75642376e-05 9.59468694e-01] [-3.89413657e-03 2.75718255e-05 9.99992417e-01 2.78148903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:95.42, Y:0.96, Z:0.28 [[ 9.99628339e-01 -2.69819360e-02 3.89347385e-03 9.54187868e+01] [ 2.69818410e-02 9.99635921e-01 7.69471279e-05 9.61424656e-01] [-3.89413250e-03 2.81345626e-05 9.99992417e-01 2.77004193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27864 meters Centerline goodness : 0.873877 Centerline is valid? [True, False] Translation: X:95.42, Y:0.97, Z:0.28 [[ 9.99917803e-01 -1.27208789e-02 1.60198985e-03 9.54213229e+01] [ 1.27296546e-02 9.99903336e-01 -5.59237931e-03 9.68629066e-01] [-1.53069501e-03 5.61231241e-03 9.99983079e-01 2.76179639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:95.44, Y:0.97, Z:0.28 [[ 9.99988651e-01 -4.66063573e-03 -9.88531682e-04 9.54436289e+01] [ 4.65406217e-03 9.99967711e-01 -6.55102739e-03 9.67983250e-01] [ 1.01903172e-03 6.54635235e-03 9.99978053e-01 2.78670788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:95.48, Y:0.96, Z:0.30 [[ 9.99998282e-01 -1.58049917e-03 -9.68708376e-04 9.54759257e+01] [ 1.58050275e-03 9.99998751e-01 2.93305978e-06 9.59066589e-01] [ 9.68702530e-04 -4.46410099e-06 9.99999531e-01 2.95161786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:0.96, Z:0.28 [[ 9.99991731e-01 -3.94952380e-03 -9.68679803e-04 9.55052629e+01] [ 3.94953765e-03 9.99992200e-01 1.23858511e-05 9.58617922e-01] [ 9.68623330e-04 -1.62115860e-05 9.99999531e-01 2.78701267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:0.96, Z:0.28 [[ 9.99992603e-01 -3.72224969e-03 -9.68707437e-04 9.55355038e+01] [ 3.72225414e-03 9.99993072e-01 2.78947199e-06 9.57561725e-01] [ 9.68690343e-04 -6.39522662e-06 9.99999531e-01 2.79173359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.57, Y:0.96, Z:0.28 [[ 9.99999511e-01 -2.01086187e-04 -9.68707437e-04 9.55658874e+01] [ 2.01088983e-04 9.99999980e-01 2.78947199e-06 9.55474577e-01] [ 9.68706857e-04 -2.98426701e-06 9.99999531e-01 2.78177146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45864 meters Centerline goodness : 0.586836 Centerline is valid? [True, False] Translation: X:95.59, Y:0.96, Z:0.28 [[ 9.99979144e-01 1.57070540e-03 -6.26450603e-03 9.55868631e+01] [-1.61706797e-03 9.99971293e-01 -7.40264807e-03 9.62331137e-01] [ 6.25269881e-03 7.41262381e-03 9.99952977e-01 2.83066463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters Centerline goodness : 0.855512 Centerline is valid? [False, False] Translation: X:95.59, Y:0.96, Z:0.28 [[ 9.99978830e-01 1.64074417e-03 -6.29666407e-03 9.55869337e+01] [-1.68975598e-03 9.99968258e-01 -7.78636257e-03 9.64048484e-01] [ 6.28368877e-03 7.79683756e-03 9.99949861e-01 2.83272908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51863999999999 meters Centerline goodness : 0.998722 Centerline is valid? [False, True] Translation: X:95.61, Y:0.97, Z:0.29 [[ 9.99921993e-01 3.15845677e-03 -1.20844087e-02 9.56082200e+01] [-3.34116905e-03 9.99879961e-01 -1.51294767e-02 9.70771244e-01] [ 1.20351723e-02 1.51686726e-02 9.99812515e-01 2.88222497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999999 meters Centerline goodness : 0.863534 Centerline is valid? [True, False] Translation: X:95.61, Y:0.97, Z:0.29 [[ 9.99927144e-01 -1.00977415e-03 -1.20285617e-02 9.56081519e+01] [ 7.67104533e-04 9.99796432e-01 -2.01620071e-02 9.74261005e-01] [ 1.20464722e-02 2.01513110e-02 9.99724366e-01 2.88873073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:95.59, Y:0.96, Z:0.29 [[ 9.99978979e-01 3.36582932e-03 -5.54195755e-03 9.55890430e+01] [-3.41429911e-03 9.99955803e-01 -8.75985983e-03 9.64756864e-01] [ 5.51222842e-03 8.77859759e-03 9.99946274e-01 2.85905632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:95.62, Y:0.96, Z:0.30 [[ 9.99949071e-01 8.38882386e-03 -5.61105389e-03 9.56198893e+01] [-8.38920474e-03 9.99964809e-01 -4.43470568e-05 9.59112803e-01] [ 5.61048441e-03 9.14170782e-05 9.99984257e-01 2.99181139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63864 meters Centerline goodness : 0.863475 Centerline is valid? [True, False] Translation: X:95.62, Y:0.97, Z:0.30 [[ 9.99983177e-01 1.63281913e-04 -5.79815909e-03 9.56203357e+01] [-2.23217293e-04 9.99946538e-01 -1.03378251e-02 9.67275226e-01] [ 5.79616113e-03 1.03389455e-02 9.99929753e-01 3.00091840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:95.62, Y:0.97, Z:0.30 [[ 9.99987159e-01 1.75107597e-03 -4.75567213e-03 9.56161083e+01] [-1.79307161e-03 9.99959312e-01 -8.84078227e-03 9.66265020e-01] [ 4.73999775e-03 8.84919601e-03 9.99949611e-01 3.02881373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69864 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:95.60, Y:0.95, Z:0.29 [[ 9.99386479e-01 -3.46859511e-02 -4.85290692e-03 9.56008084e+01] [ 3.46860995e-02 9.99398255e-01 -5.35964423e-05 9.50091155e-01] [ 4.85184575e-03 -1.14764853e-04 9.99988223e-01 2.87442708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:95.67, Y:0.96, Z:0.32 [[ 9.99942766e-01 9.54144107e-03 -4.84009699e-03 9.56716536e+01] [-9.54566681e-03 9.99954077e-01 -8.50721357e-04 9.61859474e-01] [ 4.83175761e-03 8.96874620e-04 9.99987925e-01 3.16336968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:95.70, Y:0.96, Z:0.32 [[ 9.99908489e-01 1.26303215e-02 -4.84655119e-03 9.56999152e+01] [-1.26303308e-02 9.99920234e-01 2.86892274e-05 9.63043997e-01] [ 4.84652695e-03 3.25269427e-05 9.99988255e-01 3.16619576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:95.73, Y:0.96, Z:0.30 [[ 9.99919987e-01 1.16846852e-02 -4.84645241e-03 9.57273553e+01] [-1.16847436e-02 9.99931731e-01 1.62685977e-05 9.63952926e-01] [ 4.84631164e-03 4.03622579e-05 9.99988256e-01 3.02717658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:95.76, Y:0.97, Z:0.30 [[ 9.99894076e-01 1.37241900e-02 -4.84596578e-03 9.57563505e+01] [-1.37245503e-02 9.99905813e-01 -4.11039805e-05 9.67219520e-01] [ 4.84494523e-03 1.07608328e-04 9.99988257e-01 3.03437876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters Centerline goodness : 0.930407 Centerline is valid? [True, False] Translation: X:95.78, Y:0.97, Z:0.31 [[ 9.99964673e-01 2.12901745e-03 -8.13144245e-03 9.57841051e+01] [-2.12190850e-03 9.99997359e-01 8.82782206e-04 9.66461942e-01] [ 8.13330043e-03 -8.65496843e-04 9.99966550e-01 3.05121573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87863999999999 meters Centerline goodness : 0.930407 Centerline is valid? [False, False] Translation: X:95.78, Y:0.97, Z:0.31 [[ 9.99965199e-01 -1.80898811e-03 -8.14418847e-03 9.57841611e+01] [ 1.77937672e-03 9.99991786e-01 -3.64167128e-03 9.68868287e-01] [ 8.15070931e-03 3.62705297e-03 9.99960204e-01 3.05357733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999999 meters Centerline goodness : 0.998772 Centerline is valid? [False, True] Translation: X:95.78, Y:0.97, Z:0.31 [[ 9.99950504e-01 -5.97313237e-03 -7.95684580e-03 9.57837274e+01] [ 5.90179099e-03 9.99942446e-01 -8.95954538e-03 9.73801086e-01] [ 8.00990441e-03 8.91214228e-03 9.99928205e-01 3.06156716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93863999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:95.81, Y:0.97, Z:0.30 [[ 9.99901609e-01 -1.13661629e-02 -8.22082358e-03 9.58121202e+01] [ 1.13661942e-02 9.99935402e-01 -4.29095090e-05 9.67406140e-01] [ 8.22078025e-03 -5.05341902e-05 9.99966208e-01 3.03124603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:95.84, Y:0.97, Z:0.30 [[ 9.99896885e-01 -1.17769718e-02 -8.21717847e-03 9.58406019e+01] [ 1.17760318e-02 9.99930647e-01 -1.62770255e-04 9.69256188e-01] [ 8.21852552e-03 6.59877156e-05 9.99966225e-01 3.03653694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:95.87, Y:0.97, Z:0.30 [[ 9.99870394e-01 -1.38450076e-02 -8.21651147e-03 9.58695653e+01] [ 1.38439610e-02 9.99904151e-01 -1.84244214e-04 9.71901333e-01] [ 8.21827479e-03 7.04712704e-05 9.99966227e-01 3.04211090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:95.90, Y:0.98, Z:0.31 [[ 9.99870845e-01 -1.38124212e-02 -8.21643846e-03 9.59000465e+01] [ 1.38113544e-02 9.99904601e-01 -1.86561907e-04 9.75303400e-01] [ 8.21823150e-03 7.30576683e-05 9.99966227e-01 3.06565733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.93, Y:0.98, Z:0.29 [[ 9.99833160e-01 -1.63133706e-02 -8.21744804e-03 9.59277798e+01] [ 1.63126507e-02 9.99866928e-01 -1.54635372e-04 9.81338041e-01] [ 8.21887715e-03 2.05612130e-05 9.99966224e-01 2.94368596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:0.98, Z:0.29 [[ 9.99815684e-01 -1.73530539e-02 -8.21398452e-03 9.59568609e+01] [ 1.73514798e-02 9.99849417e-01 -2.62864691e-04 9.83191973e-01] [ 8.21730914e-03 1.20291455e-04 9.99966230e-01 2.94731512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:95.99, Y:0.98, Z:0.31 [[ 9.99839141e-01 -1.59443859e-02 -8.21395071e-03 9.59879017e+01] [ 1.59427556e-02 9.99872871e-01 -2.63916851e-04 9.84183788e-01] [ 8.21711448e-03 1.32921389e-04 9.99966230e-01 3.09961968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:96.02, Y:0.99, Z:0.31 [[ 9.99769686e-01 -1.98259925e-02 -8.21610801e-03 9.60158270e+01] [ 1.98250469e-02 9.99803445e-01 -1.96532823e-04 9.85371197e-01] [ 8.21838955e-03 3.36028326e-05 9.99966228e-01 3.08093893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:96.04, Y:0.99, Z:0.31 [[ 9.99754869e-01 -2.05599398e-02 -8.21528930e-03 9.60444239e+01] [ 2.05588121e-02 9.99788621e-01 -2.21704676e-04 9.87157520e-01] [ 8.21811100e-03 5.27537409e-05 9.99966229e-01 3.11701227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:96.07, Y:0.99, Z:0.31 [[ 9.99741940e-01 -2.11791953e-02 -8.21548626e-03 9.60733111e+01] [ 2.11781377e-02 9.99775695e-01 -2.15718210e-04 9.89854576e-01] [ 8.21821223e-03 4.16738425e-05 9.99966229e-01 3.11250193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:96.10, Y:0.99, Z:0.31 [[ 9.99739579e-01 -2.12904438e-02 -8.21530434e-03 9.61017291e+01] [ 2.12893450e-02 9.99773332e-01 -2.21195108e-04 9.91917036e-01] [ 8.21815153e-03 4.62390557e-05 9.99966229e-01 3.12452617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:96.13, Y:1.00, Z:0.31 [[ 9.99757658e-01 -2.04240991e-02 -8.21476923e-03 9.61310445e+01] [ 2.04228390e-02 9.99791404e-01 -2.37264812e-04 9.95230078e-01] [ 8.21790158e-03 6.94384028e-05 9.99966230e-01 3.10229390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29863999999999 meters Centerline goodness : 0.960218 Centerline is valid? [True, True] Translation: X:96.16, Y:0.96, Z:0.29 [[ 9.94729476e-01 -1.02204557e-01 -8.21570130e-03 9.61570752e+01] [ 1.02206292e-01 9.94763203e-01 -2.09566358e-04 9.61590116e-01] [ 8.19409598e-03 -6.31234529e-04 9.99966229e-01 2.88648880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:96.19, Y:1.00, Z:0.31 [[ 9.99842631e-01 -1.57281954e-02 -8.20590341e-03 9.61945505e+01] [ 1.57246238e-02 9.99876236e-01 -4.99589073e-04 1.00123312e+00] [ 8.21274545e-03 3.70475709e-04 9.99966206e-01 3.14686127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:96.22, Y:1.01, Z:0.31 [[ 9.99834628e-01 -1.62239472e-02 -8.21589752e-03 9.62239520e+01] [ 1.62229185e-02 9.99868381e-01 -1.91836478e-04 1.00669995e+00] [ 8.21792850e-03 5.85189179e-05 9.99966231e-01 3.10125194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:96.25, Y:1.01, Z:0.31 [[ 9.99857937e-01 -1.47176182e-02 -8.21573083e-03 9.62518627e+01] [ 1.47164969e-02 9.99891687e-01 -1.96925113e-04 1.01132482e+00] [ 8.21773923e-03 7.59903595e-05 9.99966231e-01 3.12710087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:96.28, Y:1.02, Z:0.31 [[ 9.99889905e-01 -1.23577345e-02 -8.21362701e-03 9.62832548e+01] [ 1.23560090e-02 9.99923628e-01 -2.60799164e-04 1.01931985e+00] [ 8.21622260e-03 1.59282802e-04 9.99966234e-01 3.13245082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:96.31, Y:1.02, Z:0.31 [[ 9.99841949e-01 -1.57665206e-02 -8.21548839e-03 9.63095671e+01] [ 1.57653753e-02 9.99875698e-01 -2.04153908e-04 1.02341462e+00] [ 8.21768599e-03 7.46013840e-05 9.99966231e-01 3.14222547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:96.34, Y:1.03, Z:0.32 [[ 9.99875469e-01 -1.34762928e-02 -8.21194676e-03 9.63422029e+01] [ 1.34741888e-02 9.99909170e-01 -3.11477751e-04 1.02809043e+00] [ 8.21539844e-03 2.00789641e-04 9.99966233e-01 3.15599353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:96.37, Y:1.04, Z:0.32 [[ 9.99873442e-01 -1.36239539e-02 -8.21509059e-03 9.63709444e+01] [ 1.36226448e-02 9.99907184e-01 -2.15287677e-04 1.03671051e+00] [ 8.21726117e-03 1.03349169e-04 9.99966232e-01 3.15744315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:96.40, Y:1.04, Z:0.32 [[ 9.99850137e-01 -1.52391857e-02 -8.21402760e-03 9.64018695e+01] [ 1.52376659e-02 9.99883869e-01 -2.47573925e-04 1.04131742e+00] [ 8.21684653e-03 1.22374215e-04 9.99966234e-01 3.15191564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.43, Y:1.04, Z:0.32 [[ 9.99840785e-01 -1.58405681e-02 -8.21471490e-03 9.64304713e+01] [ 1.58392404e-02 9.99874526e-01 -2.26662475e-04 1.04471114e+00] [ 8.21727462e-03 9.65115426e-05 9.99966233e-01 3.15101154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:1.05, Z:0.30 [[ 9.99777575e-01 -1.94246678e-02 -8.21479898e-03 9.64588905e+01] [ 1.94234818e-02 9.99811321e-01 -2.24135290e-04 1.04699985e+00] [ 8.21760277e-03 6.45254380e-05 9.99966233e-01 3.01306535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:96.49, Y:1.05, Z:0.32 [[ 9.99823054e-01 -1.69235223e-02 -8.21309164e-03 9.64896556e+01] [ 1.69218333e-02 9.99856778e-01 -2.75106813e-04 1.05203375e+00] [ 8.21657112e-03 1.36077567e-04 9.99966234e-01 3.15430817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.52, Y:1.05, Z:0.32 [[ 9.99818836e-01 -1.71703399e-02 -8.21428678e-03 9.65190126e+01] [ 1.71689528e-02 9.99852574e-01 -2.39351904e-04 1.05467270e+00] [ 8.21718553e-03 9.82778397e-05 9.99966234e-01 3.15374526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999999 meters Centerline goodness : 0.839682 Centerline is valid? [True, False] Translation: X:96.52, Y:1.07, Z:0.32 [[ 9.99865486e-01 -1.06348166e-02 -1.24864263e-02 9.65217809e+01] [ 1.04353426e-02 9.99818602e-01 -1.59331844e-02 1.07157817e+00] [ 1.26536078e-02 1.58007410e-02 9.99795090e-01 3.19063379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71864 meters Centerline goodness : 0.999657 Centerline is valid? [False, True] Translation: X:96.54, Y:1.08, Z:0.32 [[ 9.99884110e-01 -2.88543454e-03 -1.49479325e-02 9.65432927e+01] [ 2.61772306e-03 9.99836386e-01 -1.78983114e-02 1.07579529e+00] [ 1.49971312e-02 1.78571076e-02 9.99728068e-01 3.22602576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:1.06, Z:0.31 [[ 9.99877516e-01 -3.28812111e-03 -1.53016989e-02 9.65730929e+01] [ 3.28523697e-03 9.99994581e-01 -2.13617949e-04 1.06206501e+00] [ 1.53023183e-02 1.63322077e-04 9.99882899e-01 3.05707635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77864 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:96.61, Y:1.09, Z:0.31 [[ 9.98930041e-01 4.36427266e-02 -1.52998301e-02 9.66081006e+01] [-4.36525237e-02 9.99046727e-01 -3.06810086e-04 1.08784397e+00] [ 1.52718552e-02 9.74358009e-04 9.99882904e-01 3.11585713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.63, Y:1.07, Z:0.32 [[ 9.99868509e-01 -5.35073410e-03 -1.53079722e-02 9.66322728e+01] [ 5.35289604e-03 9.99985668e-01 1.00259679e-04 1.06861507e+00] [ 1.53072163e-02 -1.82188480e-04 9.99882821e-01 3.21247307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.66, Y:1.08, Z:0.32 [[ 9.99880694e-01 -2.12682090e-03 -1.52994784e-02 9.66617836e+01] [ 2.12247625e-03 9.99997702e-01 -3.00205003e-04 1.07776506e+00] [ 1.53000817e-02 2.67696407e-04 9.99882911e-01 3.19959166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:96.69, Y:1.08, Z:0.32 [[ 9.99871700e-01 -4.73921921e-03 -1.53010664e-02 9.66913402e+01] [ 4.73630353e-03 9.99988758e-01 -2.26786058e-04 1.07970583e+00] [ 1.53019692e-02 1.54286466e-04 9.99882906e-01 3.22878346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:96.72, Y:1.08, Z:0.33 [[ 9.99827811e-01 -1.04982887e-02 -1.53014708e-02 9.67188501e+01] [ 1.04963243e-02 9.99944890e-01 -2.08681921e-04 1.08248359e+00] [ 1.53028183e-02 4.80367880e-05 9.99882904e-01 3.25098820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:1.09, Z:0.31 [[ 9.99801412e-01 -1.27703513e-02 -1.52988697e-02 9.67490004e+01] [ 1.27669155e-02 9.99918448e-01 -3.22227285e-04 1.08507860e+00] [ 1.53017370e-02 1.26843917e-04 9.99882914e-01 3.08813525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:1.09, Z:0.31 [[ 9.99769551e-01 -1.50602124e-02 -1.52981967e-02 9.67780922e+01] [ 1.50565965e-02 9.99886581e-01 -3.51519858e-04 1.08688025e+00] [ 1.53017555e-02 1.21100077e-04 9.99882914e-01 3.09550546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.81, Y:1.09, Z:0.31 [[ 9.99688333e-01 -1.97282454e-02 -1.52981524e-02 9.68056348e+01] [ 1.97251466e-02 9.99805378e-01 -3.53437405e-04 1.08802121e+00] [ 1.53021477e-02 5.15689533e-05 9.99882914e-01 3.08652500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01863999999999 meters Centerline goodness : 0.716574 Centerline is valid? [True, False] Translation: X:96.81, Y:1.10, Z:0.31 [[ 9.99825612e-01 -1.30707585e-02 -1.33379536e-02 9.68067377e+01] [ 1.28616838e-02 9.99794926e-01 -1.56423636e-02 1.10301226e+00] [ 1.35396759e-02 1.54680872e-02 9.99788685e-01 3.10262222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:96.83, Y:1.11, Z:0.31 [[ 9.99848739e-01 -5.78427379e-03 -1.64024973e-02 9.68283802e+01] [ 5.49647166e-03 9.99831101e-01 -1.75373647e-02 1.10651625e+00] [ 1.65011678e-02 1.74445561e-02 9.99711658e-01 3.13569213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.86, Y:1.09, Z:0.31 [[ 9.99833884e-01 -7.82191960e-03 -1.64627268e-02 9.68575378e+01] [ 7.82208499e-03 9.99969406e-01 -5.43452469e-05 1.09095940e+00] [ 1.64626483e-02 -7.44366292e-05 9.99864479e-01 3.10936134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:96.88, Y:1.09, Z:0.33 [[ 9.99785078e-01 -1.26006950e-02 -1.64627004e-02 9.68835842e+01] [ 1.26013914e-02 9.99920597e-01 -6.14326247e-05 1.09112075e+00] [ 1.64621673e-02 -1.46033510e-04 9.99864479e-01 3.27651149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:96.91, Y:1.09, Z:0.33 [[ 9.99687683e-01 -1.88030599e-02 -1.64615174e-02 9.69101331e+01] [ 1.87998146e-02 9.99823206e-01 -3.51884018e-04 1.09264021e+00] [ 1.64652236e-02 4.23006435e-05 9.99864438e-01 3.28981744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:96.95, Y:1.10, Z:0.31 [[ 9.99781768e-01 -1.28634879e-02 -1.64604585e-02 9.69483182e+01] [ 1.28546460e-02 9.99917169e-01 -6.42854405e-04 1.09685697e+00] [ 1.64673644e-02 4.31120747e-04 9.99864311e-01 3.10158064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19864 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:96.99, Y:1.12, Z:0.32 [[ 9.99542384e-01 2.53777569e-02 -1.64618624e-02 9.69851237e+01] [-2.53818239e-02 9.99677829e-01 -3.81347008e-05 1.11655083e+00] [ 1.64555911e-02 4.55949341e-04 9.99864494e-01 3.18519549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:1.10, Z:0.31 [[ 9.99698570e-01 -1.82137682e-02 -1.64629178e-02 9.70082315e+01] [ 1.82240148e-02 9.99833817e-01 4.72588927e-04 1.09500899e+00] [ 1.64515744e-02 -7.72466934e-04 9.99864365e-01 3.11290790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:97.03, Y:1.09, Z:0.33 [[ 9.99515400e-01 -2.64196929e-02 -1.64610445e-02 9.70346372e+01] [ 2.64223156e-02 9.99650868e-01 -5.81706640e-05 1.09238539e+00] [ 1.64568343e-02 -3.76796440e-04 9.99864506e-01 3.32382580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:1.09, Z:0.31 [[ 9.99490404e-01 -2.73495497e-02 -1.64600854e-02 9.70680010e+01] [ 2.73481802e-02 9.99625921e-01 -3.08330205e-04 1.09190060e+00] [ 1.64623607e-02 -1.41980300e-04 9.99864476e-01 3.12769930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:1.09, Z:0.31 [[ 9.99303002e-01 -3.35044528e-02 -1.64609143e-02 9.70968599e+01] [ 3.35081123e-02 9.99438444e-01 -5.35150918e-05 1.08725320e+00] [ 1.64534636e-02 -4.98096375e-04 9.99864509e-01 3.13501931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:97.12, Y:1.08, Z:0.33 [[ 9.99117980e-01 -3.86302973e-02 -1.64609079e-02 9.71218541e+01] [ 3.86346199e-02 9.99253403e-01 -5.54428299e-05 1.08308115e+00] [ 1.64507600e-02 -5.80566990e-04 9.99864509e-01 3.31970268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:97.15, Y:1.08, Z:0.33 [[ 9.99030929e-01 -4.08200738e-02 -1.64598009e-02 9.71531488e+01] [ 4.08187675e-02 9.99166480e-01 -4.15449608e-04 1.08037599e+00] [ 1.64630400e-02 -2.56821778e-04 9.99864442e-01 3.28032250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:1.07, Z:0.31 [[ 9.98983716e-01 -4.19595343e-02 -1.64600391e-02 9.71872915e+01] [ 4.19597930e-02 9.99119246e-01 -3.29790279e-04 1.07359340e+00] [ 1.64593797e-02 -3.61204714e-04 9.99864470e-01 3.14639226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:97.22, Y:1.07, Z:0.33 [[ 9.99005900e-01 -4.14277577e-02 -1.64606581e-02 9.72168041e+01] [ 4.14328045e-02 9.99141292e-01 -3.44603036e-05 1.06921670e+00] [ 1.64479508e-02 -6.47585182e-04 9.99864514e-01 3.30107310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:97.25, Y:1.06, Z:0.33 [[ 9.98829196e-01 -4.54894207e-02 -1.64605788e-02 9.72458066e+01] [ 4.54944072e-02 9.98964591e-01 -7.15849623e-05 1.05859188e+00] [ 1.64467917e-02 -6.77363123e-04 9.99864513e-01 3.27836828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:97.27, Y:1.05, Z:0.33 [[ 9.98765250e-01 -4.68724801e-02 -1.64604651e-02 9.72738023e+01] [ 4.68766891e-02 9.98900675e-01 -1.30246581e-04 1.05215840e+00] [ 1.64484747e-02 -6.41526348e-04 9.99864509e-01 3.33371161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.31, Y:1.05, Z:0.33 [[ 9.98815461e-01 -4.57901277e-02 -1.64602001e-02 9.73054504e+01] [ 4.57920293e-02 9.98950961e-01 -2.61554858e-04 1.04774877e+00] [ 1.64549094e-02 -4.92500929e-04 9.99864488e-01 3.30202608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:97.33, Y:1.04, Z:0.33 [[ 9.98958731e-01 -4.25500506e-02 -1.64604565e-02 9.73345565e+01] [ 4.25542002e-02 9.99094155e-01 -9.82345645e-05 1.03732533e+00] [ 1.64497258e-02 -6.02329287e-04 9.99864513e-01 3.32033225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.36, Y:1.03, Z:0.33 [[ 9.98904430e-01 -4.38063033e-02 -1.64604910e-02 9.73625161e+01] [ 4.38110102e-02 9.99039834e-01 -7.47103227e-05 1.03227721e+00] [ 1.64479590e-02 -6.46522267e-04 9.99864514e-01 3.31412814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:1.02, Z:0.32 [[ 9.99109761e-01 -3.88425289e-02 -1.64603601e-02 9.73949020e+01] [ 3.88450886e-02 9.99245231e-01 -1.64305262e-04 1.02079707e+00] [ 1.64543183e-02 -4.75245154e-04 9.99864506e-01 3.17852167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.42, Y:1.01, Z:0.32 [[ 9.99199003e-01 -3.64747030e-02 -1.64605397e-02 9.74235176e+01] [ 3.64793074e-02 9.99334408e-01 -2.05457359e-05 1.01492527e+00] [ 1.64503331e-02 -5.79939807e-04 9.99864516e-01 3.16891580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:97.45, Y:1.01, Z:0.33 [[ 9.99263577e-01 -3.46605618e-02 -1.64605370e-02 9.74508688e+01] [ 3.46648887e-02 9.99398992e-01 -2.24678062e-05 1.00854750e+00] [ 1.64514229e-02 -5.48151423e-04 9.99864516e-01 3.34237943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:1.00, Z:0.32 [[ 9.99448172e-01 -2.88515066e-02 -1.64603002e-02 9.74834113e+01] [ 2.88526020e-02 9.99583662e-01 -1.70974175e-04 9.98245676e-01] [ 1.64583800e-02 -3.04042663e-04 9.99864505e-01 3.17658980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:0.99, Z:0.32 [[ 9.99542425e-01 -2.53770124e-02 -1.64605005e-02 9.75110006e+01] [ 2.53800867e-02 9.99677873e-01 -2.21344928e-05 9.93141971e-01] [ 1.64557598e-02 -3.95644566e-04 9.99864517e-01 3.17923311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:0.99, Z:0.32 [[ 9.99537854e-01 -2.55563986e-02 -1.64604959e-02 9.75394562e+01] [ 2.55594477e-02 9.99673304e-01 -2.51453732e-05 9.93134775e-01] [ 1.64557609e-02 -3.95587432e-04 9.99864517e-01 3.18392285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79863999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:97.57, Y:0.99, Z:0.34 [[ 9.99748271e-01 -1.52462150e-02 -1.64604909e-02 9.75714169e+01] [ 1.52478183e-02 9.99883745e-01 -2.80991012e-05 9.85844617e-01] [ 1.64590056e-02 -2.22894547e-04 9.99864517e-01 3.36218286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:0.98, Z:0.32 [[ 9.99749351e-01 -1.51749451e-02 -1.64607362e-02 9.75990876e+01] [ 1.51791058e-02 9.99884783e-01 1.27846225e-04 9.83286507e-01] [ 1.64568995e-02 -3.77673436e-04 9.99864505e-01 3.19513469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:97.63, Y:0.98, Z:0.33 [[ 9.99815526e-01 -9.89795085e-03 -1.64603724e-02 9.76294628e+01] [ 9.89869179e-03 9.99951006e-01 -3.64611661e-05 9.80453192e-01] [ 1.64599269e-02 -1.26481714e-04 9.99864518e-01 3.34332372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88864 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:97.66, Y:0.98, Z:0.33 [[ 9.99855394e-01 -4.27089459e-03 -1.64605493e-02 9.76602680e+01] [ 4.27208692e-03 9.99990874e-01 3.72734762e-05 9.76200826e-01] [ 1.64602399e-02 -1.07588984e-04 9.99864515e-01 3.34582912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:97.69, Y:0.97, Z:0.33 [[ 9.99861478e-01 -2.46439230e-03 -1.64605822e-02 9.76910651e+01] [ 2.46556086e-03 9.99996959e-01 5.06979777e-05 9.74989445e-01] [ 1.64604072e-02 -9.12755220e-05 9.99864514e-01 3.32754063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:97.72, Y:0.98, Z:0.33 [[ 9.99839462e-01 7.07801002e-03 -1.64606442e-02 9.77209225e+01] [-7.07778989e-03 9.99974950e-01 7.16298930e-05 9.78079501e-01] [ 1.64607389e-02 4.48865875e-05 9.99864512e-01 3.29204586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:97.75, Y:0.98, Z:0.34 [[ 9.99863540e-01 1.39523638e-03 -1.64607033e-02 9.77496384e+01] [-1.39396518e-03 9.99999024e-01 8.86997569e-05 9.75039584e-01] [ 1.64608110e-02 -6.57420057e-05 9.99864510e-01 3.36405362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:97.78, Y:0.97, Z:0.34 [[ 9.99861363e-01 2.51060791e-03 -1.64606202e-02 9.77769746e+01] [-2.50983648e-03 9.99996848e-01 6.75232945e-05 9.74878781e-01] [ 1.64607379e-02 -2.62004682e-05 9.99864513e-01 3.36078262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:97.81, Y:0.98, Z:0.34 [[ 9.99858453e-01 3.48317671e-03 -1.64603201e-02 9.78064267e+01] [-3.48364542e-03 9.99993932e-01 1.97571789e-07 9.75857170e-01] [ 1.64602209e-02 5.71443749e-05 9.99864520e-01 3.35665998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:97.84, Y:0.98, Z:0.34 [[ 9.99861453e-01 2.47417725e-03 -1.64606783e-02 9.78353555e+01] [-2.47328541e-03 9.99996939e-01 7.45368663e-05 9.76686212e-01] [ 1.64608124e-02 -3.38145838e-05 9.99864511e-01 3.35775406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09863999999999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:97.86, Y:0.98, Z:0.34 [[ 9.99863901e-01 -1.10959871e-03 -1.64604964e-02 9.78643645e+01] [ 1.11043553e-03 9.99999383e-01 4.16985563e-05 9.76227811e-01] [ 1.64604399e-02 -5.99712012e-05 9.99864516e-01 3.37698609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:97.89, Y:0.98, Z:0.34 [[ 9.99846362e-01 -6.02524177e-03 -1.64605204e-02 9.78924892e+01] [ 6.02680952e-03 9.99981838e-01 4.56386689e-05 9.75124180e-01] [ 1.64599465e-02 -1.44836078e-04 9.99864515e-01 3.37267862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15863999999999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:97.92, Y:0.97, Z:0.34 [[ 9.99770909e-01 -1.36818838e-02 -1.64600996e-02 9.79207470e+01] [ 1.36834778e-02 9.99906377e-01 -1.57847253e-05 9.74266787e-01] [ 1.64587745e-02 -2.09450298e-04 9.99864523e-01 3.39345130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:97.95, Y:0.97, Z:0.34 [[ 9.99717848e-01 -1.71261000e-02 -1.64596832e-02 9.79494038e+01] [ 1.71272095e-02 9.99853316e-01 -7.35591844e-05 9.73062942e-01] [ 1.64585286e-02 -2.08370014e-04 9.99864528e-01 3.39332149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:97.98, Y:0.97, Z:0.34 [[ 9.99636189e-01 -2.13674070e-02 -1.64597471e-02 9.79769283e+01] [ 2.13692312e-02 9.99771650e-01 -6.50592730e-05 9.70672604e-01] [ 1.64573787e-02 -2.86696538e-04 9.99864527e-01 3.41038634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24864 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:98.01, Y:0.97, Z:0.34 [[ 9.99556880e-01 -2.48021079e-02 -1.64590426e-02 9.80092462e+01] [ 2.48029173e-02 9.99692348e-01 -1.54979110e-04 9.65922727e-01] [ 1.64578228e-02 -2.53321838e-04 9.99864529e-01 3.38432612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:98.04, Y:0.96, Z:0.34 [[ 9.99416765e-01 -2.99195879e-02 -1.64604733e-02 9.80359009e+01] [ 2.99242141e-02 9.99552170e-01 3.47620591e-05 9.62202191e-01] [ 1.64520618e-02 -5.27308512e-04 9.99864517e-01 3.41928172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:98.07, Y:0.96, Z:0.34 [[ 9.99388736e-01 -3.08426135e-02 -1.64586779e-02 9.80676186e+01] [ 3.08436589e-02 9.99524203e-01 -1.90377285e-04 9.57560083e-01] [ 1.64567186e-02 -3.17384933e-04 9.99864529e-01 3.42767428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:98.10, Y:0.95, Z:0.34 [[ 9.99244174e-01 -3.52156305e-02 -1.64602432e-02 9.80957509e+01] [ 3.52204614e-02 9.99379567e-01 3.60165641e-06 9.54250791e-01] [ 1.64499039e-02 -5.83336294e-04 9.99864521e-01 3.40851816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:98.13, Y:0.95, Z:0.34 [[ 9.99232464e-01 -3.55468551e-02 -1.64591394e-02 9.81258522e+01] [ 3.55495990e-02 9.99367905e-01 -1.25931514e-04 9.50767371e-01] [ 1.64532122e-02 -4.59280950e-04 9.99864531e-01 3.44169329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:98.15, Y:0.94, Z:0.34 [[ 9.99179970e-01 -3.69932222e-02 -1.64586854e-02 9.81547236e+01] [ 3.69952820e-02 9.99315424e-01 -1.79404111e-04 9.42264891e-01] [ 1.64540549e-02 -4.29636713e-04 9.99864531e-01 3.42213291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:98.18, Y:0.94, Z:0.34 [[ 9.99204045e-01 -3.63371917e-02 -1.64586079e-02 9.81846944e+01] [ 3.63390127e-02 9.99339502e-01 -1.88509661e-04 9.37650263e-01] [ 1.64545870e-02 -4.09729948e-04 9.99864530e-01 3.43136075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45864 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:98.21, Y:0.93, Z:0.34 [[ 9.99187984e-01 -3.67760008e-02 -1.64590152e-02 9.82140514e+01] [ 3.67786681e-02 9.99323426e-01 -1.40702197e-04 9.29007749e-01] [ 1.64530539e-02 -4.64752712e-04 9.99864531e-01 3.42651232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:98.24, Y:0.93, Z:0.34 [[ 9.99175606e-01 -3.71106128e-02 -1.64593675e-02 9.82426181e+01] [ 3.71140013e-02 9.99311033e-01 -9.96482147e-05 9.26332346e-01] [ 1.64517255e-02 -5.11306921e-04 9.99864530e-01 3.44142058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51863999999999 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:98.27, Y:0.92, Z:0.34 [[ 9.99151747e-01 -3.77475402e-02 -1.64593195e-02 9.82711200e+01] [ 3.77509247e-02 9.99287174e-01 -1.05131070e-04 9.24092807e-01] [ 1.64515553e-02 -5.16312638e-04 9.99864531e-01 3.42546021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999999 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:98.30, Y:0.92, Z:0.35 [[ 9.99283430e-01 -3.40837807e-02 -1.64597157e-02 9.83002587e+01] [ 3.40873984e-02 9.99418854e-01 -6.07889137e-05 9.19982754e-01] [ 1.64522221e-02 -5.00323533e-04 9.99864528e-01 3.45262085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57864 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:98.33, Y:0.92, Z:0.34 [[ 9.99393281e-01 -3.06943853e-02 -1.64597751e-02 9.83290594e+01] [ 3.06976475e-02 9.99528715e-01 -5.44829820e-05 9.18769434e-01] [ 1.64536902e-02 -4.50826449e-04 9.99864527e-01 3.39838952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60864 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:98.36, Y:0.91, Z:0.35 [[ 9.99312755e-01 -3.32130952e-02 -1.64592821e-02 9.83578681e+01] [ 3.32158600e-02 9.99448196e-01 -1.05447029e-04 9.12944370e-01] [ 1.64537020e-02 -4.41334648e-04 9.99864531e-01 3.46562981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63864 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:98.39, Y:0.91, Z:0.34 [[ 9.99321500e-01 -3.29494090e-02 -1.64583154e-02 9.83886873e+01] [ 3.29505070e-02 9.99456964e-01 -2.04524660e-04 9.11528662e-01] [ 1.64561169e-02 -3.37923947e-04 9.99864532e-01 3.40896147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66864 meters Centerline goodness : 0.874569 Centerline is valid? [True, False] Translation: X:98.39, Y:0.92, Z:0.34 [[ 9.99686228e-01 -2.07773066e-02 -1.39910176e-02 9.83862408e+01] [ 2.06712899e-02 9.99756829e-01 -7.67994941e-03 9.16556716e-01] [ 1.41471841e-02 7.38832727e-03 9.99872627e-01 3.41240653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69864 meters Centerline goodness : 0.996309 Centerline is valid? [False, True] Translation: X:98.38, Y:0.92, Z:0.34 [[ 9.99940159e-01 -8.04174023e-03 -7.41673942e-03 9.83825870e+01] [ 7.94619260e-03 9.99886202e-01 -1.28234263e-02 9.16086611e-01] [ 7.51901807e-03 1.27637241e-02 9.99890270e-01 3.40208246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72864 meters Centerline goodness : 0.792955 Centerline is valid? [True, False] Translation: X:98.40, Y:0.91, Z:0.34 [[ 9.99955134e-01 1.15775787e-04 -9.47189022e-03 9.84037370e+01] [-2.43453167e-04 9.99909117e-01 -1.34795671e-02 9.13624446e-01] [ 9.46946877e-03 1.34812682e-02 9.99864283e-01 3.42864372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75864 meters Centerline goodness : 0.995275 Centerline is valid? [False, True] Translation: X:98.41, Y:0.91, Z:0.34 [[ 9.99943223e-01 1.62307740e-03 -1.05317227e-02 9.84085159e+01] [-1.73713048e-03 9.99939852e-01 -1.08293848e-02 9.07462788e-01] [ 1.05135123e-02 1.08470649e-02 9.99885897e-01 3.39095182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78864 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:98.47, Y:0.87, Z:0.32 [[ 9.98788356e-01 -4.81010286e-02 -1.03976126e-02 9.84678954e+01] [ 4.81052323e-02 9.98842261e-01 1.54433434e-04 8.69491651e-01] [ 1.03781465e-02 -6.54425886e-04 9.99945931e-01 3.19216399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81864 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:98.46, Y:0.88, Z:0.34 [[ 9.99946177e-01 2.84283360e-04 -1.03712161e-02 9.84640641e+01] [-2.66549220e-04 9.99998500e-01 1.71128055e-03 8.81472018e-01] [ 1.03716871e-02 -1.70842400e-03 9.99944753e-01 3.40881846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:98.49, Y:0.87, Z:0.33 [[ 9.99926402e-01 -6.26728673e-03 -1.03880871e-02 9.84929710e+01] [ 6.26930352e-03 9.99980335e-01 1.61591149e-04 8.72440145e-01] [ 1.03868700e-02 -2.26705327e-04 9.99946029e-01 3.28762440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87863999999999 meters Centerline goodness : 0.936210 Centerline is valid? [True, False] Translation: X:98.51, Y:0.87, Z:0.33 [[ 9.99896546e-01 -2.82482196e-03 -1.41037842e-02 9.85148455e+01] [ 2.74285271e-03 9.99979256e-01 -5.82782671e-03 8.73816344e-01] [ 1.41199542e-02 5.78853920e-03 9.99883553e-01 3.32528516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999999 meters Centerline goodness : 0.776272 Centerline is valid? [False, False] Translation: X:98.54, Y:0.88, Z:0.34 [[ 9.99853370e-01 1.36809217e-03 -1.70694693e-02 9.85374377e+01] [-1.56288755e-03 9.99933753e-01 -1.14038018e-02 8.75333762e-01] [ 1.70527370e-02 1.14288073e-02 9.99789271e-01 3.35125966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93863999999999 meters Centerline goodness : 0.794546 Centerline is valid? [False, False] Translation: X:98.53, Y:0.87, Z:0.33 [[ 9.99993812e-01 1.92693272e-03 -2.94326695e-03 9.85295243e+01] [-1.95911016e-03 9.99937919e-01 -1.09690830e-02 8.68910805e-01] [ 2.92194754e-03 1.09747813e-02 9.99935506e-01 3.34141553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96864 meters Centerline goodness : 0.985589 Centerline is valid? [False, True] Translation: X:98.53, Y:0.86, Z:0.34 [[ 9.99997315e-01 -8.47265141e-04 -2.15676650e-03 9.85262435e+01] [ 8.19014807e-04 9.99914303e-01 -1.30658211e-02 8.64283503e-01] [ 2.16765189e-03 1.30640196e-02 9.99912312e-01 3.36615339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99864 meters Centerline goodness : 0.824975 Centerline is valid? [True, False] Translation: X:98.53, Y:0.86, Z:0.34 [[ 9.99992100e-01 3.29744387e-03 -2.21942361e-03 9.85264640e+01] [-3.31401199e-03 9.99966359e-01 -7.50324058e-03 8.58253575e-01] [ 2.19460743e-03 7.51053651e-03 9.99969387e-01 3.36292545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02864 meters Centerline goodness : 0.993547 Centerline is valid? [False, True] Translation: X:98.53, Y:0.86, Z:0.34 [[ 9.99992018e-01 3.28607573e-03 -2.27279900e-03 9.85266372e+01] [-3.30194096e-03 9.99969962e-01 -7.01231284e-03 8.56048608e-01] [ 2.24968774e-03 7.01976152e-03 9.99972831e-01 3.36025390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05864 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:98.56, Y:0.85, Z:0.32 [[ 9.99979360e-01 6.00521624e-03 -2.28413098e-03 9.85556346e+01] [-6.00507834e-03 9.99981967e-01 6.72265974e-05 8.47173910e-01] [ 2.28449350e-03 -5.35088243e-05 9.99997389e-01 3.19999616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08864 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:98.58, Y:0.85, Z:0.32 [[ 9.99970029e-01 7.39754792e-03 -2.28398532e-03 9.85843104e+01] [-7.39757779e-03 9.99972638e-01 -4.63012332e-06 8.46334767e-01] [ 2.28388857e-03 2.15259436e-05 9.99997392e-01 3.20345990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11864 meters Centerline goodness : 0.813607 Centerline is valid? [True, False] Translation: X:98.58, Y:0.85, Z:0.32 [[ 9.99969962e-01 7.41877960e-03 -2.24412729e-03 9.85841991e+01] [-7.41815705e-03 9.99972444e-01 2.85611522e-04 8.45163859e-01] [ 2.24618434e-03 -2.68955654e-04 9.99997441e-01 3.20369504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14864 meters Centerline goodness : 0.993550 Centerline is valid? [False, True] Translation: X:98.58, Y:0.85, Z:0.32 [[ 9.99992383e-01 3.22307787e-03 -2.20118044e-03 9.85841292e+01] [-3.23242108e-03 9.99985726e-01 -4.25435026e-03 8.46306325e-01] [ 2.18743692e-03 4.26143299e-03 9.99988528e-01 3.20030492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17864 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:98.61, Y:0.84, Z:0.31 [[ 9.99863409e-01 -1.63734605e-02 -2.25215398e-03 9.86062183e+01] [ 1.63735284e-02 9.99865945e-01 1.17149556e-05 8.36054691e-01] [ 2.25166025e-03 -4.85890626e-05 9.99997464e-01 3.10304776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20864 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:98.60, Y:0.83, Z:0.30 [[ 9.99675703e-01 -2.53657643e-02 -2.25085433e-03 9.85977681e+01] [ 2.53656211e-02 9.99678237e-01 -9.21499682e-05 8.27918782e-01] [ 2.25246754e-03 3.50257662e-05 9.99997463e-01 2.99137640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23863999999999 meters Centerline goodness : 0.983659 Centerline is valid? [True, True] Translation: X:98.63, Y:0.83, Z:0.30 [[ 9.99791068e-01 -2.03185446e-02 -2.23078276e-03 9.86265198e+01] [ 2.03174920e-02 9.99793457e-01 -4.93476008e-04 8.30781151e-01] [ 2.24034872e-03 4.48048994e-04 9.99997390e-01 2.97569767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999999 meters Centerline goodness : 0.896125 Centerline is valid? [True, False] Translation: X:98.62, Y:0.84, Z:0.30 [[ 9.99963127e-01 -8.48439034e-03 1.32639877e-03 9.86226185e+01] [ 8.49617231e-03 9.99922090e-01 -9.14484732e-03 8.39604590e-01] [-1.24870698e-03 9.15577944e-03 9.99957305e-01 2.99134346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29863999999999 meters Centerline goodness : 0.948838 Centerline is valid? [False, False] Translation: X:98.62, Y:0.84, Z:0.30 [[ 9.99989890e-01 -4.31220669e-03 1.27497578e-03 9.86227018e+01] [ 4.31778452e-03 9.99980976e-01 -4.40495603e-03 8.37347334e-01] [-1.25595645e-03 4.41041656e-03 9.99989485e-01 2.98923327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32864 meters Centerline goodness : 0.989659 Centerline is valid? [False, True] Translation: X:98.60, Y:0.84, Z:0.30 [[ 9.99981685e-01 -8.53099186e-04 5.99175716e-03 9.86002130e+01] [ 9.22875096e-04 9.99931685e-01 -1.16522225e-02 8.43823880e-01] [-5.98140733e-03 1.16575387e-02 9.99914159e-01 2.95487461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35864 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:98.64, Y:0.84, Z:0.27 [[ 9.99929857e-01 1.03235530e-02 5.80567400e-03 9.86358074e+01] [-1.03232135e-02 9.99946710e-01 -8.84291183e-05 8.38363357e-01] [-5.80627752e-03 2.84897032e-05 9.99983143e-01 2.74907068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38864 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:98.67, Y:0.84, Z:0.29 [[ 9.99921871e-01 1.10714626e-02 5.80292877e-03 9.86682437e+01] [-1.10721685e-02 9.99938698e-01 8.95232662e-05 8.41296791e-01] [-5.80158189e-03 -1.53767277e-04 9.99983159e-01 2.91433143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41864 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:98.70, Y:0.84, Z:0.28 [[ 9.99922796e-01 1.09872408e-02 5.80366519e-03 9.86980700e+01] [-1.09876606e-02 9.99939633e-01 4.04606774e-05 8.43153191e-01] [-5.80287029e-03 -1.04226257e-04 9.99983158e-01 2.75022068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44864 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:98.73, Y:0.85, Z:0.27 [[ 9.99931893e-01 1.01259564e-02 5.80292493e-03 9.87309761e+01] [-1.01266423e-02 9.99948720e-01 8.88232581e-05 8.46765796e-01] [-5.80172794e-03 -1.47581354e-04 9.99983159e-01 2.74450952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47864 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:98.75, Y:0.84, Z:0.29 [[ 9.99894799e-01 -1.32934702e-02 5.80294217e-03 9.87471412e+01] [ 1.32931852e-02 9.99911638e-01 8.76824439e-05 8.41726472e-01] [-5.80359501e-03 -1.05336348e-05 9.99983159e-01 2.91379255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50864 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:98.79, Y:0.85, Z:0.29 [[ 9.99976635e-01 3.62233010e-03 5.79720993e-03 9.87896568e+01] [-3.62504484e-03 9.99993325e-01 4.57845956e-04 8.51690324e-01] [-5.79551276e-03 -4.78850405e-04 9.99983091e-01 2.89783378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53864 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:98.82, Y:0.85, Z:0.29 [[ 9.99980301e-01 2.39433305e-03 5.80211402e-03 9.88222834e+01] [-2.39483733e-03 9.99997129e-01 7.99666671e-05 8.53252682e-01] [-5.80190590e-03 -9.38602111e-05 9.99983164e-01 2.89531876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56864 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:98.85, Y:0.85, Z:0.27 [[ 9.99981298e-01 -1.93169494e-03 5.80269531e-03 9.88517897e+01] [ 1.93153171e-03 9.99998134e-01 3.37343521e-05 8.52871349e-01] [-5.80274964e-03 -2.25256312e-05 9.99983164e-01 2.73206354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59863999999999 meters Centerline goodness : 0.992227 Centerline is valid? [True, True] Translation: X:98.88, Y:0.85, Z:0.29 [[ 9.99973565e-01 -4.38220024e-03 5.80219361e-03 9.88823345e+01] [ 4.38184814e-03 9.99990397e-01 7.33954981e-05 8.51633182e-01] [-5.80245953e-03 -4.79692266e-05 9.99983164e-01 2.87368474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters Centerline goodness : 0.934637 Centerline is valid? [True, False] Translation: X:98.86, Y:0.86, Z:0.28 [[ 9.99925640e-01 1.34114734e-03 1.21208424e-02 9.88608297e+01] [-1.30518500e-03 9.99994725e-01 -2.97440680e-03 8.56178399e-01] [-1.21247676e-02 2.95836568e-03 9.99922116e-01 2.83296686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65863999999999 meters Centerline goodness : 0.987778 Centerline is valid? [False, True] Translation: X:98.87, Y:0.86, Z:0.28 [[ 9.99938130e-01 -6.74263051e-04 1.11032352e-02 9.88661974e+01] [ 7.37566553e-04 9.99983493e-01 -5.69824896e-03 8.59447123e-01] [-1.10992098e-02 5.70608578e-03 9.99922121e-01 2.79039823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999999 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:98.90, Y:0.85, Z:0.28 [[ 9.99935048e-01 7.11192317e-04 1.13751422e-02 9.88976450e+01] [-7.06584929e-04 9.99999667e-01 -4.09053801e-04 8.53614668e-01] [-1.13754293e-02 4.00989728e-04 9.99935217e-01 2.78570104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71864 meters Centerline goodness : 0.929464 Centerline is valid? [True, False] Translation: X:98.90, Y:0.86, Z:0.28 [[ 9.99930926e-01 -3.35146844e-03 1.12654958e-02 9.88979835e+01] [ 3.40958665e-03 9.99980958e-01 -5.14371674e-03 8.56068252e-01] [-1.12480423e-02 5.18177213e-03 9.99923312e-01 2.78405499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74864 meters Centerline goodness : 0.993459 Centerline is valid? [False, True] Translation: X:98.88, Y:0.86, Z:0.27 [[ 9.99866056e-01 -6.68435310e-05 1.63665776e-02 9.88755520e+01] [ 2.68236945e-04 9.99924276e-01 -1.23032776e-02 8.61541337e-01] [-1.63645159e-02 1.23060197e-02 9.99790360e-01 2.74513442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77864 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:98.89, Y:0.83, Z:0.26 [[ 9.97854874e-01 -6.34278332e-02 1.62037428e-02 9.88902040e+01] [ 6.34327876e-02 9.97986091e-01 2.08536600e-04 8.26326917e-01] [-1.61843370e-02 8.19759314e-04 9.99868689e-01 2.58632960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80864 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:98.93, Y:0.85, Z:0.27 [[ 9.99866597e-01 2.17975311e-03 1.61875768e-02 9.89349180e+01] [-2.20186794e-03 9.99996667e-01 1.34846348e-03 8.51293086e-01] [-1.61845835e-02 -1.38392650e-03 9.99868063e-01 2.70734730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83864 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:98.97, Y:0.85, Z:0.27 [[ 9.99862975e-01 3.39755151e-03 1.62014493e-02 9.89658590e+01] [-3.40034030e-03 9.99994208e-01 1.44587995e-04 8.52786532e-01] [-1.62008642e-02 -1.99658624e-04 9.99868737e-01 2.70699337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86864 meters Centerline goodness : 0.970840 Centerline is valid? [True, True] Translation: X:98.97, Y:0.82, Z:0.26 [[ 9.97081931e-01 -7.45999441e-02 1.62009532e-02 9.89744436e+01] [ 7.46066817e-02 9.97213020e-01 1.88953646e-04 8.20017864e-01] [-1.61698974e-02 1.02029710e-03 9.99868738e-01 2.55858846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89864 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:99.03, Y:0.86, Z:0.27 [[ 9.99810845e-01 1.07893316e-02 1.61822059e-02 9.90261406e+01] [-1.08198327e-02 9.99939847e-01 1.79848899e-03 8.55647725e-01] [-1.61618280e-02 -1.97323756e-03 9.99867442e-01 2.71990762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92864 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:99.06, Y:0.87, Z:0.26 [[ 9.99719760e-01 1.72664809e-02 1.61947711e-02 9.90569486e+01] [-1.72706188e-02 9.99850845e-01 1.15674187e-04 8.65304516e-01] [-1.61903583e-02 -3.95335489e-04 9.99868849e-01 2.58165179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95864 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:99.09, Y:0.87, Z:0.26 [[ 9.99662975e-01 2.02895638e-02 1.61947432e-02 9.90895968e+01] [-2.02941594e-02 9.99794045e-01 1.19464743e-04 8.69133401e-01] [-1.61889839e-02 -4.48083180e-04 9.99868849e-01 2.57385279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:99.12, Y:0.87, Z:0.26 [[ 9.99599103e-01 2.32241746e-02 1.61947659e-02 9.91221272e+01] [-2.32291038e-02 9.99730161e-01 1.16301964e-04 8.73166097e-01] [-1.61876949e-02 -4.92445236e-04 9.99868849e-01 2.56570790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01863999999999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:99.15, Y:0.88, Z:0.26 [[ 9.99479230e-01 2.79105176e-02 1.61947807e-02 9.91543488e+01] [-2.79160272e-02 9.99610265e-01 1.14204423e-04 8.84012861e-01] [-1.61852815e-02 -5.66238886e-04 9.99868849e-01 2.56575727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999999 meters Centerline goodness : 0.858627 Centerline is valid? [True, False] Translation: X:99.16, Y:0.88, Z:0.26 [[ 9.99800572e-01 1.48823195e-02 1.33166309e-02 9.91575121e+01] [-1.49763511e-02 9.99863418e-01 6.98956879e-03 8.82097186e-01] [-1.32107911e-02 -7.18760941e-03 9.99886900e-01 2.56265540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07864 meters Centerline goodness : 0.976439 Centerline is valid? [False, True] Translation: X:99.16, Y:0.90, Z:0.25 [[ 9.99863653e-01 1.06807577e-02 1.25935539e-02 9.91594715e+01] [-1.06734254e-02 9.99942827e-01 -6.49294639e-04 8.95947482e-01] [-1.25997688e-02 5.14789751e-04 9.99920487e-01 2.54755232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:99.20, Y:0.87, Z:0.26 [[ 9.98143571e-01 -5.96365694e-02 1.23649208e-02 9.92048316e+01] [ 5.96196109e-02 9.98219659e-01 1.73593314e-03 8.72204942e-01] [-1.24464322e-02 -9.95518735e-04 9.99922045e-01 2.57306787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13864 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:99.23, Y:0.88, Z:0.27 [[ 9.97994762e-01 -6.20663530e-02 1.24186314e-02 9.92347567e+01] [ 6.20566956e-02 9.98071950e-01 1.16187072e-03 8.81026670e-01] [-1.24668008e-02 -3.88881657e-04 9.99922211e-01 2.69894266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:99.26, Y:0.89, Z:0.26 [[ 9.97683078e-01 -6.68898705e-02 1.24185870e-02 9.92642024e+01] [ 6.68805803e-02 9.97760310e-01 1.16234572e-03 8.92860295e-01] [-1.24685224e-02 -3.29090350e-04 9.99922211e-01 2.55518434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19864 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:99.30, Y:0.90, Z:0.27 [[ 9.97181213e-01 -7.39959757e-02 1.24186593e-02 9.92956180e+01] [ 7.39872457e-02 9.97258511e-01 1.16157249e-03 8.97922715e-01] [-1.24705654e-02 -2.39475867e-04 9.99922211e-01 2.66011360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22864 meters Centerline goodness : 0.762617 Centerline is valid? [True, False] Translation: X:99.30, Y:0.92, Z:0.27 [[ 9.97897209e-01 -6.43867414e-02 7.45035079e-03 9.92974588e+01] [ 6.44650704e-02 9.97861524e-01 -1.07997502e-02 9.15761523e-01] [-6.73905767e-03 1.12573280e-02 9.99913925e-01 2.66737199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25864 meters Centerline goodness : 0.999114 Centerline is valid? [False, True] Translation: X:99.30, Y:0.93, Z:0.27 [[ 9.98373675e-01 -5.67953943e-02 4.92840025e-03 9.92968472e+01] [ 5.69024734e-02 9.98058534e-01 -2.53233381e-02 9.30825771e-01] [-3.48058296e-03 2.55625922e-02 9.99667164e-01 2.69988883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28864 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:99.33, Y:0.92, Z:0.28 [[ 9.98166244e-01 -6.04489667e-02 3.17366146e-03 9.93289970e+01] [ 6.04485785e-02 9.98171289e-01 2.18165073e-04 9.15254366e-01] [-3.18104560e-03 -2.59216877e-05 9.99994940e-01 2.80323090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31864 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:99.36, Y:0.92, Z:0.28 [[ 9.98061912e-01 -6.21477942e-02 3.17351024e-03 9.93612967e+01] [ 6.21474076e-02 9.98066957e-01 2.20368830e-04 9.19681158e-01] [-3.18107114e-03 -2.27163019e-05 9.99994940e-01 2.80856220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:99.39, Y:0.92, Z:0.28 [[ 9.98059940e-01 -6.21794701e-02 3.17341296e-03 9.93935643e+01] [ 6.21790792e-02 9.98064984e-01 2.21791801e-04 9.24558464e-01] [-3.18106326e-03 -2.40416156e-05 9.99994940e-01 2.80014064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37863999999999 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:99.43, Y:0.93, Z:0.28 [[ 9.98070497e-01 -6.20097781e-02 3.17335468e-03 9.94263575e+01] [ 6.20093836e-02 9.98075542e-01 2.22647576e-04 9.32166875e-01] [-3.18105402e-03 -2.54402089e-05 9.99994940e-01 2.80666024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999999 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:99.50, Y:0.95, Z:0.27 [[ 9.98026455e-01 -6.27146145e-02 3.17363000e-03 9.94982206e+01] [ 6.27142365e-02 9.98031501e-01 2.18577721e-04 9.51178385e-01] [-3.18109073e-03 -1.91145663e-05 9.99994940e-01 2.67172623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43863999999999 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:99.48, Y:0.95, Z:0.28 [[ 9.98433491e-01 -5.58594617e-02 3.20703478e-03 9.94838373e+01] [ 5.58614100e-02 9.98438396e-01 -5.21114463e-04 9.48471555e-01] [-3.17291749e-03 6.99447617e-04 9.99994722e-01 2.80204423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46864 meters Centerline goodness : 0.980440 Centerline is valid? [True, True] Translation: X:99.56, Y:0.96, Z:0.26 [[ 9.97328056e-01 -7.29839706e-02 3.17632537e-03 9.95607167e+01] [ 7.29841433e-02 9.97333099e-01 6.16494637e-05 9.59286867e-01] [-3.17235385e-03 1.70336646e-04 9.99994954e-01 2.60989651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49864 meters Centerline goodness : 0.885950 Centerline is valid? [True, False] Translation: X:99.56, Y:0.97, Z:0.26 [[ 9.98228157e-01 -5.94769905e-02 1.74203899e-03 9.95626529e+01] [ 5.94879707e-02 9.98203542e-01 -7.13232797e-03 9.68475354e-01] [-1.31470009e-03 7.22332097e-03 9.99973047e-01 2.60412556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52864 meters Centerline goodness : 0.998525 Centerline is valid? [False, True] Translation: X:99.56, Y:0.98, Z:0.26 [[ 9.98832224e-01 -4.83107191e-02 5.12985870e-04 9.95643122e+01] [ 4.83121884e-02 9.98673488e-01 -1.78100253e-02 9.82931201e-01] [ 3.48109740e-04 1.78140106e-02 9.99841257e-01 2.61072485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:99.60, Y:0.97, Z:0.26 [[ 9.98825447e-01 -4.84520785e-02 -3.50028445e-04 9.95966465e+01] [ 4.84520795e-02 9.98825508e-01 -5.80035724e-06 9.71658052e-01] [ 3.49898379e-04 -1.11660616e-05 9.99999939e-01 2.57281244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58864 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:99.67, Y:0.99, Z:0.25 [[ 9.98615205e-01 -5.26075179e-02 -3.49590379e-04 9.96666573e+01] [ 5.26075159e-02 9.98615266e-01 -1.48818263e-05 9.88210804e-01] [ 3.49889185e-04 -3.52986346e-06 9.99999939e-01 2.47105210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.65, Y:0.97, Z:0.24 [[ 9.98309414e-01 -5.81222006e-02 -3.52531614e-04 9.96483662e+01] [ 5.81222212e-02 9.98309474e-01 4.84343083e-05 9.69687446e-01] [ 3.49120542e-04 -6.88423464e-05 9.99999937e-01 2.44421137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:99.68, Y:0.97, Z:0.26 [[ 9.98334729e-01 -5.76857705e-02 -3.48897831e-04 9.96791847e+01] [ 5.76857675e-02 9.98334789e-01 -1.88443119e-05 9.71570885e-01] [ 3.49403892e-04 -1.31350820e-06 9.99999939e-01 2.60224307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67864 meters Centerline goodness : 0.946447 Centerline is valid? [True, False] Translation: X:99.68, Y:0.98, Z:0.26 [[ 9.99057325e-01 -4.34030949e-02 7.95005397e-04 9.96796505e+01] [ 4.34069421e-02 9.99041096e-01 -5.72064843e-03 9.79047876e-01] [-5.45949216e-04 5.74976447e-03 9.99983321e-01 2.59338026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70864 meters Centerline goodness : 0.999409 Centerline is valid? [False, True] Translation: X:99.68, Y:0.99, Z:0.26 [[ 9.99560739e-01 -2.96238562e-02 8.69806235e-04 9.96810948e+01] [ 2.96321092e-02 9.99490190e-01 -1.18868868e-02 9.85765982e-01] [-5.17227373e-04 1.19074396e-02 9.99928970e-01 2.58504696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:99.71, Y:0.97, Z:0.25 [[ 9.99600459e-01 -2.82587755e-02 6.03638409e-04 9.97148812e+01] [ 2.82588060e-02 9.99600639e-01 -4.20627504e-05 9.73999042e-01] [-6.02208697e-04 5.91040453e-05 9.99999817e-01 2.52685157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999999 meters Centerline goodness : 0.988891 Centerline is valid? [True, True] Translation: X:99.76, Y:1.01, Z:0.24 [[ 9.98838591e-01 4.81778510e-02 6.02483503e-04 9.97646057e+01] [-4.81778661e-02 9.98838772e-01 1.05323993e-05 1.00973468e+00] [-6.01276454e-04 -3.95465364e-05 9.99999818e-01 2.37411186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:99.77, Y:0.97, Z:0.26 [[ 9.99510957e-01 -3.12647282e-02 6.03684323e-04 9.97719167e+01] [ 3.12647632e-02 9.99511137e-01 -4.86764741e-05 9.69730001e-01] [-6.01867347e-04 6.75267166e-05 9.99999817e-01 2.55524473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82864 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:99.81, Y:0.99, Z:0.24 [[ 9.99764842e-01 2.16771336e-02 6.02084223e-04 9.98147280e+01] [-2.16771479e-02 9.99765023e-01 1.72109989e-05 9.93306781e-01] [-6.01569662e-04 -3.02584203e-05 9.99999819e-01 2.43417882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:99.83, Y:0.97, Z:0.25 [[ 9.99542853e-01 -3.02278246e-02 6.03017777e-04 9.98324350e+01] [ 3.02278436e-02 9.99543034e-01 -2.23951959e-05 9.67285163e-01] [-6.02065261e-04 4.06128851e-05 9.99999818e-01 2.54317037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:99.86, Y:0.97, Z:0.25 [[ 9.99625665e-01 -2.73526432e-02 6.02003823e-04 9.98649448e+01] [ 2.73526379e-02 9.99625846e-01 1.69303446e-05 9.67682337e-01] [-6.02241670e-04 -4.57614337e-07 9.99999819e-01 2.54148128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:99.90, Y:0.97, Z:0.25 [[ 9.99698617e-01 -2.45420561e-02 6.01996680e-04 9.98964704e+01] [ 2.45420502e-02 9.99698798e-01 1.72104654e-05 9.68202488e-01] [-6.02237737e-04 -2.43104575e-06 9.99999819e-01 2.54529639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:99.93, Y:0.97, Z:0.25 [[ 9.99771500e-01 -2.13678776e-02 6.02039797e-04 9.99289772e+01] [ 2.13678722e-02 9.99771681e-01 1.55090024e-05 9.68581616e-01] [-6.02233734e-04 -2.64114914e-06 9.99999819e-01 2.54348417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:0.97, Z:0.24 [[ 9.99837132e-01 -1.80373981e-02 6.02077202e-04 9.99598733e+01] [ 1.80373929e-02 9.99837313e-01 1.40209235e-05 9.70273100e-01] [-6.02232153e-04 -3.15873688e-06 9.99999819e-01 2.36964156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:99.99, Y:0.97, Z:0.25 [[ 9.99918053e-01 -1.27876899e-02 6.02052564e-04 9.99919379e+01] [ 1.27876832e-02 9.99918234e-01 1.50092110e-05 9.72479906e-01] [-6.02195270e-04 -7.30912354e-06 9.99999819e-01 2.52022719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:100.02, Y:0.98, Z:0.25 [[ 9.99953672e-01 -9.60684256e-03 6.02161487e-04 1.00024391e+02] [ 9.60683790e-03 9.99953853e-01 1.06188569e-05 9.75506527e-01] [-6.02235713e-04 -4.83349716e-06 9.99999819e-01 2.51345208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:100.05, Y:0.98, Z:0.25 [[ 9.99979978e-01 -6.29935637e-03 6.02196225e-04 1.00054421e+02] [ 6.29935197e-03 9.99980159e-01 9.20070388e-06 9.79627862e-01] [-6.02242235e-04 -5.40707369e-06 9.99999819e-01 2.50747527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:100.09, Y:0.98, Z:0.25 [[ 9.99987994e-01 -4.86308905e-03 6.02187498e-04 1.00086030e+02] [ 4.86308418e-03 9.99988175e-01 9.55169906e-06 9.81048934e-01] [-6.02226828e-04 -6.62309589e-06 9.99999819e-01 2.51047690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:0.98, Z:0.24 [[ 9.99984047e-01 -5.61639121e-03 6.02180811e-04 1.00115253e+02] [ 5.61638631e-03 9.99984228e-01 9.82020469e-06 9.83431556e-01] [-6.02226468e-04 -6.43796796e-06 9.99999819e-01 2.36977910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.15, Y:0.99, Z:0.24 [[ 9.99982812e-01 -5.83203232e-03 6.02052978e-04 1.00146147e+02] [ 5.83202437e-03 9.99982993e-01 1.49635434e-05 9.85920586e-01] [-6.02130007e-04 -1.14520986e-05 9.99999819e-01 2.37074152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:100.18, Y:0.99, Z:0.25 [[ 9.99993179e-01 -3.64423758e-03 6.02053940e-04 1.00177189e+02] [ 3.64422925e-03 9.99993360e-01 1.49247278e-05 9.89398703e-01] [-6.02104331e-04 -1.27306034e-05 9.99999819e-01 2.51080360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:100.21, Y:0.99, Z:0.25 [[ 9.99994892e-01 -3.13914601e-03 6.02165122e-04 1.00208667e+02] [ 3.13914034e-03 9.99995073e-01 1.03592926e-05 9.93624483e-01] [-6.02194674e-04 -8.46895885e-06 9.99999819e-01 2.51371278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:100.24, Y:1.00, Z:0.25 [[ 9.99991843e-01 -3.99380662e-03 6.02191742e-04 1.00240274e+02] [ 3.99380177e-03 9.99992025e-01 9.26095833e-06 9.95943405e-01] [-6.02223926e-04 -6.85584835e-06 9.99999819e-01 2.51627447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:100.27, Y:1.00, Z:0.25 [[ 9.99994858e-01 -3.14986471e-03 6.02197577e-04 1.00271932e+02] [ 3.14985984e-03 9.99995039e-01 9.02246047e-06 1.00012655e+00] [-6.02223009e-04 -7.12557611e-06 9.99999819e-01 2.50758851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:100.30, Y:1.00, Z:0.25 [[ 9.99995162e-01 -3.05172247e-03 6.02186462e-04 1.00303525e+02] [ 3.05171732e-03 9.99995343e-01 9.47378122e-06 1.00178519e+00] [-6.02212569e-04 -7.63603253e-06 9.99999819e-01 2.50772706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33864 meters Centerline goodness : 0.874650 Centerline is valid? [True, False] Translation: X:100.30, Y:1.02, Z:0.26 [[ 9.99974674e-01 -5.07073250e-04 -7.09884014e-03 1.00303523e+02] [ 3.84703798e-04 9.99851501e-01 -1.72287152e-02 1.01767544e+00] [ 7.10652219e-03 1.72255479e-02 9.99826374e-01 2.55069529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36864 meters Centerline goodness : 0.999066 Centerline is valid? [False, True] Translation: X:100.30, Y:1.02, Z:0.26 [[ 9.99966014e-01 -4.62700709e-03 -6.82363841e-03 1.00302817e+02] [ 4.46808070e-03 9.99722603e-01 -2.31247198e-02 1.02499160e+00] [ 6.92874380e-03 2.30934453e-02 9.99709300e-01 2.56319506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:100.33, Y:1.01, Z:0.25 [[ 9.99968587e-01 -2.82344045e-03 -7.40630190e-03 1.00332668e+02] [ 2.82268690e-03 9.99996010e-01 -1.12195270e-04 1.00839566e+00] [ 7.40658913e-03 9.12860743e-05 9.99972567e-01 2.52974572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:100.36, Y:1.01, Z:0.25 [[ 9.99972521e-01 -3.24967881e-04 -7.40614256e-03 1.00363027e+02] [ 3.24099072e-04 9.99999940e-01 -1.18509058e-04 1.01313118e+00] [ 7.40618063e-03 1.16105477e-04 9.99972567e-01 2.51937133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:100.39, Y:1.02, Z:0.25 [[ 9.99971951e-01 1.11616263e-03 -7.40613604e-03 1.00392141e+02] [-1.11707283e-03 9.99999369e-01 -1.18761753e-04 1.01571757e+00] [ 7.40599881e-03 1.27031616e-04 9.99972567e-01 2.52540683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:100.42, Y:1.02, Z:0.25 [[ 9.99968365e-01 2.90114031e-03 -7.40629796e-03 1.00420436e+02] [-2.90205370e-03 9.99995783e-01 -1.12582069e-04 1.01850469e+00] [ 7.40594011e-03 1.34071982e-04 9.99972567e-01 2.52000672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:100.45, Y:1.02, Z:0.25 [[ 9.99953162e-01 6.23094053e-03 -7.40608766e-03 1.00449224e+02] [-6.23200322e-03 9.99980574e-01 -1.20418802e-04 1.02223009e+00] [ 7.40519346e-03 1.66567923e-04 9.99972567e-01 2.52461892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:100.48, Y:1.02, Z:0.25 [[ 9.99957313e-01 5.52485002e-03 -7.40595402e-03 1.00477675e+02] [-5.52592913e-03 9.99984724e-01 -1.25253200e-04 1.02373333e+00] [ 7.40514888e-03 1.66172631e-04 9.99972568e-01 2.52676713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:100.51, Y:1.02, Z:0.25 [[ 9.99960339e-01 4.94713023e-03 -7.40580444e-03 1.00505887e+02] [-4.94823247e-03 9.99987749e-01 -1.30518090e-04 1.02432244e+00] [ 7.40506802e-03 1.67158556e-04 9.99972568e-01 2.52886701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:100.53, Y:1.03, Z:0.26 [[ 9.99959765e-01 5.06206428e-03 -7.40570569e-03 1.00534324e+02] [-5.06319491e-03 9.99987173e-01 -1.33929285e-04 1.02724865e+00] [ 7.40493273e-03 1.71420427e-04 9.99972568e-01 2.55776057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:100.56, Y:1.03, Z:0.25 [[ 9.99965887e-01 3.65908106e-03 -7.40506454e-03 1.00562774e+02] [-3.66033333e-03 9.99993289e-01 -1.55565269e-04 1.02834421e+00] [ 7.40444562e-03 1.82664967e-04 9.99972570e-01 2.51527360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.59, Y:1.03, Z:0.24 [[ 9.99969450e-01 2.50792258e-03 -7.40333050e-03 1.00592511e+02] [-2.50956904e-03 9.99996828e-01 -2.13113021e-04 1.02849724e+00] [ 7.40277255e-03 2.31685679e-04 9.99972572e-01 2.39876873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:100.62, Y:1.03, Z:0.25 [[ 9.99972564e-01 -2.58532612e-04 -7.40300617e-03 1.00623004e+02] [ 2.56882559e-04 9.99999942e-01 -2.23839602e-04 1.02724704e+00] [ 7.40306361e-03 2.21931757e-04 9.99972572e-01 2.51299747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:100.65, Y:1.03, Z:0.25 [[ 9.99972173e-01 -9.16141182e-04 -7.40361573e-03 1.00652963e+02] [ 9.14658663e-04 9.99999561e-01 -2.03626031e-04 1.02709590e+00] [ 7.40379903e-03 1.96848584e-04 9.99972572e-01 2.51417904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:100.68, Y:1.03, Z:0.25 [[ 9.99970166e-01 -2.20227307e-03 -7.40383242e-03 1.00683196e+02] [ 2.20087842e-03 9.99997559e-01 -1.96511722e-04 1.02782070e+00] [ 7.40424712e-03 1.80210924e-04 9.99972572e-01 2.54414689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.71, Y:1.03, Z:0.24 [[ 9.99971953e-01 -1.12732213e-03 -7.40426728e-03 1.00711922e+02] [ 1.12600231e-03 9.99999349e-01 -1.82416717e-04 1.02977754e+00] [ 7.40446811e-03 1.74074379e-04 9.99972571e-01 2.42391183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:100.74, Y:1.03, Z:0.25 [[ 9.99972574e-01 -2.22748427e-04 -7.40279048e-03 1.00743120e+02] [ 2.21052146e-04 9.99999949e-01 -2.29958196e-04 1.03181012e+00] [ 7.40284132e-03 2.28315486e-04 9.99972573e-01 2.54394315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:100.77, Y:1.03, Z:0.25 [[ 9.99972189e-01 8.89901790e-04 -7.40471982e-03 1.00772825e+02] [-8.91170956e-04 9.99999589e-01 -1.68101858e-04 1.03393113e+00] [ 7.40456718e-03 1.74696054e-04 9.99972571e-01 2.53979740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.80, Y:1.04, Z:0.24 [[ 9.99972333e-01 7.16142882e-04 -7.40412054e-03 1.00801914e+02] [-7.17547875e-04 9.99999725e-01 -1.87103642e-04 1.03551397e+00] [ 7.40398451e-03 1.92411277e-04 9.99972572e-01 2.43933008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:100.83, Y:1.04, Z:0.26 [[ 9.99971347e-01 1.58383241e-03 -7.40251291e-03 1.00832208e+02] [-1.58563214e-03 9.99998715e-01 -2.37261645e-04 1.03840467e+00] [ 7.40212761e-03 2.48992509e-04 9.99972573e-01 2.56456903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93863999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:100.86, Y:1.04, Z:0.26 [[ 9.99972474e-01 -4.92458572e-04 -7.40335708e-03 1.00863280e+02] [ 4.90910421e-04 9.99999857e-01 -2.10930549e-04 1.04279320e+00] [ 7.40345990e-03 2.07290358e-04 9.99972573e-01 2.58399359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:100.89, Y:1.04, Z:0.26 [[ 9.99967460e-01 -3.20120499e-03 -7.40476286e-03 1.00890815e+02] [ 3.20005412e-03 9.99994866e-01 -1.67265763e-04 1.04403516e+00] [ 7.40526029e-03 1.43564678e-04 9.99972570e-01 2.57573806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.92, Y:1.04, Z:0.25 [[ 9.99942612e-01 -7.74277025e-03 -7.40425916e-03 1.00920616e+02] [ 7.74163074e-03 9.99970016e-01 -1.82547089e-04 1.04467738e+00] [ 7.40545058e-03 1.25215573e-04 9.99972571e-01 2.48886574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:1.05, Z:0.24 [[ 9.99888245e-01 -1.29877468e-02 -7.40380476e-03 1.00948525e+02] [ 1.29866500e-02 9.99915651e-01 -1.96194468e-04 1.04577633e+00] [ 7.40572838e-03 1.00021920e-04 9.99972572e-01 2.43479214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:100.98, Y:1.05, Z:0.26 [[ 9.99859233e-01 -1.50573562e-02 -7.40205861e-03 1.00979528e+02] [ 1.50559308e-02 9.99886622e-01 -2.48258122e-04 1.04725687e+00] [ 7.40495749e-03 1.36778293e-04 9.99972574e-01 2.58385596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:101.01, Y:1.05, Z:0.26 [[ 9.99783193e-01 -1.94615523e-02 -7.40376889e-03 1.01008941e+02] [ 1.94606262e-02 9.99810605e-01 -1.97100400e-04 1.04884024e+00] [ 7.40620253e-03 5.29756879e-05 9.99972572e-01 2.61472416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:101.04, Y:1.05, Z:0.25 [[ 9.99766734e-01 -2.02895030e-02 -7.40365351e-03 1.01038472e+02] [ 2.02885745e-02 9.99794146e-01 -2.00513745e-04 1.04999679e+00] [ 7.40619776e-03 5.02573967e-05 9.99972572e-01 2.48864026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:101.07, Y:1.05, Z:0.26 [[ 9.99702840e-01 -2.32253457e-02 -7.40372847e-03 1.01068017e+02] [ 2.32245138e-02 9.99730255e-01 -1.98317145e-04 1.05417257e+00] [ 7.40633734e-03 2.63102188e-05 9.99972572e-01 2.62290666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17864 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:101.10, Y:1.06, Z:0.26 [[ 9.99654543e-01 -2.52187704e-02 -7.40326591e-03 1.01097059e+02] [ 2.52178933e-02 9.99681956e-01 -2.11815929e-04 1.05606520e+00] [ 7.40625308e-03 2.50479860e-05 9.99972573e-01 2.63417499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:101.13, Y:1.06, Z:0.26 [[ 9.99581407e-01 -2.79679830e-02 -7.40289730e-03 1.01126968e+02] [ 2.79671022e-02 9.99608819e-01 -2.22497996e-04 1.05664965e+00] [ 7.40622425e-03 1.53672743e-05 9.99972573e-01 2.62159991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23863999999999 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:101.16, Y:1.06, Z:0.27 [[ 9.99461499e-01 -3.19674680e-02 -7.40217810e-03 1.01156586e+02] [ 3.19665435e-02 9.99488910e-01 -2.43208137e-04 1.05674569e+00] [ 7.40616967e-03 6.45512119e-06 9.99972574e-01 2.65014725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999999 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:101.19, Y:1.06, Z:0.27 [[ 9.99373067e-01 -3.46221467e-02 -7.40127830e-03 1.01186898e+02] [ 3.46211033e-02 9.99400474e-01 -2.69091149e-04 1.05744135e+00] [ 7.40615755e-03 1.26820264e-05 9.99972574e-01 2.66787761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29863999999999 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:101.22, Y:1.06, Z:0.27 [[ 9.99248556e-01 -3.80466314e-02 -7.40118268e-03 1.01218225e+02] [ 3.80456614e-02 9.99275965e-01 -2.71852674e-04 1.05625835e+00] [ 7.40616704e-03 -9.93449864e-06 9.99972574e-01 2.66977680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:101.25, Y:1.06, Z:0.26 [[ 9.99221237e-01 -3.87573824e-02 -7.40170403e-03 1.01250387e+02] [ 3.87565442e-02 9.99248650e-01 -2.56696061e-04 1.05551522e+00] [ 7.40609163e-03 -3.03683134e-05 9.99972574e-01 2.64339107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:101.28, Y:1.05, Z:0.25 [[ 9.98981719e-01 -4.45051262e-02 -7.40393832e-03 1.01279205e+02] [ 4.45049280e-02 9.99009146e-01 -1.91614067e-04 1.05266174e+00] [ 7.40512991e-03 -1.38092792e-04 9.99972572e-01 2.47823936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38864 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:101.31, Y:1.05, Z:0.27 [[ 9.99036143e-01 -4.32666005e-02 -7.40171180e-03 1.01310063e+02] [ 4.32658912e-02 9.99063560e-01 -2.55991899e-04 1.05180355e+00] [ 7.40585644e-03 -6.44964982e-05 9.99972574e-01 2.66794328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41864 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:101.34, Y:1.05, Z:0.27 [[ 9.99001044e-01 -4.40695950e-02 -7.40162588e-03 1.01340857e+02] [ 4.40688894e-02 9.99028461e-01 -2.58478205e-04 1.05029316e+00] [ 7.40582594e-03 -6.79614352e-05 9.99972574e-01 2.66332545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44864 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:101.37, Y:1.05, Z:0.27 [[ 9.99038797e-01 -4.32054225e-02 -7.40088544e-03 1.01373652e+02] [ 4.32045341e-02 9.99066209e-01 -2.79954806e-04 1.04531169e+00] [ 7.40607013e-03 -4.00660944e-05 9.99972574e-01 2.66005682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:101.40, Y:1.04, Z:0.27 [[ 9.99043161e-01 -4.31041974e-02 -7.40201844e-03 1.01404599e+02] [ 4.31035524e-02 9.99070580e-01 -2.46714828e-04 1.04306075e+00] [ 7.40577330e-03 -7.25745281e-05 9.99972574e-01 2.66293583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50864 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:101.44, Y:1.04, Z:0.27 [[ 9.99154332e-01 -4.04454677e-02 -7.40172699e-03 1.01436654e+02] [ 4.04446861e-02 9.99181746e-01 -2.55310567e-04 1.03974371e+00] [ 7.40599665e-03 -4.42658661e-05 9.99972574e-01 2.65031215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:101.47, Y:1.04, Z:0.27 [[ 9.99259998e-01 -3.77447916e-02 -7.40184114e-03 1.01467491e+02] [ 3.77439611e-02 9.99287411e-01 -2.51900257e-04 1.03898222e+00] [ 7.40607460e-03 -2.76609541e-05 9.99972574e-01 2.65697325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:101.50, Y:1.04, Z:0.27 [[ 9.99354545e-01 -3.51526359e-02 -7.40167976e-03 1.01498258e+02] [ 3.51516985e-02 9.99381955e-01 -2.56743619e-04 1.03912983e+00] [ 7.40613041e-03 -3.60371236e-06 9.99972574e-01 2.65628206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59863999999999 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:101.53, Y:1.04, Z:0.26 [[ 9.99352638e-01 -3.52067928e-02 -7.40186816e-03 1.01528081e+02] [ 3.52058992e-02 9.99380049e-01 -2.51038701e-04 1.03898089e+00] [ 7.40611763e-03 -9.71323614e-06 9.99972574e-01 2.64446866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999999 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:101.56, Y:1.04, Z:0.27 [[ 9.99524035e-01 -2.99488250e-02 -7.40071173e-03 1.01560470e+02] [ 2.99475290e-02 9.99551431e-01 -2.85897851e-04 1.03599599e+00] [ 7.40595431e-03 6.41287447e-05 9.99972573e-01 2.65846789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65863999999999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:101.59, Y:1.04, Z:0.26 [[ 9.99435040e-01 -3.27842073e-02 -7.40249880e-03 1.01591172e+02] [ 3.27833931e-02 9.99462453e-01 -2.31334135e-04 1.03540620e+00] [ 7.40610371e-03 -1.14755875e-05 9.99972574e-01 2.64124582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999999 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:101.62, Y:1.03, Z:0.27 [[ 9.99312287e-01 -3.63338774e-02 -7.40291274e-03 1.01620278e+02] [ 3.63332542e-02 9.99339705e-01 -2.18690344e-04 1.03239025e+00] [ 7.40597051e-03 -5.04319628e-05 9.99972574e-01 2.69234115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71864 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:101.65, Y:1.03, Z:0.27 [[ 9.99188249e-01 -3.95987946e-02 -7.40122324e-03 1.01650073e+02] [ 3.95978775e-02 9.99215660e-01 -2.70473758e-04 1.03135009e+00] [ 7.40612860e-03 -2.28185308e-05 9.99972574e-01 2.68869640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74864 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:101.68, Y:1.04, Z:0.26 [[ 9.99669530e-01 -2.46184221e-02 -7.40026220e-03 1.01679106e+02] [ 2.46168741e-02 9.99696914e-01 -3.00207898e-04 1.03785779e+00] [ 7.40540993e-03 1.17937366e-04 9.99972573e-01 2.64785477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77864 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:101.71, Y:1.03, Z:0.27 [[ 9.99018760e-01 -4.36666246e-02 -7.39882091e-03 1.01710833e+02] [ 4.36652670e-02 9.99046158e-01 -3.44993194e-04 1.02511158e+00] [ 7.40682829e-03 2.15831822e-05 9.99972569e-01 2.68970741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.74, Y:1.02, Z:0.25 [[ 9.98994247e-01 -4.42236981e-02 -7.39990657e-03 1.01743452e+02] [ 4.42226088e-02 9.99021654e-01 -3.10834375e-04 1.02420455e+00] [ 7.40641314e-03 -1.67214213e-05 9.99972572e-01 2.52298010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:101.77, Y:1.02, Z:0.26 [[ 9.99016796e-01 -4.37109419e-02 -7.40236396e-03 1.01772303e+02] [ 4.37104178e-02 9.99044216e-01 -2.32645208e-04 1.02276327e+00] [ 7.40545804e-03 -9.11439514e-05 9.99972575e-01 2.62670193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:101.80, Y:1.02, Z:0.26 [[ 9.98961592e-01 -4.49553355e-02 -7.39973226e-03 1.01803035e+02] [ 4.49542279e-02 9.98988998e-01 -3.16029495e-04 1.01784025e+00] [ 7.40645833e-03 -1.69479235e-05 9.99972572e-01 2.62351518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:101.83, Y:1.02, Z:0.26 [[ 9.98980851e-01 -4.45253601e-02 -7.39938439e-03 1.01833276e+02] [ 4.45241570e-02 9.99008254e-01 -3.27321422e-04 1.01552433e+00] [ 7.40662018e-03 -2.46351909e-06 9.99972571e-01 2.63161181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92864 meters Centerline goodness : 0.986973 Centerline is valid? [True, True] Translation: X:101.84, Y:1.03, Z:0.25 [[ 9.99820622e-01 -1.74344156e-02 -7.40039532e-03 1.01838674e+02] [ 1.74327182e-02 9.99847995e-01 -2.93815298e-04 1.02782300e+00] [ 7.40439292e-03 1.64753588e-04 9.99972574e-01 2.51043453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95864 meters Centerline goodness : 0.966206 Centerline is valid? [True, True] Translation: X:101.89, Y:1.04, Z:0.25 [[ 9.99463019e-01 3.19256603e-02 -7.37733789e-03 1.01888840e+02] [-3.19343105e-02 9.99489410e-01 -1.05769395e-03 1.04290964e+00] [ 7.33980352e-03 1.29271619e-03 9.99972228e-01 2.48328309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.92, Y:1.00, Z:0.25 [[ 9.98908847e-01 -4.61132506e-02 -7.39485683e-03 1.01924658e+02] [ 4.61116277e-02 9.98936217e-01 -3.89900311e-04 1.00342187e+00] [ 7.40496988e-03 4.84859851e-05 9.99972582e-01 2.51004251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01863999999999 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:101.95, Y:1.02, Z:0.26 [[ 9.99972614e-01 -1.04489145e-04 -7.39998899e-03 1.01952027e+02] [ 1.03089018e-04 9.99999977e-01 -1.89587902e-04 1.01945679e+00] [ 7.40000863e-03 1.88819853e-04 9.99972602e-01 2.56078568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:101.98, Y:1.00, Z:0.25 [[ 9.98783029e-01 -4.87621165e-02 -7.39703947e-03 1.01984690e+02] [ 4.87612133e-02 9.98810419e-01 -3.02505908e-04 9.96027635e-01] [ 7.40299091e-03 -5.85508522e-05 9.99972596e-01 2.52762898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:102.01, Y:0.99, Z:0.27 [[ 9.98901292e-01 -4.62758016e-02 -7.39992225e-03 1.02014204e+02] [ 4.62756591e-02 9.98928690e-01 -1.90564729e-04 9.89494592e-01] [ 7.40081317e-03 -1.52080925e-04 9.99972602e-01 2.68280147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10864 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:102.05, Y:1.01, Z:0.26 [[ 9.99918528e-01 1.04015675e-02 -7.39901794e-03 1.02053144e+02] [-1.04035211e-02 9.99945856e-01 -2.25591177e-04 1.01189976e+00] [ 7.39627083e-03 3.02548637e-04 9.99972601e-01 2.57366553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:102.07, Y:0.98, Z:0.27 [[ 9.98961446e-01 -4.49571744e-02 -7.40818496e-03 1.02074877e+02] [ 4.49594728e-02 9.98988801e-01 1.43926669e-04 9.83990327e-01] [ 7.39422328e-03 -4.76845284e-04 9.99972549e-01 2.69965364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:102.11, Y:0.98, Z:0.26 [[ 9.98961003e-01 -4.49686173e-02 -7.39856102e-03 1.02106201e+02] [ 4.49681983e-02 9.98988394e-01 -2.23062929e-04 9.81646116e-01] [ 7.40110742e-03 -1.09868792e-04 9.99972605e-01 2.55488057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.14, Y:0.98, Z:0.25 [[ 9.98992330e-01 -4.42670764e-02 -7.39934202e-03 1.02135685e+02] [ 4.42668597e-02 9.99019723e-01 -1.93142527e-04 9.79836782e-01] [ 7.40063847e-03 -1.34597733e-04 9.99972606e-01 2.54995997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:102.17, Y:0.98, Z:0.27 [[ 9.99006931e-01 -4.39363385e-02 -7.39932994e-03 1.02165344e+02] [ 4.39361092e-02 9.99034324e-01 -1.93604397e-04 9.77467035e-01] [ 7.40069085e-03 -1.31685634e-04 9.99972606e-01 2.68668456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.20, Y:0.98, Z:0.26 [[ 9.99036575e-01 -4.32571591e-02 -7.39868318e-03 1.02196778e+02] [ 4.32567282e-02 9.99063966e-01 -2.18321962e-04 9.75259910e-01] [ 7.40120175e-03 -1.01931202e-04 9.99972606e-01 2.55668317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:102.23, Y:0.97, Z:0.27 [[ 9.99120223e-01 -4.12798841e-02 -7.39934181e-03 1.02225675e+02] [ 4.12795859e-02 9.99147616e-01 -1.93082107e-04 9.71374356e-01] [ 7.40100513e-03 -1.12529528e-04 9.99972606e-01 2.69743254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:102.26, Y:0.97, Z:0.27 [[ 9.99155786e-01 -4.04101148e-02 -7.39853489e-03 1.02256234e+02] [ 4.04095646e-02 9.99183175e-01 -2.23909014e-04 9.69761777e-01] [ 7.40153977e-03 -7.52515870e-05 9.99972605e-01 2.68813210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:102.29, Y:0.97, Z:0.27 [[ 9.99273379e-01 -3.73894069e-02 -7.39900988e-03 1.02285602e+02] [ 3.73889090e-02 9.99300769e-01 -2.05649608e-04 9.65090625e-01] [ 7.40152538e-03 -7.11407282e-05 9.99972606e-01 2.71831608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:0.96, Z:0.26 [[ 9.99305523e-01 -3.65201674e-02 -7.39921069e-03 1.02316783e+02] [ 3.65197025e-02 9.99332914e-01 -1.97980890e-04 9.64478678e-01] [ 7.40150507e-03 -7.23735766e-05 9.99972606e-01 2.58355586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:102.35, Y:0.96, Z:0.27 [[ 9.99368952e-01 -3.47411657e-02 -7.39932569e-03 1.02345622e+02] [ 3.47406845e-02 9.99396341e-01 -1.93585276e-04 9.64027262e-01] [ 7.40158440e-03 -6.35945256e-05 9.99972606e-01 2.71879458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:102.38, Y:0.96, Z:0.27 [[ 9.99388488e-01 -3.41747974e-02 -7.39824218e-03 1.02375090e+02] [ 3.41739956e-02 9.99415871e-01 -2.34791761e-04 9.63056128e-01] [ 7.40194462e-03 -1.81793127e-05 9.99972605e-01 2.74220462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.41, Y:0.96, Z:0.26 [[ 9.99494236e-01 -3.09280940e-02 -7.39770867e-03 1.02407039e+02] [ 3.09270517e-02 9.99521612e-01 -2.55287671e-04 9.62424011e-01] [ 7.40206525e-03 2.63692379e-05 9.99972604e-01 2.59034148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.44, Y:0.96, Z:0.26 [[ 9.99490232e-01 -3.10568050e-02 -7.39937933e-03 1.02436347e+02] [ 3.10562469e-02 9.99517620e-01 -1.90342938e-04 9.63085242e-01] [ 7.40172147e-03 -3.95510439e-05 9.99972606e-01 2.59247017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:0.96, Z:0.26 [[ 9.99493949e-01 -3.09369449e-02 -7.39935461e-03 1.02465695e+02] [ 3.09363764e-02 9.99521337e-01 -1.91299385e-04 9.62467477e-01] [ 7.40173103e-03 -3.77066415e-05 9.99972606e-01 2.59287226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:0.96, Z:0.26 [[ 9.99539620e-01 -2.94244564e-02 -7.39931398e-03 1.02494980e+02] [ 2.94238349e-02 9.99567007e-01 -1.92858234e-04 9.60628017e-01] [ 7.40178487e-03 -2.49467471e-05 9.99972606e-01 2.59805281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:0.96, Z:0.26 [[ 9.99567873e-01 -2.84485271e-02 -7.39928897e-03 1.02523509e+02] [ 2.84478718e-02 9.99595259e-01 -1.93813042e-04 9.60738055e-01] [ 7.40180786e-03 -1.67647338e-05 9.99972606e-01 2.61292945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:102.55, Y:0.96, Z:0.26 [[ 9.99605116e-01 -2.71083641e-02 -7.39926373e-03 1.02552550e+02] [ 2.71076650e-02 9.99632501e-01 -1.94771844e-04 9.60085703e-01] [ 7.40182445e-03 -5.88183033e-06 9.99972606e-01 2.62435104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:102.58, Y:0.96, Z:0.28 [[ 9.99601392e-01 -2.72453389e-02 -7.39923813e-03 1.02581936e+02] [ 2.72446364e-02 9.99628777e-01 -1.95739303e-04 9.59282149e-01] [ 7.40182435e-03 -5.92827231e-06 9.99972606e-01 2.76916168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:102.61, Y:0.96, Z:0.28 [[ 9.99654822e-01 -2.52092156e-02 -7.39808103e-03 1.02611284e+02] [ 2.52081329e-02 9.99682196e-01 -2.39584338e-04 9.58460040e-01] [ 7.40176963e-03 5.30098288e-05 9.99972605e-01 2.75509477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:102.64, Y:0.96, Z:0.27 [[ 9.99676673e-01 -2.43269616e-02 -7.39919185e-03 1.02640131e+02] [ 2.43261668e-02 9.99704056e-01 -1.97417832e-04 9.55778183e-01] [ 7.40180468e-03 1.73600268e-05 9.99972606e-01 2.72904292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73863999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:102.67, Y:0.96, Z:0.28 [[ 9.99723895e-01 -2.23026022e-02 -7.39779212e-03 1.02671092e+02] [ 2.23013586e-02 9.99751262e-01 -2.50552470e-04 9.55934302e-01] [ 7.40153998e-03 8.55024756e-05 9.99972605e-01 2.76259650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:102.70, Y:0.96, Z:0.27 [[ 9.99821616e-01 -1.73780420e-02 -7.39860245e-03 1.02700553e+02] [ 1.73768920e-02 9.99848986e-01 -2.19691032e-04 9.57935932e-01] [ 7.40130296e-03 9.10871268e-05 9.99972606e-01 2.74305448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:102.73, Y:0.96, Z:0.27 [[ 9.99860687e-01 -1.49621809e-02 -7.39856995e-03 1.02729083e+02] [ 1.49609557e-02 9.99888054e-01 -2.20929406e-04 9.59951040e-01] [ 7.40104729e-03 1.10208950e-04 9.99972606e-01 2.72652295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:102.76, Y:0.96, Z:0.27 [[ 9.99889824e-01 -1.28685047e-02 -7.39874591e-03 1.02756405e+02] [ 1.28672714e-02 9.99917190e-01 -2.14272718e-04 9.62356443e-01] [ 7.40089060e-03 1.19047438e-04 9.99972606e-01 2.72874066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:102.79, Y:0.97, Z:0.27 [[ 9.99944257e-01 -7.53369020e-03 -7.39766568e-03 1.02786910e+02] [ 7.53201202e-03 9.99971602e-01 -2.54686296e-04 9.67602515e-01] [ 7.39937433e-03 1.98952792e-04 9.99972604e-01 2.74691352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:102.82, Y:0.97, Z:0.28 [[ 9.99953230e-01 -6.22909901e-03 -7.39835631e-03 1.02815295e+02] [ 6.22757726e-03 9.99980582e-01 -2.28707078e-04 9.70936656e-01] [ 7.39963729e-03 1.82622546e-04 9.99972606e-01 2.76081968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:102.84, Y:0.97, Z:0.28 [[ 9.99951067e-01 -6.56673413e-03 -7.39875997e-03 1.02843941e+02] [ 6.56533416e-03 9.99978425e-01 -2.13488411e-04 9.74106286e-01] [ 7.40000226e-03 1.64902632e-04 9.99972606e-01 2.77798808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:102.87, Y:0.98, Z:0.28 [[ 9.99937433e-01 -8.38994833e-03 -7.39860950e-03 1.02873800e+02] [ 8.38855624e-03 9.99964791e-01 -2.19169289e-04 9.76934979e-01] [ 7.40018782e-03 1.57091925e-04 9.99972606e-01 2.77415403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:102.90, Y:0.98, Z:0.28 [[ 9.99894850e-01 -1.24718599e-02 -7.39878346e-03 1.02903087e+02] [ 1.24706280e-02 9.99922216e-01 -2.12613309e-04 9.78979927e-01] [ 7.40085963e-03 1.20323476e-04 9.99972606e-01 2.76229304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:102.93, Y:0.98, Z:0.27 [[ 9.99866562e-01 -1.45640493e-02 -7.39903755e-03 1.02932998e+02] [ 1.45629450e-02 9.99893934e-01 -2.03113827e-04 9.80975070e-01] [ 7.40121093e-03 9.53349467e-05 9.99972606e-01 2.65608964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03864 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:102.96, Y:0.98, Z:0.28 [[ 9.99861462e-01 -1.49100302e-02 -7.39915526e-03 1.02962018e+02] [ 1.49089677e-02 9.99888835e-01 -1.98731232e-04 9.83964650e-01] [ 7.40129583e-03 8.83899331e-05 9.99972606e-01 2.77339098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:102.99, Y:0.99, Z:0.28 [[ 9.99866940e-01 -1.45381871e-02 -7.39887979e-03 1.02991317e+02] [ 1.45370383e-02 9.99894310e-01 -2.09018086e-04 9.86212583e-01] [ 7.40113655e-03 1.01432475e-04 9.99972606e-01 2.78397357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:103.02, Y:0.99, Z:0.27 [[ 9.99875967e-01 -1.39031668e-02 -7.39956175e-03 1.03020054e+02] [ 1.39021882e-02 9.99903343e-01 -1.83673080e-04 9.88420143e-01] [ 7.40140017e-03 8.07801990e-05 9.99972606e-01 2.66501035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:103.05, Y:0.99, Z:0.28 [[ 9.99896248e-01 -1.23590655e-02 -7.39909116e-03 1.03049389e+02] [ 1.23579164e-02 9.99923618e-01 -2.00996632e-04 9.90350782e-01] [ 7.40101013e-03 1.09538428e-04 9.99972606e-01 2.77063493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15863999999999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:103.08, Y:0.99, Z:0.28 [[ 9.99900663e-01 -1.19961403e-02 -7.39973066e-03 1.03079901e+02] [ 1.19951544e-02 9.99928040e-01 -1.77612468e-04 9.92319826e-01] [ 7.40132884e-03 8.88339132e-05 9.99972606e-01 2.80037810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999999 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:103.11, Y:0.99, Z:0.28 [[ 9.99913614e-01 -1.08628638e-02 -7.40020284e-03 1.03109806e+02] [ 1.08619745e-02 9.99940994e-01 -1.60351142e-04 9.94145557e-01] [ 7.40150805e-03 7.99564751e-05 9.99972605e-01 2.78948999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21864 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:103.14, Y:1.00, Z:0.28 [[ 9.99918012e-01 -1.04499162e-02 -7.40058741e-03 1.03139915e+02] [ 1.04491188e-02 9.99945396e-01 -1.46410165e-04 9.95973126e-01] [ 7.40171328e-03 6.90685445e-05 9.99972605e-01 2.78513940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:103.17, Y:1.00, Z:0.28 [[ 9.99917995e-01 -1.04514025e-02 -7.40081573e-03 1.03169712e+02] [ 1.04506654e-02 9.99945381e-01 -1.38266797e-04 9.98232348e-01] [ 7.40185658e-03 6.09120100e-05 9.99972604e-01 2.79438835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27864 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:103.20, Y:1.00, Z:0.28 [[ 9.99911378e-01 -1.10660407e-02 -7.40125501e-03 1.03198106e+02] [ 1.10654351e-02 9.99938769e-01 -1.22769828e-04 9.99544897e-01] [ 7.40216040e-03 4.08608408e-05 9.99972603e-01 2.78581558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:103.23, Y:1.00, Z:0.27 [[ 9.99861844e-01 -1.48833506e-02 -7.40126384e-03 1.03225240e+02] [ 1.48828518e-02 9.99889237e-01 -1.22464737e-04 1.00110631e+00] [ 7.40226673e-03 1.22959045e-05 9.99972603e-01 2.66224702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33864 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:103.26, Y:1.00, Z:0.28 [[ 9.99871419e-01 -1.42269931e-02 -7.39846986e-03 1.03257680e+02] [ 1.42257731e-02 9.99898785e-01 -2.17503990e-04 1.00415400e+00] [ 7.40081545e-03 1.12227070e-04 9.99972607e-01 2.79642075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36864 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:103.29, Y:1.00, Z:0.28 [[ 9.99855292e-01 -1.53172160e-02 -7.40117833e-03 1.03287285e+02] [ 1.53167090e-02 9.99882684e-01 -1.25181927e-04 1.00498223e+00] [ 7.40222749e-03 1.18021170e-05 9.99972603e-01 2.79528927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39864 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:103.32, Y:1.01, Z:0.28 [[ 9.99812406e-01 -1.78990206e-02 -7.40126669e-03 1.03316150e+02] [ 1.78986064e-02 9.99839800e-01 -1.22209829e-04 1.00530435e+00] [ 7.40226844e-03 -1.02854557e-05 9.99972603e-01 2.80403335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42864 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:103.35, Y:1.01, Z:0.28 [[ 9.99794993e-01 -1.88468955e-02 -7.40045741e-03 1.03345916e+02] [ 1.88463093e-02 9.99822381e-01 -1.48949411e-04 1.00565689e+00] [ 7.40195018e-03 9.44756588e-06 9.99972605e-01 2.80093481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45864 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:103.38, Y:1.01, Z:0.28 [[ 9.99789568e-01 -1.91325583e-02 -7.40033206e-03 1.03375088e+02] [ 1.91319497e-02 9.99816956e-01 -1.53028997e-04 1.00554820e+00] [ 7.40190531e-03 1.14140145e-05 9.99972605e-01 2.80350612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999999 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:103.40, Y:1.00, Z:0.28 [[ 9.99770702e-01 -2.00941075e-02 -7.40064460e-03 1.03403409e+02] [ 2.00936001e-02 9.99798093e-01 -1.42917778e-04 1.00438965e+00] [ 7.40202216e-03 -5.82058584e-06 9.99972605e-01 2.80268536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51863999999999 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:103.43, Y:1.01, Z:0.28 [[ 9.99756648e-01 -2.07817291e-02 -7.40035099e-03 1.03431835e+02] [ 2.07811711e-02 9.99784037e-01 -1.52307097e-04 1.00520005e+00] [ 7.40191799e-03 -1.51792668e-06 9.99972605e-01 2.80006996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999999 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:103.46, Y:1.01, Z:0.28 [[ 9.99777915e-01 -1.97322608e-02 -7.39990428e-03 1.03460525e+02] [ 1.97315693e-02 9.99805300e-01 -1.66450364e-04 1.00644362e+00] [ 7.40174796e-03 2.04016734e-05 9.99972606e-01 2.80623784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57864 meters Centerline goodness : 0.904038 Centerline is valid? [True, False] Translation: X:103.46, Y:1.02, Z:0.28 [[ 9.99958969e-01 -8.52293656e-03 -3.06911213e-03 1.03456400e+02] [ 8.49399000e-03 9.99920452e-01 -9.32422542e-03 1.01537170e+00] [ 3.14833777e-03 9.29777384e-03 9.99951819e-01 2.82211648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60864 meters Centerline goodness : 0.997835 Centerline is valid? [False, True] Translation: X:103.45, Y:1.01, Z:0.29 [[ 9.99976798e-01 -6.41214192e-03 -2.29938452e-03 1.03451560e+02] [ 6.39660559e-03 9.99957085e-01 -6.70160753e-03 1.01268543e+00] [ 2.34225750e-03 6.68674378e-03 9.99974900e-01 2.86485070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:103.47, Y:1.00, Z:0.28 [[ 9.99795686e-01 -2.00633781e-02 -2.45907657e-03 1.03473587e+02] [ 2.00636576e-02 9.99798701e-01 8.90735533e-05 1.00184503e+00] [ 2.45679445e-03 -1.38393425e-04 9.99996972e-01 2.84598402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:103.51, Y:1.01, Z:0.27 [[ 9.99963155e-01 -8.22593537e-03 -2.45392078e-03 1.03508777e+02] [ 8.22565490e-03 9.99966161e-01 -1.24368186e-04 1.00696412e+00] [ 2.45486079e-03 1.04178498e-04 9.99996981e-01 2.71936928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:103.54, Y:1.01, Z:0.27 [[ 9.99962022e-01 -8.36210395e-03 -2.45548415e-03 1.03537094e+02] [ 8.36198946e-03 9.99965036e-01 -5.68893246e-05 1.00850084e+00] [ 2.45587402e-03 3.63544314e-05 9.99996984e-01 2.71406990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72864 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:103.57, Y:1.01, Z:0.29 [[ 9.99963641e-01 -8.16628279e-03 -2.45547669e-03 1.03568381e+02] [ 8.16616693e-03 9.99966655e-01 -5.72098196e-05 1.01001708e+00] [ 2.45586200e-03 3.71559070e-05 9.99996984e-01 2.86107640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:103.60, Y:1.01, Z:0.28 [[ 9.99892531e-01 -1.44532385e-02 -2.45586632e-03 1.03597957e+02] [ 1.44531824e-02 9.99895546e-01 -4.05718581e-05 1.00927798e+00] [ 2.45619619e-03 5.07241389e-06 9.99996984e-01 2.82621764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78864 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:103.63, Y:1.01, Z:0.29 [[ 9.99969586e-01 -7.40245807e-03 -2.45556477e-03 1.03629001e+02] [ 7.40234906e-03 9.99972601e-01 -5.34809685e-05 1.01231661e+00] [ 2.45589338e-03 3.53023943e-05 9.99996984e-01 2.85273077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81864 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:103.66, Y:1.02, Z:0.29 [[ 9.99982911e-01 -5.30515716e-03 -2.45602982e-03 1.03657887e+02] [ 5.30509011e-03 9.99985927e-01 -3.38105146e-05 1.01523125e+00] [ 2.45617463e-03 2.07804773e-05 9.99996983e-01 2.86934009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters Centerline goodness : 0.973528 Centerline is valid? [True, True] Translation: X:103.66, Y:0.98, Z:0.27 [[ 9.95897808e-01 -9.04517763e-02 -2.45608118e-03 1.03663611e+02] [ 9.04519716e-02 9.95900818e-01 -3.16779442e-05 9.81044141e-01] [ 2.44887859e-03 -1.90609390e-04 9.99996983e-01 2.67081426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87863999999999 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:103.72, Y:1.02, Z:0.29 [[ 9.99996593e-01 9.02996571e-04 -2.44938723e-03 1.03717033e+02] [-9.03738219e-04 9.99999546e-01 -3.01699521e-04 1.02032529e+00] [ 2.44911368e-03 3.03912098e-04 9.99996955e-01 2.87108909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999999 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:103.75, Y:1.02, Z:0.29 [[ 9.99995214e-01 1.88265516e-03 -2.45523683e-03 1.03745898e+02] [-1.88268629e-03 9.99998228e-01 -1.03670605e-05 1.02250932e+00] [ 2.45521296e-03 1.49894516e-05 9.99996986e-01 2.86705282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93863999999999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:103.77, Y:1.02, Z:0.29 [[ 9.99993590e-01 2.60618685e-03 -2.45504693e-03 1.03774531e+02] [-2.60624247e-03 9.99996604e-01 -1.94550465e-05 1.02451708e+00] [ 2.45498789e-03 2.58533694e-05 9.99996986e-01 2.86585690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:103.80, Y:1.03, Z:0.28 [[ 9.99991450e-01 3.32775064e-03 -2.45491839e-03 1.03803211e+02] [-3.32782312e-03 9.99994462e-01 -2.54391902e-05 1.02650548e+00] [ 2.45482014e-03 3.36085069e-05 9.99996986e-01 2.84861846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99864 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:103.83, Y:1.03, Z:0.29 [[ 9.99978739e-01 6.04110027e-03 -2.45496359e-03 1.03832213e+02] [-6.04117588e-03 9.99981752e-01 -2.33839243e-05 1.03044309e+00] [ 2.45477752e-03 3.82142939e-05 9.99996986e-01 2.85767320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:103.86, Y:1.03, Z:0.29 [[ 9.99978593e-01 6.06523240e-03 -2.45488318e-03 1.03859891e+02] [-6.06531671e-03 9.99981605e-01 -2.68979026e-05 1.03218033e+00] [ 2.45467488e-03 4.17869707e-05 9.99996986e-01 2.86030966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:103.89, Y:1.03, Z:0.29 [[ 9.99982527e-01 5.37763568e-03 -2.45477082e-03 1.03889006e+02] [-5.37772961e-03 9.99985539e-01 -3.16677765e-05 1.03431977e+00] [ 2.45456502e-03 4.48683169e-05 9.99996987e-01 2.85946712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08864 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:103.92, Y:1.04, Z:0.29 [[ 9.99992392e-01 3.03166919e-03 -2.45470549e-03 1.03919085e+02] [-3.03176267e-03 9.99995404e-01 -3.43602791e-05 1.03746197e+00] [ 2.45459004e-03 4.18021022e-05 9.99996987e-01 2.88623687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:103.95, Y:1.04, Z:0.29 [[ 9.99996088e-01 1.34099817e-03 -2.45454678e-03 1.03950336e+02] [-1.34110231e-03 9.99999100e-01 -4.07831332e-05 1.03880351e+00] [ 2.45448988e-03 4.40747721e-05 9.99996987e-01 2.86343632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:103.98, Y:1.04, Z:0.27 [[ 9.99990837e-01 -3.50705019e-03 -2.45479080e-03 1.03978755e+02] [ 3.50698460e-03 9.99993850e-01 -3.10237477e-05 1.03945703e+00] [ 2.45488450e-03 2.24145499e-05 9.99996987e-01 2.72726828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:104.01, Y:1.04, Z:0.27 [[ 9.99983277e-01 -5.23671929e-03 -2.45400086e-03 1.04007295e+02] [ 5.23658243e-03 9.99986287e-01 -6.21931753e-05 1.04020074e+00] [ 2.45429289e-03 4.93415575e-05 9.99996987e-01 2.72857974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:104.04, Y:1.04, Z:0.28 [[ 9.99976771e-01 -6.35890795e-03 -2.45399274e-03 1.04038239e+02] [ 6.35877369e-03 9.99979781e-01 -6.25118876e-05 1.04151137e+00] [ 2.45434063e-03 4.69060511e-05 9.99996987e-01 2.84630628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23863999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:104.07, Y:1.05, Z:0.29 [[ 9.99972881e-01 -6.94349539e-03 -2.45452121e-03 1.04067430e+02] [ 6.94341384e-03 9.99975893e-01 -4.17435971e-05 1.04515662e+00] [ 2.45475188e-03 2.46997086e-05 9.99996987e-01 2.86125988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:104.10, Y:1.05, Z:0.27 [[ 9.99966430e-01 -7.81755456e-03 -2.45466765e-03 1.04096167e+02] [ 7.81748960e-03 9.99969442e-01 -3.60559604e-05 1.04804364e+00] [ 2.45487451e-03 1.68654111e-05 9.99996987e-01 2.73684217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:104.13, Y:1.05, Z:0.27 [[ 9.99970778e-01 -7.24021044e-03 -2.45395899e-03 1.04126100e+02] [ 7.24007650e-03 9.99973788e-01 -6.34596569e-05 1.05061078e+00] [ 2.45435413e-03 4.56909517e-05 9.99996987e-01 2.74286207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:104.16, Y:1.06, Z:0.29 [[ 9.99985506e-01 -4.79223813e-03 -2.45395487e-03 1.04157708e+02] [ 4.79209643e-03 9.99988516e-01 -6.36184828e-05 1.05575709e+00] [ 2.45423156e-03 5.18579723e-05 9.99996987e-01 2.87954937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35864 meters Centerline goodness : 0.831104 Centerline is valid? [True, False] Translation: X:104.13, Y:1.06, Z:0.28 [[ 9.99991682e-01 -1.99328652e-03 3.55848868e-03 1.04134647e+02] [ 2.02261081e-03 9.99963872e-01 -8.25616991e-03 1.06491537e+00] [-3.54190321e-03 8.26329868e-03 9.99959586e-01 2.84767737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38864 meters Centerline goodness : 0.831104 Centerline is valid? [False, False] Translation: X:104.13, Y:1.06, Z:0.28 [[ 9.99991682e-01 -1.99328652e-03 3.55848868e-03 1.04134647e+02] [ 2.02261081e-03 9.99963872e-01 -8.25616991e-03 1.06491537e+00] [-3.54190321e-03 8.26329868e-03 9.99959586e-01 2.84767737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41864 meters Centerline goodness : 0.908559 Centerline is valid? [False, False] Translation: X:104.14, Y:1.07, Z:0.28 [[ 9.99996082e-01 -3.61476546e-05 2.79903457e-03 1.04139376e+02] [ 5.50150455e-05 9.99977278e-01 -6.74089450e-03 1.06684308e+00] [-2.79872730e-03 6.74102208e-03 9.99973363e-01 2.80808199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44864 meters Centerline goodness : 0.997246 Centerline is valid? [False, True] Translation: X:104.11, Y:1.08, Z:0.28 [[ 9.99945618e-01 -1.80480411e-03 1.02714751e-02 1.04114710e+02] [ 2.00623603e-03 9.99805213e-01 -1.96344111e-02 1.07976380e+00] [-1.02340381e-02 1.96539503e-02 9.99754463e-01 2.79626414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47864 meters Centerline goodness : 0.723758 Centerline is valid? [True, False] Translation: X:104.11, Y:1.08, Z:0.28 [[ 9.99938504e-01 3.29649917e-04 1.10850796e-02 1.04109926e+02] [-1.33218065e-04 9.99843042e-01 -1.77164540e-02 1.08014603e+00] [-1.10891799e-02 1.77138878e-02 9.99781600e-01 2.83867321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:104.11, Y:1.09, Z:0.28 [[ 9.99933428e-01 -3.72430125e-03 1.09210578e-02 1.04110425e+02] [ 3.97750238e-03 9.99721645e-01 -2.32553488e-02 1.08576879e+00] [-1.08314080e-02 2.32972391e-02 9.99669905e-01 2.84550078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:104.14, Y:1.06, Z:0.30 [[ 9.99927097e-01 -5.59412963e-03 1.07007247e-02 1.04141529e+02] [ 5.59335541e-03 9.99984352e-01 1.02277956e-04 1.06407047e+00] [-1.07011294e-02 -4.24175432e-05 9.99942740e-01 2.96447373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56864 meters Centerline goodness : 0.860616 Centerline is valid? [True, False] Translation: X:104.16, Y:1.07, Z:0.30 [[ 9.99957816e-01 -7.72159934e-03 4.97430896e-03 1.04163719e+02] [ 7.78035862e-03 9.99898881e-01 -1.19035365e-02 1.07272400e+00] [-4.88189162e-03 1.19417363e-02 9.99916778e-01 3.00963413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:104.19, Y:1.07, Z:0.30 [[ 9.99998724e-01 -1.56729610e-03 -3.10044546e-04 1.04185045e+02] [ 1.56282588e-03 9.99901781e-01 -1.39279159e-02 1.07461951e+00] [ 3.31843262e-04 1.39274136e-02 9.99902954e-01 3.04668610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.22, Y:1.06, Z:0.30 [[ 9.99992059e-01 -3.97188736e-03 -3.25064811e-04 1.04215380e+02] [ 3.97187333e-03 9.99992111e-01 -4.37963154e-05 1.05820124e+00] [ 3.25236200e-04 4.25048514e-05 9.99999946e-01 3.04028968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.25, Y:1.06, Z:0.30 [[ 9.99993300e-01 -3.64604979e-03 -3.25117028e-04 1.04245930e+02] [ 3.64604942e-03 9.99993353e-01 -1.73347555e-06 1.05609265e+00] [ 3.25121188e-04 5.48071183e-07 9.99999947e-01 3.03968559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:104.28, Y:1.07, Z:0.29 [[ 9.99535190e-01 3.04843804e-02 -3.25117663e-04 1.04278578e+02] [-3.04843824e-02 9.99535243e-01 -1.05405590e-06 1.06751828e+00] [ 3.24934430e-04 1.09645771e-05 9.99999947e-01 2.93771267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:1.05, Z:0.30 [[ 9.99990781e-01 -4.28166360e-03 -3.25122779e-04 1.04305755e+02] [ 4.28166525e-03 9.99990834e-01 4.39255231e-06 1.04897159e+00] [ 3.25100991e-04 -5.78457872e-06 9.99999947e-01 3.03388579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:1.05, Z:0.30 [[ 9.99994658e-01 -3.25245721e-03 -3.25115286e-04 1.04336151e+02] [ 3.25245723e-03 9.99994711e-01 -4.69482891e-07 1.04699129e+00] [ 3.25115093e-04 -5.87943177e-07 9.99999947e-01 3.03675486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.37, Y:1.05, Z:0.30 [[ 9.99997951e-01 -1.99798168e-03 -3.25114776e-04 1.04366888e+02] [ 1.99798152e-03 9.99998004e-01 -8.40285656e-07 1.04516000e+00] [ 3.25115806e-04 1.90710621e-07 9.99999947e-01 3.04079820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:104.40, Y:1.04, Z:0.30 [[ 9.99994838e-01 3.19656238e-03 -3.25115258e-04 1.04397781e+02] [-3.19656272e-03 9.99994891e-01 -5.14281374e-07 1.04309219e+00] [ 3.25111953e-04 1.55353003e-06 9.99999947e-01 3.03988430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.43, Y:1.04, Z:0.30 [[ 9.99989851e-01 4.49348095e-03 -3.25117825e-04 1.04427533e+02] [-4.49348085e-03 9.99989904e-01 1.02416683e-06 1.04271710e+00] [ 3.25119144e-04 4.36754281e-07 9.99999947e-01 3.04067361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.46, Y:1.04, Z:0.30 [[ 9.99965621e-01 8.28562732e-03 -3.25117747e-04 1.04457241e+02] [-8.28562744e-03 9.99965674e-01 9.83037534e-07 1.04252007e+00] [ 3.25114732e-04 1.71080079e-06 9.99999947e-01 3.03338036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:1.04, Z:0.29 [[ 9.99979730e-01 6.35870058e-03 -3.25117244e-04 1.04487041e+02] [-6.35870066e-03 9.99979783e-01 7.75451408e-07 1.04306413e+00] [ 3.25115603e-04 1.29188755e-06 9.99999947e-01 2.90180167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:1.04, Z:0.30 [[ 9.99955739e-01 9.40284073e-03 -3.25112783e-04 1.04517641e+02] [-9.40284151e-03 9.99955792e-01 -8.77508764e-07 1.04491411e+00] [ 3.25090159e-04 3.93445390e-06 9.99999947e-01 3.03231605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:1.04, Z:0.29 [[ 9.99979344e-01 6.41913351e-03 -3.25120055e-04 1.04546951e+02] [-6.41913333e-03 9.99979397e-01 1.60383165e-06 1.04487105e+00] [ 3.25123652e-04 4.83190460e-07 9.99999947e-01 2.89161619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:1.05, Z:0.29 [[ 9.99983879e-01 5.66892679e-03 -3.25111211e-04 1.04576757e+02] [-5.66892744e-03 9.99983932e-01 -1.07384237e-06 1.04571498e+00] [ 3.25099899e-04 2.91685692e-06 9.99999947e-01 2.88787191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:1.05, Z:0.29 [[ 9.99987011e-01 5.08652665e-03 -3.25111140e-04 1.04606673e+02] [-5.08652727e-03 9.99987064e-01 -1.09488428e-06 1.04896800e+00] [ 3.25101365e-04 2.74855674e-06 9.99999947e-01 2.89560286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.64, Y:1.05, Z:0.30 [[ 9.99971939e-01 7.48430278e-03 -3.25111068e-04 1.04637017e+02] [-7.48430354e-03 9.99971992e-01 -1.11580678e-06 1.05075164e+00] [ 3.25093611e-04 3.54900538e-06 9.99999947e-01 3.03681649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:104.67, Y:1.05, Z:0.30 [[ 9.99983180e-01 5.79089798e-03 -3.25117458e-04 1.04666455e+02] [-5.79089806e-03 9.99983233e-01 6.86097568e-07 1.05158134e+00] [ 3.25115980e-04 1.19663603e-06 9.99999947e-01 3.04055854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:1.05, Z:0.30 [[ 9.99973258e-01 7.30594870e-03 -3.25111654e-04 1.04696878e+02] [-7.30594934e-03 9.99973311e-01 -7.82149769e-07 1.05366721e+00] [ 3.25097262e-04 3.15737812e-06 9.99999947e-01 3.04700610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.73, Y:1.06, Z:0.31 [[ 9.99953861e-01 9.60051089e-03 -3.25116146e-04 1.04726433e+02] [-9.60051129e-03 9.99953914e-01 3.31158837e-07 1.06045025e+00] [ 3.25104342e-04 2.79013768e-06 9.99999947e-01 3.06084147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.76, Y:1.06, Z:0.31 [[ 9.99951861e-01 9.80659112e-03 -3.25117978e-04 1.04755928e+02] [-9.80659139e-03 9.99951914e-01 7.43662523e-07 1.06360125e+00] [ 3.25109637e-04 2.44467244e-06 9.99999947e-01 3.05499922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:104.79, Y:1.07, Z:0.31 [[ 9.99971121e-01 7.59282370e-03 -3.25118044e-04 1.04785317e+02] [-7.59282385e-03 9.99971174e-01 7.57514465e-07 1.06718688e+00] [ 3.25114424e-04 1.71107145e-06 9.99999947e-01 3.05598246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:104.82, Y:1.07, Z:0.31 [[ 9.99980966e-01 6.16125368e-03 -3.25113045e-04 1.04815274e+02] [-6.16125408e-03 9.99981019e-01 -2.24957285e-07 1.06939851e+00] [ 3.25105488e-04 2.22805708e-06 9.99999947e-01 3.06090783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:1.08, Z:0.31 [[ 9.99992780e-01 3.78610869e-03 -3.25111390e-04 1.04844988e+02] [-3.78610906e-03 9.99992833e-01 -5.19954167e-07 1.07501294e+00] [ 3.25107091e-04 1.75085759e-06 9.99999947e-01 3.05309735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.88, Y:1.08, Z:0.31 [[ 9.99997959e-01 1.99420734e-03 -3.25114948e-04 1.04875128e+02] [-1.99420742e-03 9.99998012e-01 7.16961579e-08 1.07776626e+00] [ 3.25114444e-04 5.76650629e-07 9.99999947e-01 3.05387552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:1.08, Z:0.31 [[ 9.99999931e-01 -1.80890529e-04 -3.25117210e-04 1.04904711e+02] [ 1.80890682e-04 9.99999984e-01 4.39128769e-07 1.08015253e+00] [ 3.25117126e-04 -4.97939412e-07 9.99999947e-01 3.05445226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:104.94, Y:1.09, Z:0.30 [[ 9.99994775e-01 -3.21628569e-03 -3.25111054e-04 1.04935039e+02] [ 3.21628570e-03 9.99994828e-01 -5.06307004e-07 1.08593379e+00] [ 3.25111001e-04 -5.39345676e-07 9.99999947e-01 3.04681758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:104.97, Y:1.09, Z:0.31 [[ 9.99988451e-01 -4.79499928e-03 -3.25109123e-04 1.04965791e+02] [ 4.79499928e-03 9.99988504e-01 -7.96001855e-07 1.08906615e+00] [ 3.25109203e-04 -7.62905350e-07 9.99999947e-01 3.05651771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.00, Y:1.09, Z:0.31 [[ 9.99980517e-01 -6.23379029e-03 -3.25105431e-04 1.04996257e+02] [ 6.23379017e-03 9.99980570e-01 -1.35891925e-06 1.09342570e+00] [ 3.25107586e-04 -6.67746266e-07 9.99999947e-01 3.06643174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.03, Y:1.10, Z:0.31 [[ 9.99977524e-01 -6.69675221e-03 -3.25104160e-04 1.05027215e+02] [ 6.69675206e-03 9.99977577e-01 -1.55356862e-06 1.09544270e+00] [ 3.25107273e-04 -6.23608249e-07 9.99999947e-01 3.05654948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.06, Y:1.10, Z:0.31 [[ 9.99978295e-01 -6.58054445e-03 -3.25102571e-04 1.05058398e+02] [ 6.58054421e-03 9.99978348e-01 -1.80058301e-06 1.09740331e+00] [ 3.25107380e-04 -3.38807915e-07 9.99999947e-01 3.06082029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:105.09, Y:1.10, Z:0.30 [[ 9.99978981e-01 -6.47545638e-03 -3.25105219e-04 1.05090039e+02] [ 6.47545627e-03 9.99979034e-01 -1.37575985e-06 1.09899481e+00] [ 3.25107311e-04 -7.29473692e-07 9.99999947e-01 3.04016489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:1.10, Z:0.30 [[ 9.99970216e-01 -7.71109431e-03 -3.25107348e-04 1.05121378e+02] [ 7.71109439e-03 9.99970269e-01 -1.02243899e-06 1.10011471e+00] [ 3.25105566e-04 -1.48452491e-06 9.99999947e-01 3.04855999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:105.14, Y:1.09, Z:0.30 [[ 9.99194210e-01 -4.01350902e-02 -3.25104216e-04 1.05135095e+02] [ 4.01350918e-02 9.99194263e-01 -1.55669920e-06 1.08506878e+00] [ 3.24904746e-04 -1.14926427e-05 9.99999947e-01 3.00907555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:105.18, Y:1.10, Z:0.30 [[ 9.99982851e-01 -5.84741532e-03 -3.24945319e-04 1.05182183e+02] [ 5.84740704e-03 9.99982903e-01 -2.64036923e-05 1.10010691e+00] [ 3.25094157e-04 2.45031520e-05 9.99999947e-01 3.04802141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:1.10, Z:0.29 [[ 9.99975282e-01 -7.02352887e-03 -3.25031717e-04 1.05213926e+02] [ 7.02352903e-03 9.99975335e-01 -6.47385664e-07 1.09991549e+00] [ 3.25028247e-04 -1.63550004e-06 9.99999947e-01 2.91288760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:105.24, Y:1.10, Z:0.30 [[ 9.99979716e-01 -6.36090484e-03 -3.25030508e-04 1.05244103e+02] [ 6.36090484e-03 9.99979769e-01 -1.02924975e-06 1.09906499e+00] [ 3.25030480e-04 -1.03825926e-06 9.99999947e-01 3.04261167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67864 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:105.27, Y:1.12, Z:0.29 [[ 9.99239961e-01 3.89794194e-02 -3.25031342e-04 1.05273358e+02] [-3.89794217e-02 9.99240014e-01 -7.72739989e-07 1.12086006e+00] [ 3.24754201e-04 1.34416864e-05 9.99999947e-01 2.91987126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:105.30, Y:1.10, Z:0.30 [[ 9.99979385e-01 -6.41274439e-03 -3.25026037e-04 1.05303756e+02] [ 6.41274398e-03 9.99979438e-01 -2.30529182e-06 1.09938029e+00] [ 3.25034137e-04 2.20935536e-07 9.99999947e-01 3.04955059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:105.34, Y:1.10, Z:0.31 [[ 9.99988282e-01 -4.83010827e-03 -3.25031377e-04 1.05335632e+02] [ 4.83010830e-03 9.99988335e-01 -6.93354628e-07 1.10036407e+00] [ 3.25030934e-04 -8.76590249e-07 9.99999947e-01 3.05290874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:105.34, Y:1.08, Z:0.29 [[ 9.98677033e-01 -5.14206033e-02 -3.25035673e-04 1.05342270e+02] [ 5.14206062e-02 9.98677086e-01 6.41774318e-07 1.07769272e+00] [ 3.24572678e-04 -1.73544566e-05 9.99999947e-01 2.94928239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:105.39, Y:1.10, Z:0.30 [[ 9.99999788e-01 -5.63501547e-04 -3.24877881e-04 1.05394276e+02] [ 5.63490857e-04 9.99999841e-01 -3.29940979e-05 1.10053510e+00] [ 3.24896421e-04 3.28110252e-05 9.99999947e-01 3.04260250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82864 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:105.39, Y:1.08, Z:0.30 [[ 9.98514817e-01 -5.44798495e-02 -3.24897117e-04 1.05387368e+02] [ 5.44798527e-02 9.98514870e-01 9.34629595e-07 1.07643738e+00] [ 3.24363684e-04 -1.86335886e-05 9.99999947e-01 2.99409612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:105.45, Y:1.11, Z:0.31 [[ 9.99966923e-01 8.12700622e-03 -3.24815141e-04 1.05448162e+02] [-8.12702126e-03 9.99966974e-01 -4.50213089e-05 1.10793886e+00] [ 3.24438525e-04 4.76595993e-05 9.99999946e-01 3.06264271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.48, Y:1.11, Z:0.30 [[ 9.99982266e-01 5.94658373e-03 -3.24619268e-04 1.05479945e+02] [-5.94658430e-03 9.99982319e-01 -8.00205181e-07 1.10837297e+00] [ 3.24608769e-04 2.73056683e-06 9.99999947e-01 3.04955589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:1.11, Z:0.29 [[ 9.99989842e-01 4.49562413e-03 -3.24608932e-04 1.05509433e+02] [-4.49562391e-03 9.99989895e-01 1.42715104e-06 1.11045872e+00] [ 3.24612067e-04 3.21831350e-08 9.99999947e-01 2.89512748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:1.11, Z:0.29 [[ 9.99994340e-01 3.34884444e-03 -3.24608657e-04 1.05538943e+02] [-3.34884413e-03 9.99994393e-01 1.48710721e-06 1.11116186e+00] [ 3.24611817e-04 -4.00034994e-07 9.99999947e-01 2.89176817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.57, Y:1.11, Z:0.29 [[ 9.99997328e-01 2.28884686e-03 -3.24608750e-04 1.05568369e+02] [-2.28884651e-03 9.99997381e-01 1.46647070e-06 1.11193113e+00] [ 3.24611256e-04 -7.23487176e-07 9.99999947e-01 2.89426984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00864 meters Centerline goodness : 0.946393 Centerline is valid? [True, False] Translation: X:105.59, Y:1.12, Z:0.29 [[ 9.99982066e-01 -5.92836878e-06 -5.98892339e-03 1.05590762e+02] [-7.10672139e-05 9.99917355e-01 -1.28560366e-02 1.12415060e+00] [ 5.98850465e-03 1.28562316e-02 9.99899423e-01 2.94604552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:105.59, Y:1.12, Z:0.29 [[ 9.99981759e-01 4.09640580e-05 -6.03981948e-03 1.05590975e+02] [-1.18394968e-04 9.99917810e-01 -1.28202701e-02 1.12409533e+00] [ 6.03879789e-03 1.28207513e-02 9.99899576e-01 2.94606151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:1.11, Z:0.29 [[ 9.99971544e-01 -4.62698387e-03 -5.95836865e-03 1.05618371e+02] [ 4.62729225e-03 9.99989293e-01 3.79716996e-05 1.11099713e+00] [ 5.95812916e-03 -6.55417322e-05 9.99982248e-01 2.92854808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:105.65, Y:1.11, Z:0.29 [[ 9.99958919e-01 -6.83060409e-03 -5.95838615e-03 1.05647359e+02] [ 6.83093383e-03 9.99976668e-01 3.49918298e-05 1.10973791e+00] [ 5.95800811e-03 -7.56917338e-05 9.99982248e-01 2.92774735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999999 meters Centerline goodness : 0.965516 Centerline is valid? [True, True] Translation: X:105.68, Y:1.15, Z:0.29 [[ 9.96770600e-01 8.00803851e-02 -5.95839041e-03 1.05675294e+02] [-8.00816032e-02 9.96788310e-01 3.42503742e-05 1.14940022e+00] [ 5.94199669e-03 4.43017690e-04 9.99982248e-01 2.86461003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:1.10, Z:0.29 [[ 9.99901331e-01 -1.27209658e-02 -5.95867155e-03 1.05705956e+02] [ 1.27210831e-02 9.99919084e-01 -1.82108254e-05 1.10396496e+00] [ 5.95842105e-03 -5.75917276e-05 9.99982247e-01 2.92865295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:1.10, Z:0.29 [[ 9.99842696e-01 -1.67057268e-02 -5.95838555e-03 1.05735119e+02] [ 1.67062209e-02 9.99860441e-01 3.31680525e-05 1.09761384e+00] [ 5.95699990e-03 -1.32704940e-04 9.99982248e-01 2.92186599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:1.09, Z:0.29 [[ 9.99821471e-01 -1.79310579e-02 -5.95838951e-03 1.05763719e+02] [ 1.79315695e-02 9.99839216e-01 3.24410817e-05 1.09416662e+00] [ 5.95684979e-03 -1.39278565e-04 9.99982248e-01 2.93584066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.79, Y:1.09, Z:0.29 [[ 9.99855286e-01 -1.59343722e-02 -5.95839336e-03 1.05792226e+02] [ 1.59348440e-02 9.99873032e-01 3.17174828e-05 1.08646992e+00] [ 5.95713143e-03 -1.26658961e-04 9.99982248e-01 2.91662410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.82, Y:1.08, Z:0.31 [[ 9.99906304e-01 -1.23239928e-02 -5.95839712e-03 1.05822945e+02] [ 1.23243963e-02 9.99924051e-01 3.09938834e-05 1.08226278e+00] [ 5.95756262e-03 -1.04424627e-04 9.99982248e-01 3.07951928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.85, Y:1.08, Z:0.31 [[ 9.99902822e-01 -1.26034225e-02 -5.95826845e-03 1.05851233e+02] [ 1.26039800e-02 9.99920565e-01 5.60241800e-05 1.08199026e+00] [ 5.95708906e-03 -1.31116632e-04 9.99982248e-01 3.08116965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:105.88, Y:1.08, Z:0.31 [[ 9.99894135e-01 -1.32746958e-02 -5.95827748e-03 1.05879624e+02] [ 1.32752541e-02 9.99911878e-01 5.41596977e-05 1.07779721e+00] [ 5.95703347e-03 -1.33251612e-04 9.99982248e-01 3.07482480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:1.07, Z:0.29 [[ 9.99939818e-01 -9.21167919e-03 -5.95859711e-03 1.05910752e+02] [ 9.21175948e-03 9.99957571e-01 -1.39710780e-05 1.07076915e+00] [ 5.95847299e-03 -4.09189262e-05 9.99982247e-01 2.91949505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:1.07, Z:0.29 [[ 9.99952634e-01 -7.69589416e-03 -5.95838563e-03 1.05939368e+02] [ 7.69620472e-03 9.99970383e-01 2.91938028e-05 1.06727605e+00] [ 5.95798449e-03 -7.50493756e-05 9.99982248e-01 2.91653158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:1.06, Z:0.29 [[ 9.99954705e-01 -7.42200353e-03 -5.95838920e-03 1.05968132e+02] [ 7.42230477e-03 9.99972454e-01 2.84459184e-05 1.06354600e+00] [ 5.95801394e-03 -7.26696105e-05 9.99982248e-01 2.91781118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:106.00, Y:1.06, Z:0.31 [[ 9.99969258e-01 -5.09717149e-03 -5.95839270e-03 1.05996662e+02] [ 5.09742696e-03 9.99987008e-01 2.76912199e-05 1.05674814e+00] [ 5.95817414e-03 -5.80628403e-05 9.99982248e-01 3.05261139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.03, Y:1.05, Z:0.31 [[ 9.99964874e-01 -5.89469089e-03 -5.95848341e-03 1.06026986e+02] [ 5.89484274e-03 9.99982625e-01 7.92206082e-06 1.05313554e+00] [ 5.95833319e-03 -4.30461052e-05 9.99982248e-01 3.05592962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.06, Y:1.05, Z:0.31 [[ 9.99979915e-01 -2.15984869e-03 -5.95853361e-03 1.06057724e+02] [ 2.15987139e-03 9.99997667e-01 -2.62535528e-06 1.04832142e+00] [ 5.95852538e-03 -1.02443637e-05 9.99982248e-01 3.05035772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:106.09, Y:1.05, Z:0.30 [[ 9.99982132e-01 -4.81468143e-04 -5.95848029e-03 1.06087513e+02] [ 4.81529261e-04 9.99999884e-01 8.82267625e-06 1.04604144e+00] [ 5.95847535e-03 -1.16917012e-05 9.99982248e-01 3.04224773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.12, Y:1.04, Z:0.31 [[ 9.99982169e-01 -3.99404126e-04 -5.95842684e-03 1.06115650e+02] [ 3.99535972e-04 9.99999920e-01 2.09372302e-05 1.04365905e+00] [ 5.95841800e-03 -2.33174627e-05 9.99982248e-01 3.06388920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:106.15, Y:1.04, Z:0.30 [[ 9.99977061e-01 3.22083751e-03 -5.95852973e-03 1.06145996e+02] [-3.22091897e-03 9.99994813e-01 -4.07522065e-06 1.04070821e+00] [ 5.95848570e-03 2.32670686e-05 9.99982248e-01 3.04540557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:106.18, Y:1.04, Z:0.31 [[ 9.99972969e-01 4.30793259e-03 -5.95850578e-03 1.06175198e+02] [-4.30799817e-03 9.99990721e-01 1.82890735e-06 1.04033533e+00] [ 5.95845837e-03 2.38403741e-05 9.99982248e-01 3.06641820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.20, Y:1.04, Z:0.31 [[ 9.99961475e-01 6.44547024e-03 -5.95852069e-03 1.06203978e+02] [-6.44559726e-03 9.99979227e-01 -2.11440690e-06 1.04163779e+00] [ 5.95838329e-03 4.05205501e-05 9.99982248e-01 3.06011736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69864 meters Centerline goodness : 0.854143 Centerline is valid? [True, False] Translation: X:106.20, Y:1.06, Z:0.31 [[ 9.99924616e-01 1.22499692e-02 8.37003532e-04 1.06198920e+02] [-1.22362505e-02 9.99815679e-01 -1.47947013e-02 1.05513845e+00] [-1.01808389e-03 1.47833443e-02 9.99890202e-01 3.07772471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72864 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:106.20, Y:1.05, Z:0.31 [[ 9.99989870e-01 1.80656110e-03 4.12267659e-03 1.06198144e+02] [-1.79148438e-03 9.99991706e-01 -3.65779115e-03 1.04538512e+00] [-4.12925042e-03 3.65036838e-03 9.99984812e-01 3.07655985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.23, Y:1.05, Z:0.31 [[ 9.99971721e-01 6.31176771e-03 4.08891361e-03 1.06231193e+02] [-6.31197166e-03 9.99980079e-01 3.69746717e-05 1.04868055e+00] [-4.08859878e-03 -6.27827329e-05 9.99991640e-01 3.07676904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:1.05, Z:0.29 [[ 9.99977726e-01 5.27503772e-03 4.08918941e-03 1.06260909e+02] [-5.27511109e-03 9.99986086e-01 7.15659430e-06 1.05225741e+00] [-4.08909476e-03 -2.87273633e-05 9.99991639e-01 2.92932726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:106.29, Y:1.06, Z:0.31 [[ 9.99974341e-01 5.88196251e-03 4.08890401e-03 1.06293006e+02] [-5.88216675e-03 9.99982699e-01 3.79260719e-05 1.05534753e+00] [-4.08861019e-03 -6.19767140e-05 9.99991640e-01 3.07083329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:1.06, Z:0.29 [[ 9.99990164e-01 1.71760023e-03 4.08916162e-03 1.06322331e+02] [-1.71765510e-03 9.99998525e-01 9.90728271e-06 1.05990336e+00] [-4.08913857e-03 -1.69309546e-05 9.99991639e-01 2.91582190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:1.06, Z:0.29 [[ 9.99991327e-01 7.92005400e-04 4.08889970e-03 1.06354193e+02] [-7.92167611e-04 9.99999686e-01 3.80517196e-05 1.06317045e+00] [-4.08886828e-03 -4.12904835e-05 9.99991640e-01 2.89648079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:1.07, Z:0.29 [[ 9.99984852e-01 -3.68452765e-03 4.08891620e-03 1.06386429e+02] [ 3.68441048e-03 9.99993212e-01 3.61875437e-05 1.06893866e+00] [-4.08902178e-03 -2.11217498e-05 9.99991640e-01 2.90051432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:1.07, Z:0.29 [[ 9.99976499e-01 -5.50283320e-03 4.08893174e-03 1.06418617e+02] [ 5.50273879e-03 9.99984859e-01 3.43379276e-05 1.07065885e+00] [-4.08905878e-03 -1.18367974e-05 9.99991640e-01 2.89019795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:106.45, Y:1.07, Z:0.30 [[ 9.99975238e-01 -5.72745333e-03 4.08894647e-03 1.06451207e+02] [ 5.72736838e-03 9.99983598e-01 3.24829678e-05 1.07165208e+00] [-4.08906545e-03 -9.06326076e-06 9.99991640e-01 3.03921653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.48, Y:1.08, Z:0.29 [[ 9.99904091e-01 -1.32320768e-02 4.08923489e-03 1.06481216e+02] [ 1.32322082e-02 9.99912450e-01 -5.09197113e-06 1.07561114e+00] [-4.08880951e-03 5.92010903e-05 9.99991639e-01 2.88464146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:1.08, Z:0.29 [[ 9.99880458e-01 -1.49114033e-02 4.08896141e-03 1.06513848e+02] [ 1.49114013e-02 9.99888818e-01 3.09915440e-05 1.07805893e+00] [-4.08896892e-03 2.99843051e-05 9.99991640e-01 2.87540508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.55, Y:1.08, Z:0.29 [[ 9.99797934e-01 -1.96817769e-02 4.08897627e-03 1.06546481e+02] [ 1.96818233e-02 9.99806294e-01 2.88875344e-05 1.07891361e+00] [-4.08875277e-03 5.15968112e-05 9.99991640e-01 2.86683467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.58, Y:1.08, Z:0.30 [[ 9.99799678e-01 -1.95929424e-02 4.08898980e-03 1.06578646e+02] [ 1.95929966e-02 9.99808038e-01 2.68263210e-05 1.07900227e+00] [-4.08873047e-03 5.32946158e-05 9.99991640e-01 3.01322254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:1.08, Z:0.29 [[ 9.99657904e-01 -2.58331896e-02 4.08914694e-03 1.06609338e+02] [ 2.58333960e-02 9.99666262e-01 2.33997687e-06 1.07962796e+00] [-4.08784269e-03 1.03297376e-04 9.99991639e-01 2.87022986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.64, Y:1.08, Z:0.29 [[ 9.99514485e-01 -3.08881075e-02 4.08898944e-03 1.06642755e+02] [ 3.08882571e-02 9.99522844e-01 2.65744957e-05 1.07922543e+00] [-4.08785919e-03 9.97401638e-05 9.99991640e-01 2.87014168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:106.67, Y:1.08, Z:0.30 [[ 9.99545565e-01 -2.98654127e-02 4.08900142e-03 1.06674551e+02] [ 2.98655619e-02 9.99553924e-01 2.45813167e-05 1.07820150e+00] [-4.08791155e-03 9.75501790e-05 9.99991640e-01 3.02611673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:106.71, Y:1.08, Z:0.30 [[ 9.99486894e-01 -3.17683629e-02 4.08907840e-03 1.06706794e+02] [ 3.17685834e-02 9.99495251e-01 1.10325290e-05 1.07649842e+00] [-4.08736493e-03 1.18877360e-04 9.99991640e-01 3.01504182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:106.74, Y:1.08, Z:0.29 [[ 9.99372738e-01 -3.51768312e-02 4.08909662e-03 1.06738146e+02] [ 3.51770940e-02 9.99381094e-01 7.66803002e-06 1.07561501e+00] [-4.08683559e-03 1.36179316e-04 9.99991640e-01 2.86244824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:106.77, Y:1.07, Z:0.30 [[ 9.99356967e-01 -3.56220748e-02 4.08902157e-03 1.06768471e+02] [ 3.56222837e-02 9.99365325e-01 2.17660872e-05 1.07274452e+00] [-4.08720172e-03 1.23908196e-04 9.99991640e-01 2.99990471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29863999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:106.81, Y:1.07, Z:0.30 [[ 9.99451174e-01 -3.28729661e-02 4.08893276e-03 1.06805898e+02] [ 3.28730812e-02 9.99459533e-01 3.90740697e-05 1.06740775e+00] [-4.08800731e-03 9.53631941e-05 9.99991640e-01 2.97654958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:106.83, Y:1.06, Z:0.30 [[ 9.99275818e-01 -3.78301185e-02 4.08933252e-03 1.06833629e+02] [ 3.78306646e-02 9.99284163e-01 -5.62470005e-05 1.06386887e+00] [-4.08427739e-03 2.10908434e-04 9.99991637e-01 2.99615839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:106.87, Y:1.06, Z:0.30 [[ 9.99248171e-01 -3.85535152e-02 4.08893983e-03 1.06865929e+02] [ 3.85537005e-02 9.99256529e-01 3.35226721e-05 1.06132649e+00] [-4.08719223e-03 1.24146293e-04 9.99991640e-01 2.98912601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38864 meters Centerline goodness : 0.868100 Centerline is valid? [True, False] Translation: X:106.86, Y:1.06, Z:0.30 [[ 9.99640908e-01 -2.60718671e-02 6.18966004e-03 1.06864609e+02] [ 2.61112713e-02 9.99638728e-01 -6.37304814e-03 1.06139204e+00] [-6.02126662e-03 6.53237953e-03 9.99960535e-01 2.98615248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:106.86, Y:1.06, Z:0.30 [[ 9.99883578e-01 -1.36920292e-02 6.73496181e-03 1.06863986e+02] [ 1.37830204e-02 9.99811771e-01 -1.36546790e-02 1.06467567e+00] [-6.54673383e-03 1.37459174e-02 9.99884088e-01 2.98667455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:1.04, Z:0.30 [[ 9.99861196e-01 -1.51008947e-02 7.03930424e-03 1.06895413e+02] [ 1.51023836e-02 9.99885940e-01 -1.58402298e-04 1.04328702e+00] [-7.03610932e-03 2.64690584e-04 9.99975211e-01 2.95842168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.93, Y:1.04, Z:0.30 [[ 9.99884102e-01 -1.34993012e-02 7.03928507e-03 1.06928433e+02] [ 1.35007564e-02 9.99908848e-01 -1.59249601e-04 1.04026327e+00] [-7.03649367e-03 2.54266817e-04 9.99975211e-01 2.95925962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:1.04, Z:0.30 [[ 9.99908408e-01 -1.15596504e-02 7.03920772e-03 1.06961610e+02] [ 1.15610811e-02 9.99933155e-01 -1.62598032e-04 1.03708852e+00] [-7.03685761e-03 2.43963991e-04 9.99975211e-01 2.96838005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:106.99, Y:1.03, Z:0.31 [[ 9.99969786e-01 -3.29805645e-03 7.03912870e-03 1.06993302e+02] [ 3.29930628e-03 9.99994544e-01 -1.65949865e-04 1.03140144e+00] [-7.03854298e-03 1.89169093e-04 9.99975211e-01 3.09646429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:107.02, Y:1.03, Z:0.30 [[ 9.99973940e-01 -1.60610805e-03 7.03847461e-03 1.07023547e+02] [ 1.60751100e-03 9.99998689e-01 -1.93673688e-04 1.02877011e+00] [-7.03815433e-03 2.04983066e-04 9.99975211e-01 2.95788653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:1.03, Z:0.30 [[ 9.99954045e-01 6.50836108e-03 7.03911977e-03 1.07055623e+02] [-6.50735107e-03 9.99978813e-01 -1.66378401e-04 1.02757414e+00] [-7.04005349e-03 1.20564732e-04 9.99975211e-01 2.95728841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:107.09, Y:1.03, Z:0.31 [[ 9.99929873e-01 9.52366054e-03 7.03909386e-03 1.07085341e+02] [-9.52271756e-03 9.99954644e-01 -1.67467725e-04 1.02594014e+00] [-7.04036950e-03 1.00424678e-04 9.99975211e-01 3.12276064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65863999999999 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:107.14, Y:1.05, Z:0.30 [[ 9.97222801e-01 7.41426341e-02 7.03955991e-03 1.07141884e+02] [-7.41434331e-02 9.97247577e-01 -1.47763803e-04 1.04998360e+00] [-7.03113966e-03 -3.74583706e-04 9.99975211e-01 2.98186422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.14, Y:1.02, Z:0.29 [[ 9.99853173e-01 1.56339505e-02 7.01510542e-03 1.07144350e+02] [-1.56270021e-02 9.99877346e-01 -1.04422465e-03 1.02215200e+00] [-7.03057034e-03 9.34446261e-04 9.99974849e-01 2.93500457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71864 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:107.17, Y:1.02, Z:0.31 [[ 9.99830476e-01 1.70155434e-02 7.03501772e-03 1.07174620e+02] [-1.70148525e-02 9.99855224e-01 -1.58055588e-04 1.02122076e+00] [-7.03668862e-03 3.83290045e-05 9.99975241e-01 3.11766100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:107.21, Y:1.02, Z:0.31 [[ 9.99781823e-01 1.96675177e-02 7.03534102e-03 1.07206799e+02] [-1.96669940e-02 9.99806576e-01 -1.43630056e-04 1.02137271e+00] [-7.03680506e-03 5.23471012e-06 9.99975241e-01 3.11702698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:107.24, Y:1.02, Z:0.31 [[ 9.99727215e-01 2.22710859e-02 7.03525152e-03 1.07239392e+02] [-2.22705987e-02 9.99751969e-01 -1.47595239e-04 1.02196632e+00] [-7.03679366e-03 -9.12428571e-06 9.99975241e-01 3.08439897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80864 meters Centerline goodness : 0.972997 Centerline is valid? [True, True] Translation: X:107.26, Y:0.99, Z:0.29 [[ 9.98345381e-01 -5.70702404e-02 7.03478861e-03 1.07259782e+02] [ 5.70728313e-02 9.98370003e-01 -1.67936653e-04 9.87577721e-01] [-7.01373774e-03 5.69154086e-04 9.99975241e-01 2.88524711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83864 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:107.30, Y:1.03, Z:0.31 [[ 9.99628768e-01 2.63197162e-02 7.04266242e-03 1.07300450e+02] [-2.63215961e-02 9.99653512e-01 1.74357475e-04 1.02849871e+00] [-7.03563318e-03 -3.59666864e-04 9.99975185e-01 3.08003357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.33, Y:1.03, Z:0.29 [[ 9.99602672e-01 2.72950481e-02 7.03412194e-03 1.07332092e+02] [-2.72945162e-02 9.99627421e-01 -1.71631650e-04 1.03067545e+00] [-7.03618586e-03 -2.04294988e-05 9.99975246e-01 2.93143093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:107.36, Y:1.03, Z:0.31 [[ 9.99597655e-01 2.74781912e-02 7.03406140e-03 1.07362504e+02] [-2.74776466e-02 9.99622403e-01 -1.74077758e-04 1.03202922e+00] [-7.03618870e-03 -1.92717343e-05 9.99975246e-01 3.07021981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:107.40, Y:1.04, Z:0.31 [[ 9.99555325e-01 2.89769944e-02 7.03462913e-03 1.07395041e+02] [-2.89766480e-02 9.99580077e-01 -1.51181250e-04 1.03706853e+00] [-7.03605591e-03 -5.27259487e-05 9.99975245e-01 3.08114212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.43, Y:1.04, Z:0.29 [[ 9.99481307e-01 3.14265031e-02 7.03506346e-03 1.07427374e+02] [-3.14263392e-02 9.99506062e-01 -1.33867474e-04 1.04018916e+00] [-7.03579556e-03 -8.72882529e-05 9.99975245e-01 2.91514961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.46, Y:1.05, Z:0.29 [[ 9.99499504e-01 3.08426004e-02 7.03394024e-03 1.07459930e+02] [-3.08421100e-02 9.99524253e-01 -1.78203087e-04 1.04558105e+00] [-7.03609011e-03 -3.88276618e-05 9.99975246e-01 2.90606186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01863999999999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:107.49, Y:1.05, Z:0.30 [[ 9.99594196e-01 2.76037608e-02 7.03391687e-03 1.07489809e+02] [-2.76031838e-02 9.99618943e-01 -1.79120830e-04 1.04631293e+00] [-7.03618096e-03 -1.51103587e-05 9.99975246e-01 3.04873244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:107.52, Y:1.05, Z:0.30 [[ 9.99657127e-01 2.52217547e-02 7.03497384e-03 1.07522196e+02] [-2.52214095e-02 9.99681880e-01 -1.37793813e-04 1.04688632e+00] [-7.03621128e-03 -3.96853893e-05 9.99975245e-01 3.03594694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:107.55, Y:1.05, Z:0.30 [[ 9.99759034e-01 2.07937401e-02 7.03523538e-03 1.07554473e+02] [-2.07933564e-02 9.99783787e-01 -1.27683797e-04 1.04828228e+00] [-7.03636929e-03 -1.86331266e-05 9.99975244e-01 3.04505229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:107.59, Y:1.05, Z:0.30 [[ 9.99804200e-01 1.84949261e-02 7.03559454e-03 1.07586230e+02] [-1.84945820e-02 9.99828954e-01 -1.13963112e-04 1.04812172e+00] [-7.03649887e-03 -1.61795827e-05 9.99975243e-01 3.04793983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:107.62, Y:1.05, Z:0.31 [[ 9.99848633e-01 1.59125730e-02 7.03565100e-03 1.07617323e+02] [-1.59121798e-02 9.99873387e-01 -1.11855380e-04 1.04707624e+00] [-7.03654010e-03 -1.14095028e-07 9.99975243e-01 3.06372305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:107.65, Y:1.05, Z:0.29 [[ 9.99838067e-01 1.65633859e-02 7.03525672e-03 1.07649982e+02] [-1.65629064e-02 9.99862818e-01 -1.26411806e-04 1.04723942e+00] [-7.03638542e-03 9.86703690e-06 9.99975244e-01 2.89395078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:107.68, Y:1.05, Z:0.29 [[ 9.99835980e-01 1.66896269e-02 7.03343996e-03 1.07682649e+02] [-1.66886841e-02 9.99860716e-01 -1.92717353e-04 1.04644053e+00] [-7.03567669e-03 7.53068859e-05 9.99975246e-01 2.89173125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:107.71, Y:1.05, Z:0.30 [[ 9.99876132e-01 1.40801718e-02 7.03341560e-03 1.07711562e+02] [-1.40791582e-02 9.99900865e-01 -1.93602143e-04 1.04606989e+00] [-7.03544429e-03 9.45535907e-05 9.99975246e-01 3.04940051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:107.75, Y:1.05, Z:0.31 [[ 9.99865500e-01 1.48148845e-02 7.03574067e-03 1.07745117e+02] [-1.48144833e-02 9.99890254e-01 -1.09138814e-04 1.04603323e+00] [-7.03658541e-03 4.89327138e-06 9.99975243e-01 3.05078580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.78, Y:1.05, Z:0.29 [[ 9.99845823e-01 1.60884263e-02 7.03507190e-03 1.07779215e+02] [-1.60878892e-02 9.99870573e-01 -1.32942455e-04 1.04597243e+00] [-7.03630021e-03 1.97425009e-05 9.99975245e-01 2.88106935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:107.81, Y:1.05, Z:0.31 [[ 9.99901170e-01 1.21731331e-02 7.03315734e-03 1.07808105e+02] [-1.21720260e-02 9.99925898e-01 -2.00202079e-04 1.04637701e+00] [-7.03507326e-03 1.14574520e-04 9.99975247e-01 3.06748189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:107.84, Y:1.04, Z:0.31 [[ 9.99919126e-01 1.05948266e-02 7.03506058e-03 1.07840692e+02] [-1.05941487e-02 9.99943872e-01 -1.33627469e-04 1.04486832e+00] [-7.03608147e-03 5.90861843e-05 9.99975245e-01 3.06570208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37863999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:107.87, Y:1.04, Z:0.31 [[ 9.99937485e-01 8.69059895e-03 7.03559944e-03 1.07873475e+02] [-8.69000388e-03 9.99962235e-01 -1.15145814e-04 1.04295299e+00] [-7.03633442e-03 5.39992295e-05 9.99975243e-01 3.06130523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:1.04, Z:0.29 [[ 9.99962974e-01 4.95546917e-03 7.03515303e-03 1.07907725e+02] [-4.95467601e-03 9.99987717e-01 -1.30166562e-04 1.04028950e+00] [-7.03571166e-03 9.53048386e-05 9.99975245e-01 2.90698595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43863999999999 meters Centerline goodness : 0.897228 Centerline is valid? [True, False] Translation: X:107.91, Y:1.04, Z:0.29 [[ 9.99981472e-01 -1.25362353e-03 5.95683284e-03 1.07913181e+02] [ 1.29677676e-03 9.99972907e-01 -7.24599189e-03 1.04449491e+00] [-5.94758770e-03 7.25358232e-03 9.99956005e-01 2.86781350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:107.91, Y:1.04, Z:0.29 [[ 9.99981584e-01 -1.29197557e-03 5.92983619e-03 1.07913320e+02] [ 1.33338281e-03 9.99974721e-01 -6.98423014e-03 1.04317810e+00] [-5.92066283e-03 6.99200826e-03 9.99958028e-01 2.86686133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:1.03, Z:0.29 [[ 9.99966008e-01 -5.50903159e-03 6.13456176e-03 1.07945661e+02] [ 5.51026743e-03 9.99984801e-01 -1.84572542e-04 1.02991889e+00] [-6.13345171e-03 2.18369344e-04 9.99981166e-01 2.85501177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:1.02, Z:0.29 [[ 9.99962656e-01 -6.08720261e-03 6.13452812e-03 1.07977227e+02] [ 6.08845613e-03 9.99981448e-01 -1.85683968e-04 1.02389722e+00] [-6.13328401e-03 2.23026839e-04 9.99981166e-01 2.86329448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:108.01, Y:1.02, Z:0.30 [[ 9.99962767e-01 -6.06905706e-03 6.13445565e-03 1.08006036e+02] [ 6.07032472e-03 9.99981558e-01 -1.88048009e-04 1.02063195e+00] [-6.13320124e-03 2.25279145e-04 9.99981166e-01 3.02059837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:108.04, Y:1.02, Z:0.30 [[ 9.99958793e-01 -6.69034255e-03 6.13615922e-03 1.08037637e+02] [ 6.69128103e-03 9.99977604e-01 -1.32424728e-04 1.01702347e+00] [-6.13513583e-03 1.73478037e-04 9.99981165e-01 2.99499222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61864 meters Centerline goodness : 0.945463 Centerline is valid? [True, False] Translation: X:108.06, Y:1.02, Z:0.30 [[ 9.99992603e-01 -3.16912752e-03 2.17954629e-03 1.08060413e+02] [ 3.18194006e-03 9.99977530e-01 -5.90040611e-03 1.01828674e+00] [-2.16079818e-03 5.90729766e-03 9.99980217e-01 3.02388529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:108.06, Y:1.01, Z:0.30 [[ 9.99992480e-01 -3.30750204e-03 2.02499711e-03 1.08060803e+02] [ 3.31575861e-03 9.99986148e-01 -4.08763540e-03 1.00992422e+00] [-2.01144920e-03 4.09431906e-03 9.99989595e-01 3.01712369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:108.10, Y:1.00, Z:0.30 [[ 9.99994172e-01 2.64185037e-03 2.16269270e-03 1.08095511e+02] [-2.64164572e-03 9.99996506e-01 -9.74775109e-05 1.00043585e+00] [-2.16294267e-03 9.17638748e-05 9.99997657e-01 3.03387161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:1.00, Z:0.29 [[ 9.99997161e-01 -1.00150620e-03 2.16236671e-03 1.08122977e+02] [ 1.00173945e-03 9.99999493e-01 -1.06790033e-04 9.97676481e-01] [-2.16225866e-03 1.08955858e-04 9.99997656e-01 2.90698703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:108.15, Y:0.99, Z:0.30 [[ 9.99997055e-01 1.09932782e-03 2.16347130e-03 1.08153654e+02] [-1.09916841e-03 9.99999393e-01 -7.48726592e-05 9.93254302e-01] [-2.16355229e-03 7.24944195e-05 9.99997657e-01 3.00800292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:0.99, Z:0.29 [[ 9.99994023e-01 2.69678788e-03 2.16375893e-03 1.08186247e+02] [-2.69665023e-03 9.99996362e-01 -6.65308444e-05 9.90159973e-01] [-2.16393047e-03 6.06955457e-05 9.99997657e-01 2.90193849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:0.98, Z:0.29 [[ 9.99980200e-01 5.90931405e-03 2.16347253e-03 1.08217935e+02] [-5.90916601e-03 9.99982538e-01 -7.48130717e-05 9.84236830e-01] [-2.16387684e-03 6.20272721e-05 9.99997657e-01 2.89438291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.25, Y:0.98, Z:0.29 [[ 9.99974186e-01 6.85178621e-03 2.16346698e-03 1.08250036e+02] [-6.85164003e-03 9.99976524e-01 -7.49731619e-05 9.80794555e-01] [-2.16392989e-03 6.01479296e-05 9.99997657e-01 2.89857884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.28, Y:0.98, Z:0.29 [[ 9.99968012e-01 7.70029394e-03 2.16345769e-03 1.08282222e+02] [-7.70014916e-03 9.99970351e-01 -7.52403748e-05 9.75418517e-01] [-2.16397291e-03 5.85790211e-05 9.99997657e-01 2.90072837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:0.97, Z:0.29 [[ 9.99961591e-01 8.49334004e-03 2.16344842e-03 1.08313859e+02] [-8.49319654e-03 9.99963929e-01 -7.55058988e-05 9.72587669e-01] [-2.16401168e-03 5.71284061e-05 9.99997657e-01 2.89834129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:108.34, Y:0.97, Z:0.30 [[ 9.99938071e-01 1.09166625e-02 2.16344379e-03 1.08344558e+02] [-1.09165244e-02 9.99940410e-01 -7.56384027e-05 9.70022306e-01] [-2.16414059e-03 5.20164316e-05 9.99997657e-01 3.03973222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:0.97, Z:0.29 [[ 9.99930591e-01 1.15815490e-02 2.16335682e-03 1.08375015e+02] [-1.15814070e-02 9.99932930e-01 -7.81365097e-05 9.66741821e-01] [-2.16411666e-03 5.30763706e-05 9.99997657e-01 2.89762150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.41, Y:0.96, Z:0.29 [[ 9.99925945e-01 1.19759333e-02 2.16346610e-03 1.08406162e+02] [-1.19757991e-02 9.99928285e-01 -7.49834999e-05 9.64175896e-01] [-2.16420894e-03 4.90687117e-05 9.99997657e-01 2.89419439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.44, Y:0.96, Z:0.29 [[ 9.99933158e-01 1.13578026e-02 2.16346141e-03 1.08436996e+02] [-1.13576667e-02 9.99935497e-01 -7.51184330e-05 9.59563127e-01] [-2.16417504e-03 5.05415384e-05 9.99997657e-01 2.88644296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:0.96, Z:0.29 [[ 9.99933832e-01 1.12982919e-02 2.16345672e-03 1.08468470e+02] [-1.12981555e-02 9.99936171e-01 -7.52533898e-05 9.55975994e-01] [-2.16416886e-03 5.08053401e-05 9.99997657e-01 2.87275701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:0.95, Z:0.29 [[ 9.99932386e-01 1.14255677e-02 2.16345202e-03 1.08499988e+02] [-1.14254313e-02 9.99934725e-01 -7.53881242e-05 9.52239446e-01] [-2.16417215e-03 5.06646545e-05 9.99997657e-01 2.87934942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09863999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:108.53, Y:0.95, Z:0.30 [[ 9.99894792e-01 1.43430904e-02 2.16344733e-03 1.08530656e+02] [-1.43429606e-02 9.99897132e-01 -7.55224403e-05 9.46728666e-01] [-2.16430801e-03 4.44842549e-05 9.99997657e-01 3.02632576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:108.56, Y:0.94, Z:0.31 [[ 9.99860570e-01 1.65578185e-02 2.16331901e-03 1.08562080e+02] [-1.65576859e-02 9.99862909e-01 -7.92166799e-05 9.43640873e-01] [-2.16433409e-03 4.33860781e-05 9.99997657e-01 3.07032015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15863999999999 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:108.60, Y:0.96, Z:0.29 [[ 9.98015251e-01 6.29355227e-02 2.16314896e-03 1.08603890e+02] [-6.29354882e-02 9.98017594e-01 -8.41035962e-05 9.61596101e-01] [-2.16415382e-03 -5.22021641e-05 9.99997657e-01 2.92003596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:108.62, Y:0.94, Z:0.30 [[ 9.99809173e-01 1.94153326e-02 2.15941718e-03 1.08622585e+02] [-1.94149643e-02 9.99811493e-01 -1.91382549e-04 9.36770475e-01] [-2.16272588e-03 1.49421021e-04 9.99997650e-01 3.02492890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.65, Y:0.93, Z:0.29 [[ 9.99777811e-01 2.09677959e-02 2.16325978e-03 1.08653608e+02] [-2.09676838e-02 9.99780151e-01 -7.45047610e-05 9.34875356e-01] [-2.16434639e-03 2.91296600e-05 9.99997657e-01 2.88248744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:108.68, Y:0.93, Z:0.30 [[ 9.99624433e-01 2.73187284e-02 2.16337830e-03 1.08684379e+02] [-2.73186390e-02 9.99626774e-01 -7.08878506e-05 9.30744370e-01] [-2.16450743e-03 1.17606768e-05 9.99997657e-01 2.99041926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:0.93, Z:0.29 [[ 9.99629509e-01 2.71324084e-02 2.16288560e-03 1.08714087e+02] [-2.71322859e-02 9.99631848e-01 -8.59663853e-05 9.28629150e-01] [-2.16442180e-03 2.72505050e-05 9.99997657e-01 2.87415440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.75, Y:0.93, Z:0.30 [[ 9.99554170e-01 2.97788548e-02 2.16340568e-03 1.08745479e+02] [-2.97787733e-02 9.99556512e-01 -6.98609232e-05 9.26742512e-01] [-2.16452661e-03 5.40620983e-06 9.99997657e-01 3.02020629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:0.93, Z:0.29 [[ 9.99485773e-01 3.19923808e-02 2.16276761e-03 1.08774741e+02] [-3.19922618e-02 9.99488113e-01 -8.96010847e-05 9.28046751e-01] [-2.16452707e-03 2.03631816e-05 9.99997657e-01 2.89182213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:0.93, Z:0.30 [[ 9.99453469e-01 3.29861031e-02 2.16341486e-03 1.08806104e+02] [-3.29860300e-02 9.99455810e-01 -6.94345330e-05 9.26735661e-01] [-2.16452792e-03 -1.96588259e-06 9.99997657e-01 2.97159535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.84, Y:0.93, Z:0.30 [[ 9.99282786e-01 3.78052120e-02 2.16300825e-03 1.08836236e+02] [-3.78051230e-02 9.99285127e-01 -8.20304210e-05 9.28556801e-01] [-2.16456316e-03 1.98794580e-07 9.99997657e-01 3.02729721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.87, Y:0.93, Z:0.30 [[ 9.99215107e-01 3.95536584e-02 2.16310505e-03 1.08867405e+02] [-3.95535801e-02 9.99217448e-01 -7.89895997e-05 9.29196543e-01] [-2.16453663e-03 -6.63094750e-06 9.99997657e-01 3.00107050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:0.93, Z:0.29 [[ 9.99239456e-01 3.89336848e-02 2.16286083e-03 1.08897047e+02] [-3.89335884e-02 9.99241797e-01 -8.66819457e-05 9.30010247e-01] [-2.16459579e-03 2.40808696e-06 9.99997657e-01 2.88066018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:0.93, Z:0.30 [[ 9.99287226e-01 3.76876556e-02 2.16344765e-03 1.08926234e+02] [-3.76875967e-02 9.99289568e-01 -6.80164092e-05 9.31217270e-01] [-2.16447405e-03 -1.35672136e-05 9.99997657e-01 3.04501592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.96, Y:0.93, Z:0.30 [[ 9.99231801e-01 3.91296079e-02 2.16385572e-03 1.08957871e+02] [-3.91295804e-02 9.99234143e-01 -5.50481916e-05 9.31388265e-01] [-2.16435253e-03 -2.96648628e-05 9.99997657e-01 3.01891307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:0.93, Z:0.29 [[ 9.99196015e-01 4.00330349e-02 2.16327731e-03 1.08987365e+02] [-4.00329698e-02 9.99198357e-01 -7.34069415e-05 9.34968428e-01] [-2.16448183e-03 -1.32544918e-05 9.99997657e-01 2.91112502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.02, Y:0.94, Z:0.30 [[ 9.99203916e-01 3.98353211e-02 2.16344057e-03 1.09017740e+02] [-3.98352667e-02 9.99206258e-01 -6.82301335e-05 9.36039681e-01] [-2.16444133e-03 -1.80054157e-05 9.99997657e-01 3.03829206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:0.94, Z:0.29 [[ 9.99148476e-01 4.12024596e-02 2.16349476e-03 1.09047716e+02] [-4.12024122e-02 9.99150818e-01 -6.64945234e-05 9.35846889e-01] [-2.16439730e-03 -2.27033012e-05 9.99997657e-01 2.90190834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63864 meters Centerline goodness : 0.891138 Centerline is valid? [True, False] Translation: X:109.05, Y:0.93, Z:0.29 [[ 9.99671038e-01 2.53012851e-02 4.20243597e-03 1.09047818e+02] [-2.53198058e-02 9.99669658e-01 4.41397816e-03 9.29483426e-01] [-4.08936840e-03 -4.51893099e-03 9.99981428e-01 2.89628953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66864 meters Centerline goodness : 0.907619 Centerline is valid? [False, False] Translation: X:109.05, Y:0.94, Z:0.29 [[ 9.99906670e-01 1.29806059e-02 4.26099885e-03 1.09047268e+02] [-1.29347989e-02 9.99860078e-01 -1.06073555e-02 9.39550101e-01] [-4.39809254e-03 1.05512504e-02 9.99934662e-01 2.89679990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:109.06, Y:0.93, Z:0.29 [[ 9.99999759e-01 -3.63769549e-04 -5.91611953e-04 1.09058855e+02] [ 3.63693942e-04 9.99999926e-01 -1.27901500e-04 9.27537753e-01] [ 5.91658436e-04 1.27686304e-04 9.99999817e-01 2.88723779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:0.93, Z:0.30 [[ 9.99995103e-01 3.07285744e-03 -5.92432173e-04 1.09089036e+02] [-3.07286030e-03 9.99995279e-01 -3.91928629e-06 9.27467748e-01] [ 5.92417332e-04 5.73972841e-06 9.99999825e-01 2.99231222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:0.93, Z:0.30 [[ 9.99997563e-01 -2.12661056e-03 -5.92429619e-04 1.09119053e+02] [ 2.12660839e-03 9.99997739e-01 -4.28798964e-06 9.25129170e-01] [ 5.92437398e-04 3.02811339e-06 9.99999825e-01 3.03104932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.15, Y:0.93, Z:0.29 [[ 9.99999763e-01 -3.50048390e-04 -5.92416059e-04 1.09150592e+02] [ 3.50044754e-04 9.99999939e-01 -6.24245352e-06 9.27003858e-01] [ 5.92418208e-04 6.03507991e-06 9.99999825e-01 2.88173553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:0.93, Z:0.29 [[ 9.99999773e-01 3.20035107e-04 -5.92430962e-04 1.09180395e+02] [-3.20037578e-04 9.99999949e-01 -4.07673526e-06 9.28563370e-01] [ 5.92429627e-04 4.26633451e-06 9.99999825e-01 2.87843975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:0.93, Z:0.30 [[ 9.99991870e-01 3.98853012e-03 -5.92430693e-04 1.09210257e+02] [-3.98853326e-03 9.99992046e-01 -4.11540211e-06 9.30502057e-01] [ 5.92409567e-04 6.47829818e-06 9.99999825e-01 3.02310431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:0.93, Z:0.29 [[ 9.99986243e-01 5.21188438e-03 -5.92435325e-04 1.09240402e+02] [-5.21188735e-03 9.99986418e-01 -3.46115830e-06 9.31132190e-01] [ 5.92409239e-04 6.54881685e-06 9.99999825e-01 2.88370570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:0.93, Z:0.30 [[ 9.99967120e-01 8.08745685e-03 -5.92428913e-04 1.09270658e+02] [-8.08746084e-03 9.99967296e-01 -4.33697042e-06 9.34719651e-01] [ 5.92374463e-04 9.12807346e-06 9.99999825e-01 3.01637504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:0.94, Z:0.30 [[ 9.99962886e-01 8.59513230e-03 -5.92445026e-04 1.09300387e+02] [-8.59513509e-03 9.99963061e-01 -2.16562023e-06 9.36598254e-01] [ 5.92404528e-04 7.25768488e-06 9.99999825e-01 3.01191943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:0.94, Z:0.29 [[ 9.99962811e-01 8.60380450e-03 -5.92431661e-04 1.09330381e+02] [-8.60380833e-03 9.99962987e-01 -3.92498387e-06 9.38280558e-01] [ 5.92375963e-04 9.02200637e-06 9.99999825e-01 2.92988514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:0.94, Z:0.30 [[ 9.99959369e-01 8.99492370e-03 -5.92418325e-04 1.09361322e+02] [-8.99492863e-03 9.99959545e-01 -5.66707424e-06 9.41366763e-01] [ 5.92343384e-04 1.09956045e-05 9.99999825e-01 3.00019165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:109.39, Y:0.94, Z:0.30 [[ 9.99966475e-01 8.16689777e-03 -5.92451188e-04 1.09391312e+02] [-8.16690006e-03 9.99966650e-01 -1.44087410e-06 9.42621620e-01] [ 5.92419662e-04 6.27931544e-06 9.99999824e-01 3.01260851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:0.94, Z:0.29 [[ 9.99974109e-01 7.17151438e-03 -5.92447449e-04 1.09421320e+02] [-7.17151676e-03 9.99974284e-01 -1.88783612e-06 9.44771720e-01] [ 5.92418676e-04 6.13653405e-06 9.99999825e-01 2.88594960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:0.95, Z:0.29 [[ 9.99971410e-01 7.53847872e-03 -5.92419936e-04 1.09451103e+02] [-7.53848306e-03 9.99971585e-01 -5.09009099e-06 9.47027014e-01] [ 5.92364730e-04 9.55589311e-06 9.99999825e-01 2.88706414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:0.95, Z:0.29 [[ 9.99971906e-01 7.47240100e-03 -5.92419598e-04 1.09481253e+02] [-7.47240535e-03 9.99972081e-01 -5.12911628e-06 9.47273645e-01] [ 5.92364731e-04 9.55577156e-06 9.99999825e-01 2.88724279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.51, Y:0.95, Z:0.31 [[ 9.99961026e-01 8.80880659e-03 -5.92419256e-04 1.09512508e+02] [-8.80881119e-03 9.99961202e-01 -5.16826310e-06 9.50118756e-01] [ 5.92350745e-04 1.03865710e-05 9.99999825e-01 3.05983838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:109.54, Y:0.95, Z:0.31 [[ 9.99961176e-01 8.79174129e-03 -5.92451084e-04 1.09543372e+02] [-8.79174375e-03 9.99961352e-01 -1.54745176e-06 9.51854141e-01] [ 5.92414582e-04 6.75606980e-06 9.99999824e-01 3.05089916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:0.96, Z:0.29 [[ 9.99960020e-01 8.92231751e-03 -5.92462215e-04 1.09572115e+02] [-8.92231928e-03 9.99960195e-01 -3.32870334e-07 9.55152400e-01] [ 5.92435662e-04 5.61899407e-06 9.99999824e-01 2.87777703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:0.96, Z:0.30 [[ 9.99949857e-01 9.99662214e-03 -5.92411870e-04 1.09603433e+02] [-9.99662723e-03 9.99950032e-01 -5.63017234e-06 9.58139246e-01] [ 5.92325986e-04 1.15520107e-05 9.99999825e-01 3.01483842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:0.96, Z:0.29 [[ 9.99979104e-01 6.43740637e-03 -5.92476186e-04 1.09631940e+02] [-6.43740697e-03 9.99979280e-01 8.98425153e-07 9.61768950e-01] [ 5.92469694e-04 2.91560395e-06 9.99999824e-01 2.87893479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.66, Y:0.96, Z:0.30 [[ 9.99973920e-01 7.19781314e-03 -5.92404350e-04 1.09663713e+02] [-7.19781801e-03 9.99974095e-01 -6.08973583e-06 9.63357589e-01] [ 5.92345171e-04 1.03535957e-05 9.99999825e-01 3.00911916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.69, Y:0.96, Z:0.30 [[ 9.99987638e-01 4.93695041e-03 -5.92471503e-04 1.09692831e+02] [-4.93695104e-03 9.99987813e-01 3.91989656e-07 9.64474270e-01] [ 5.92466218e-04 2.53301799e-06 9.99999824e-01 3.02672360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:0.97, Z:0.29 [[ 9.99995630e-01 2.89644416e-03 -5.92470944e-04 1.09721980e+02] [-2.89644446e-03 9.99995805e-01 3.40585150e-07 9.66072473e-01] [ 5.92469445e-04 1.37547552e-06 9.99999824e-01 2.88075846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.75, Y:0.97, Z:0.30 [[ 9.99986761e-01 5.11147021e-03 -5.92392820e-04 1.09753964e+02] [-5.11147504e-03 9.99986936e-01 -6.63481827e-06 9.68003742e-01] [ 5.92351167e-04 9.66273154e-06 9.99999825e-01 3.03076483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:0.97, Z:0.30 [[ 9.99984392e-01 5.55554938e-03 -5.92492304e-04 1.09783724e+02] [-5.55554895e-03 9.99984568e-01 2.36412821e-06 9.69628210e-01] [ 5.92496295e-04 9.27528684e-07 9.99999824e-01 3.02069805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.81, Y:0.97, Z:0.30 [[ 9.99987850e-01 4.89376187e-03 -5.92468996e-04 1.09813364e+02] [-4.89376253e-03 9.99988025e-01 3.40372880e-07 9.70203949e-01] [ 5.92463568e-04 2.55903383e-06 9.99999824e-01 3.02680772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:0.97, Z:0.30 [[ 9.99990060e-01 4.41920633e-03 -5.92463076e-04 1.09843345e+02] [-4.41920719e-03 9.99990235e-01 -1.41554052e-07 9.71937732e-01] [ 5.92456665e-04 2.75976973e-06 9.99999824e-01 3.03001329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:0.97, Z:0.30 [[ 9.99992900e-01 3.72131681e-03 -5.92442883e-04 1.09872978e+02] [-3.72131847e-03 9.99993076e-01 -1.71165886e-06 9.73583936e-01] [ 5.92432411e-04 3.91631535e-06 9.99999825e-01 3.02881356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:0.97, Z:0.30 [[ 9.99993908e-01 3.44001134e-03 -5.92442771e-04 1.09902729e+02] [-3.44001297e-03 9.99994083e-01 -1.71997720e-06 9.74518310e-01] [ 5.92433348e-04 3.75797753e-06 9.99999825e-01 3.02299653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.93, Y:0.98, Z:0.30 [[ 9.99996156e-01 2.70868146e-03 -5.92444165e-04 1.09932624e+02] [-2.70868290e-03 9.99996332e-01 -1.61917544e-06 9.77127933e-01] [ 5.92437606e-04 3.22391260e-06 9.99999825e-01 3.01862732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.96, Y:0.98, Z:0.30 [[ 9.99995967e-01 2.77766684e-03 -5.92432249e-04 1.09961886e+02] [-2.77766877e-03 9.99996142e-01 -2.44069173e-06 9.79753787e-01] [ 5.92423184e-04 4.08626244e-06 9.99999825e-01 3.02361526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.99, Y:0.99, Z:0.30 [[ 9.99995901e-01 2.80120893e-03 -5.92413458e-04 1.09990619e+02] [-2.80121161e-03 9.99996077e-01 -3.69037596e-06 9.85874155e-01] [ 5.92400796e-04 5.34983629e-06 9.99999825e-01 3.04230866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.02, Y:0.99, Z:0.30 [[ 9.99993672e-01 3.50776334e-03 -5.92371978e-04 1.10020813e+02] [-3.50776771e-03 9.99993848e-01 -6.33601901e-06 9.88096004e-01] [ 5.92346108e-04 8.41388221e-06 9.99999825e-01 3.02897727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.05, Y:0.99, Z:0.31 [[ 9.99997121e-01 2.32518651e-03 -5.92396596e-04 1.10050011e+02] [-2.32518974e-03 9.99997297e-01 -4.76556628e-06 9.90598911e-01] [ 5.92383913e-04 6.14298705e-06 9.99999825e-01 3.05433097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:1.00, Z:0.30 [[ 9.99998845e-01 1.39962002e-03 -5.92371213e-04 1.10080091e+02] [-1.39962403e-03 9.99999021e-01 -6.34456529e-06 9.96271216e-01] [ 5.92361753e-04 7.17365495e-06 9.99999825e-01 3.01913146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:1.00, Z:0.30 [[ 9.99999715e-01 -4.69109154e-04 -5.92393390e-04 1.10109770e+02] [ 4.69106285e-04 9.99999890e-01 -4.98216614e-06 9.98843775e-01] [ 5.92395662e-04 4.70426925e-06 9.99999825e-01 3.03285408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.14, Y:1.00, Z:0.30 [[ 9.99993452e-01 -3.56988515e-03 -5.92358513e-04 1.10139898e+02] [ 3.56988159e-03 9.99993628e-01 -7.07429592e-06 1.00108881e+00] [ 5.92379993e-04 4.95959985e-06 9.99999825e-01 3.02601421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80864 meters Centerline goodness : 0.898757 Centerline is valid? [True, False] Translation: X:110.12, Y:1.01, Z:0.30 [[ 9.99980084e-01 -1.20588856e-03 6.19489500e-03 1.10116544e+02] [ 1.25541545e-03 9.99967234e-01 -7.99713299e-03 1.00963513e+00] [-6.18504837e-03 8.00475089e-03 9.99948833e-01 2.99761319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:110.12, Y:1.01, Z:0.30 [[ 9.99980751e-01 -3.31333122e-03 5.24593480e-03 1.10121897e+02] [ 3.37002356e-03 9.99935619e-01 -1.08352058e-02 1.01309107e+00] [-5.20969643e-03 1.08526761e-02 9.99927537e-01 2.95291113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.15, Y:1.01, Z:0.29 [[ 9.99963554e-01 -6.85327470e-03 5.09154780e-03 1.10152835e+02] [ 6.85289633e-03 9.99976514e-01 9.17558832e-05 1.00552631e+00] [-5.09205705e-03 -5.68606898e-05 9.99987034e-01 2.94336309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.18, Y:1.01, Z:0.28 [[ 9.99958027e-01 -7.61707410e-03 5.09167028e-03 1.10184907e+02] [ 7.61674956e-03 9.99970989e-01 8.31274099e-05 1.00614537e+00] [-5.09215575e-03 -4.43419435e-05 9.99987034e-01 2.80298821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:110.22, Y:1.01, Z:0.28 [[ 9.99934904e-01 -1.02107815e-02 5.09184131e-03 1.10217447e+02] [ 1.02105532e-02 9.99947868e-01 7.08322385e-05 1.00678406e+00] [-5.09229912e-03 -1.88371109e-05 9.99987034e-01 2.81694208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:110.24, Y:1.01, Z:0.30 [[ 9.99881482e-01 -1.45291166e-02 5.09187251e-03 1.10244289e+02] [ 1.45289561e-02 9.99894447e-01 6.85136975e-05 1.00699365e+00] [-5.09233049e-03 5.47401497e-06 9.99987034e-01 2.97766482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:110.28, Y:1.01, Z:0.29 [[ 9.99883202e-01 -1.44106480e-02 5.09067245e-03 1.10276048e+02] [ 1.44100270e-02 9.99896158e-01 1.58639610e-04 1.00766101e+00] [-5.09242992e-03 -8.52643539e-05 9.99987030e-01 2.94391731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01863999999999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:110.31, Y:1.01, Z:0.28 [[ 9.99914773e-01 -1.20220838e-02 5.09086604e-03 1.10309894e+02] [ 1.20215092e-02 9.99927729e-01 1.43464482e-04 1.00764610e+00] [-5.09222286e-03 -8.22523618e-05 9.99987031e-01 2.81681400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:110.33, Y:1.01, Z:0.30 [[ 9.99811504e-01 -1.87357766e-02 5.09185256e-03 1.10334522e+02] [ 1.87357106e-02 9.99824469e-01 6.06698951e-05 1.00690072e+00] [-5.09209548e-03 3.47410170e-05 9.99987035e-01 2.95680132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:110.37, Y:1.01, Z:0.30 [[ 9.99771623e-01 -2.07556193e-02 5.08986353e-03 1.10365716e+02] [ 2.07547627e-02 9.99784572e-01 2.21067806e-04 1.00721638e+00] [-5.09335543e-03 -1.15378410e-04 9.99987022e-01 2.95099181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:110.39, Y:1.01, Z:0.29 [[ 9.99613209e-01 -2.73408960e-02 5.08994018e-03 1.10385662e+02] [ 2.73401576e-02 9.99626165e-01 2.14617984e-04 1.00698648e+00] [-5.09390523e-03 -7.53752053e-05 9.99987023e-01 2.93593823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13864 meters Centerline goodness : 0.945034 Centerline is valid? [True, False] Translation: X:110.39, Y:1.01, Z:0.29 [[ 9.99904927e-01 -1.35860007e-02 2.35762682e-03 1.10388545e+02] [ 1.36002226e-02 9.99888753e-01 -6.12493745e-03 1.01441911e+00] [-2.27415114e-03 6.15641938e-03 9.99978463e-01 2.92885405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16864 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:110.39, Y:1.02, Z:0.29 [[ 9.99981143e-01 -3.81868477e-03 4.80940792e-03 1.10387924e+02] [ 3.89977441e-03 9.99848468e-01 -1.69656547e-02 1.02341059e+00] [-4.74389265e-03 1.69840904e-02 9.99844506e-01 2.92678081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:110.42, Y:1.01, Z:0.29 [[ 9.99969320e-01 -6.13363003e-03 4.87221703e-03 1.10417896e+02] [ 6.13860871e-03 9.99980651e-01 -1.00755346e-03 1.00876719e+00] [-4.86594280e-03 1.03743119e-03 9.99987623e-01 2.88408057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22864 meters Centerline goodness : 0.918064 Centerline is valid? [True, False] Translation: X:110.42, Y:1.01, Z:0.29 [[ 9.99969402e-01 -6.13183153e-03 4.85752188e-03 1.10418008e+02] [ 6.13526864e-03 9.99980939e-01 -6.92999186e-04 1.00740915e+00] [-4.85317994e-03 7.22780183e-04 9.99987962e-01 2.88341789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25864 meters Centerline goodness : 0.998376 Centerline is valid? [False, True] Translation: X:110.42, Y:1.01, Z:0.29 [[ 9.99969725e-01 -6.12094744e-03 4.80458852e-03 1.10418229e+02] [ 6.12267959e-03 9.99981196e-01 -3.45895509e-04 1.00598242e+00] [-4.80238097e-03 3.75301993e-04 9.99988398e-01 2.88070529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28864 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:110.45, Y:1.00, Z:0.29 [[ 9.99961006e-01 -7.41012085e-03 4.80387263e-03 1.10450628e+02] [ 7.41015987e-03 9.99972544e-01 9.67597709e-06 1.00377715e+00] [-4.80381243e-03 2.59218644e-05 9.99988461e-01 2.88453388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31864 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:110.48, Y:1.00, Z:0.29 [[ 9.99939672e-01 -9.87798955e-03 4.80387600e-03 1.10483304e+02] [ 9.87806740e-03 9.99951211e-01 7.52245466e-06 9.99422094e-01] [-4.80371593e-03 3.99310101e-05 9.99988461e-01 2.87448312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999999 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:110.52, Y:1.00, Z:0.29 [[ 9.99934583e-01 -1.03803899e-02 4.80387859e-03 1.10516498e+02] [ 1.03804853e-02 9.99946121e-01 5.06046798e-06 9.98220957e-01] [-4.80367230e-03 4.48064544e-05 9.99988461e-01 2.89153579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37863999999999 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:110.55, Y:1.00, Z:0.30 [[ 9.99967488e-01 -6.47660552e-03 4.80387992e-03 1.10549784e+02] [ 6.47666767e-03 9.99979026e-01 2.62018544e-06 9.97415313e-01] [-4.80379614e-03 2.84930335e-05 9.99988461e-01 2.99246794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999999 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:110.58, Y:0.99, Z:0.29 [[ 9.99960786e-01 -7.43975337e-03 4.80389998e-03 1.10578420e+02] [ 7.44012428e-03 9.99972320e-01 -5.93423841e-05 9.93505364e-01] [-4.80332551e-03 9.50816699e-05 9.99988459e-01 2.89600197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43863999999999 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:110.61, Y:0.99, Z:0.29 [[ 9.99974198e-01 -5.34097152e-03 4.80386228e-03 1.10611485e+02] [ 5.34101917e-03 9.99985737e-01 2.90971167e-06 9.91366160e-01] [-4.80380930e-03 2.27478839e-05 9.99988461e-01 2.89425351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46864 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:110.64, Y:0.99, Z:0.29 [[ 9.99986974e-01 -1.72501016e-03 4.80386250e-03 1.10644466e+02] [ 1.72502799e-03 9.99998512e-01 4.33400502e-07 9.88151683e-01] [-4.80385610e-03 7.85340241e-06 9.99988461e-01 2.90092474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49864 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:110.68, Y:0.99, Z:0.29 [[ 9.99988412e-01 3.14269981e-04 4.80386241e-03 1.10676596e+02] [-3.14271183e-04 9.99999951e-01 -5.04663943e-07 9.87921768e-01] [-4.80386233e-03 -1.00505742e-06 9.99988461e-01 2.89674724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52864 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:110.71, Y:0.99, Z:0.29 [[ 9.99985182e-01 2.56091617e-03 4.80386226e-03 1.10709266e+02] [-2.56094026e-03 9.99996721e-01 -1.13677295e-06 9.87649147e-01] [-4.80384941e-03 -1.11656481e-05 9.99988461e-01 2.90878999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55864 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:110.74, Y:0.99, Z:0.29 [[ 9.99961032e-01 7.40662357e-03 4.80386202e-03 1.10741844e+02] [-7.40670054e-03 9.99972570e-01 -1.76936740e-06 9.87683285e-01] [-4.80374336e-03 -3.38114690e-05 9.99988461e-01 2.91139570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58864 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:110.77, Y:0.99, Z:0.30 [[ 9.99913602e-01 1.22356519e-02 4.80386171e-03 1.10774741e+02] [-1.22357816e-02 9.99925140e-01 -2.39613775e-06 9.88650755e-01] [-4.80353141e-03 -5.63830719e-05 9.99988461e-01 3.01546859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61864 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:110.81, Y:0.99, Z:0.30 [[ 9.99877453e-01 1.48997315e-02 4.80380611e-03 1.10807401e+02] [-1.48995464e-02 9.99888993e-01 -7.43144457e-05 9.92465001e-01] [-4.80438012e-03 2.73080674e-06 9.99988459e-01 3.02464473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:110.84, Y:0.99, Z:0.29 [[ 9.99889552e-01 1.40643620e-02 4.80380606e-03 1.10835687e+02] [-1.40641666e-02 9.99901092e-01 -7.44417717e-05 9.94550533e-01] [-4.80437790e-03 6.87202088e-06 9.99988459e-01 2.89275176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67864 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:110.87, Y:1.00, Z:0.30 [[ 9.99852086e-01 1.65145570e-02 4.80380312e-03 1.10868666e+02] [-1.65147485e-02 9.99863622e-01 1.90130372e-07 9.96298219e-01] [-4.80314485e-03 -7.95237024e-05 9.99988462e-01 3.00514060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999999 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:110.90, Y:1.00, Z:0.30 [[ 9.99803839e-01 1.92147713e-02 4.80379502e-03 1.10901562e+02] [-1.92146901e-02 9.99815379e-01 -6.30520135e-05 1.00077109e+00] [-4.80411967e-03 -2.92637876e-05 9.99988460e-01 3.01217735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73863999999999 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:110.93, Y:1.00, Z:0.29 [[ 9.99867351e-01 1.55629294e-02 4.80380856e-03 1.10928253e+02] [-1.55626383e-02 9.99878890e-01 -9.79669991e-05 1.00195202e+00] [-4.80475142e-03 2.31940686e-05 9.99988457e-01 2.89405116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999999 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:110.96, Y:1.01, Z:0.30 [[ 9.99833462e-01 1.76060217e-02 4.80369605e-03 1.10961478e+02] [-1.76062500e-02 9.99844998e-01 5.23781330e-06 1.00811694e+00] [-4.80285925e-03 -8.98120146e-05 9.99988462e-01 3.01105007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79863999999999 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:110.99, Y:1.01, Z:0.30 [[ 9.99840416e-01 1.72065599e-02 4.80376206e-03 1.10993617e+02] [-1.72064816e-02 9.99851956e-01 -5.76372638e-05 1.01097448e+00] [-4.80404263e-03 -2.50277776e-05 9.99988460e-01 2.99600615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82864 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:111.03, Y:1.01, Z:0.30 [[ 9.99860042e-01 1.60256350e-02 4.80377526e-03 1.11025092e+02] [-1.60254950e-02 9.99871581e-01 -6.76468250e-05 1.01417697e+00] [-4.80424245e-03 -9.34551903e-06 9.99988460e-01 3.00451263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85864 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:111.06, Y:1.02, Z:0.30 [[ 9.99883514e-01 1.44872869e-02 4.80376734e-03 1.11057616e+02] [-1.44871517e-02 9.99895054e-01 -6.29387004e-05 1.01545333e+00] [-4.80417502e-03 -6.66153743e-06 9.99988460e-01 3.00928818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88864 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:111.09, Y:1.02, Z:0.30 [[ 9.99909468e-01 1.25689668e-02 4.80376509e-03 1.11089496e+02] [-1.25688147e-02 9.99921007e-01 -6.18680960e-05 1.01633476e+00] [-4.80416325e-03 1.48486188e-06 9.99988460e-01 2.99839390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91864 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:111.12, Y:1.01, Z:0.30 [[ 9.99947670e-01 9.03226390e-03 4.80376918e-03 1.11121769e+02] [-9.03206334e-03 9.99959208e-01 -6.34427229e-05 1.01497919e+00] [-4.80414626e-03 2.00514554e-05 9.99988460e-01 3.00099705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94864 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:111.15, Y:1.01, Z:0.30 [[ 9.99971737e-01 5.78348540e-03 4.80380062e-03 1.11154059e+02] [-5.78320128e-03 9.99983274e-01 -7.30336760e-05 1.01382361e+00] [-4.80414266e-03 4.52502660e-05 9.99988459e-01 2.98606762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:111.19, Y:1.01, Z:0.30 [[ 9.99982431e-01 3.47297281e-03 4.80374315e-03 1.11185677e+02] [-3.47273426e-03 9.99993968e-01 -5.80004317e-05 1.01350023e+00] [-4.80391561e-03 4.13172893e-05 9.99988460e-01 2.97948240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:111.22, Y:1.01, Z:0.30 [[ 9.99983727e-01 3.07721036e-03 4.80371451e-03 1.11217296e+02] [-3.07699998e-03 9.99995265e-01 -5.11855035e-05 1.01344535e+00] [-4.80384927e-03 3.64036411e-05 9.99988461e-01 2.97795488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03864 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:111.25, Y:1.01, Z:0.30 [[ 9.99985761e-01 2.32433707e-03 4.80370573e-03 1.11249482e+02] [-2.32412714e-03 9.99997298e-01 -4.92841294e-05 1.01265136e+00] [-4.80380730e-03 3.81190048e-05 9.99988461e-01 2.98527620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06864 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:111.28, Y:1.01, Z:0.30 [[ 9.99984644e-01 2.76323355e-03 4.80368275e-03 1.11281548e+02] [-2.76305215e-03 9.99996182e-01 -4.43987589e-05 1.00958526e+00] [-4.80378709e-03 3.11252511e-05 9.99988461e-01 2.96834877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09863999999999 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:111.31, Y:1.01, Z:0.29 [[ 9.99988258e-01 -6.38345959e-04 4.80369063e-03 1.11310219e+02] [ 6.38574004e-04 9.99999795e-01 -4.59393211e-05 1.00843022e+00] [-4.80366032e-03 4.90062937e-05 9.99988461e-01 2.85184963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999999 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:111.34, Y:1.01, Z:0.30 [[ 9.99983786e-01 3.05877446e-03 4.80328893e-03 1.11344170e+02] [-3.05893751e-03 9.99995321e-01 2.65997988e-05 1.00703969e+00] [-4.80318510e-03 -4.12923281e-05 9.99988464e-01 2.98026436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15863999999999 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:111.38, Y:1.00, Z:0.30 [[ 9.99985953e-01 2.24041107e-03 4.80365038e-03 1.11376444e+02] [-2.24022704e-03 9.99997490e-01 -4.36903397e-05 1.00297794e+00] [-4.80373620e-03 3.29284584e-05 9.99988461e-01 2.98645618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999999 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:111.41, Y:1.00, Z:0.30 [[ 9.99987007e-01 1.70602972e-03 4.80363644e-03 1.11408469e+02] [-1.70585149e-03 9.99998544e-01 -4.11990629e-05 1.00091265e+00] [-4.80369974e-03 3.30042373e-05 9.99988462e-01 2.97676552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21864 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:111.44, Y:1.00, Z:0.30 [[ 9.99987518e-01 1.37431739e-03 4.80361712e-03 1.11440619e+02] [-1.37415116e-03 9.99999055e-01 -3.79050092e-05 9.98546197e-01] [-4.80366468e-03 3.13036401e-05 9.99988462e-01 2.97700306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24864 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:111.47, Y:1.00, Z:0.30 [[ 9.99986182e-01 2.13569170e-03 4.80354560e-03 1.11472355e+02] [-2.13558945e-03 9.99997719e-01 -2.64145139e-05 9.98820499e-01] [-4.80359106e-03 1.61557476e-05 9.99988463e-01 2.97787836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27864 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:111.50, Y:1.00, Z:0.30 [[ 9.99982578e-01 3.43063733e-03 4.80348173e-03 1.11504112e+02] [-3.43059629e-03 9.99994115e-01 -1.67843032e-05 9.99200866e-01] [-4.80351104e-03 3.05204239e-07 9.99988463e-01 2.98923836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30864 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:111.54, Y:1.00, Z:0.30 [[ 9.99970768e-01 5.94884550e-03 4.80348453e-03 1.11535683e+02] [-5.94883149e-03 9.99982305e-01 -1.72052561e-05 1.00156500e+00] [-4.80350188e-03 -1.13703668e-05 9.99988463e-01 2.98025282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33864 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:111.57, Y:1.00, Z:0.28 [[ 9.99963864e-01 7.01413104e-03 4.80336233e-03 1.11565272e+02] [-7.01421534e-03 9.99975400e-01 7.03844423e-07 1.00312605e+00] [-4.80323923e-03 -3.43956367e-05 9.99988464e-01 2.82748572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36864 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:111.60, Y:1.01, Z:0.30 [[ 9.99936702e-01 1.01745208e-02 4.80313873e-03 1.11597445e+02] [-1.01747973e-02 9.99948235e-01 3.31256760e-05 1.00655290e+00] [-4.80255306e-03 -8.19945423e-05 9.99988464e-01 2.97748354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39864 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:111.63, Y:1.01, Z:0.30 [[ 9.99924688e-01 1.12936229e-02 4.80337746e-03 1.11629797e+02] [-1.12937470e-02 9.99936224e-01 -1.30466385e-06 1.00851565e+00] [-4.80308585e-03 -5.29435640e-05 9.99988464e-01 2.98644605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42864 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:111.66, Y:1.01, Z:0.30 [[ 9.99925211e-01 1.12472546e-02 4.80336248e-03 1.11662283e+02] [-1.12473883e-02 9.99936746e-01 8.35281001e-07 1.00965840e+00] [-4.80304925e-03 -5.48605015e-05 9.99988464e-01 2.98119862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45863999999999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:111.69, Y:1.01, Z:0.30 [[ 9.99931308e-01 1.06914884e-02 4.80324669e-03 1.11692813e+02] [-1.06916948e-02 9.99942842e-01 1.72984238e-05 1.01366930e+00] [-4.80278720e-03 -6.86520832e-05 9.99988464e-01 3.00243016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999999 meters Centerline goodness : 0.893289 Centerline is valid? [True, False] Translation: X:111.72, Y:1.02, Z:0.30 [[ 9.99997848e-01 1.85174141e-03 -9.35001884e-04 1.11718847e+02] [-1.85099346e-03 9.99997967e-01 8.00176981e-04 1.01562622e+00] [ 9.36481704e-04 -7.98444576e-04 9.99999243e-01 3.02443179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51863999999999 meters Centerline goodness : 0.995523 Centerline is valid? [False, True] Translation: X:111.72, Y:1.03, Z:0.31 [[ 9.99961179e-01 4.96024693e-03 -7.28263435e-03 1.11720238e+02] [-5.08454731e-03 9.99840001e-01 -1.71499241e-02 1.03224938e+00] [ 7.19640127e-03 1.71862872e-02 9.99826407e-01 3.05433380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999999 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:111.75, Y:1.02, Z:0.31 [[ 9.99966359e-01 3.28922221e-03 -7.51414232e-03 1.11749842e+02] [-3.29000727e-03 9.99994584e-01 -9.21191369e-05 1.01747066e+00] [ 7.51379863e-03 1.16837621e-04 9.99971764e-01 3.06717951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57864 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:111.78, Y:1.02, Z:0.30 [[ 9.99964792e-01 3.73619451e-03 -7.51366777e-03 1.11779791e+02] [-3.73725010e-03 9.99993008e-01 -1.26453692e-04 1.01821091e+00] [ 7.51314278e-03 1.54529695e-04 9.99971764e-01 3.03663166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60864 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:111.81, Y:1.02, Z:0.29 [[ 9.99962975e-01 4.19433715e-03 -7.51374299e-03 1.11810465e+02] [-4.19536468e-03 9.99991192e-01 -1.20996356e-04 1.02044815e+00] [ 7.51316931e-03 1.52514768e-04 9.99971764e-01 2.87717482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63864 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:111.84, Y:1.02, Z:0.29 [[ 9.99965175e-01 3.63180662e-03 -7.51396492e-03 1.11839111e+02] [-3.63269913e-03 9.99993396e-01 -1.05135839e-04 1.02218504e+00] [ 7.51353346e-03 1.32428151e-04 9.99971764e-01 2.87062998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66864 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:111.87, Y:1.02, Z:0.29 [[ 9.99969508e-01 2.12719886e-03 -7.51391604e-03 1.11867458e+02] [-2.12807433e-03 9.99997730e-01 -1.08520044e-04 1.02459912e+00] [ 7.51366814e-03 1.24506906e-04 9.99971764e-01 2.87622083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:111.90, Y:1.03, Z:0.29 [[ 9.99970878e-01 1.33558567e-03 -7.51389503e-03 1.11896171e+02] [-1.33644958e-03 9.99999101e-01 -1.09955768e-04 1.02613424e+00] [ 7.51374142e-03 1.19994508e-04 9.99971764e-01 2.87319909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72864 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:111.92, Y:1.03, Z:0.31 [[ 9.99971765e-01 -1.08892383e-04 -7.51384432e-03 1.11924708e+02] [ 1.08043979e-04 9.99999988e-01 -1.13317884e-04 1.02855887e+00] [ 7.51385657e-03 1.12502858e-04 9.99971764e-01 3.06302943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75864 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:111.95, Y:1.03, Z:0.31 [[ 9.99971176e-01 -1.09477216e-03 -7.51324249e-03 1.11954288e+02] [ 1.09365368e-03 9.99999390e-01 -1.52974678e-04 1.03121317e+00] [ 7.51340538e-03 1.44753383e-04 9.99971763e-01 3.05436734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:111.98, Y:1.03, Z:0.31 [[ 9.99970682e-01 -1.47691388e-03 -7.51358209e-03 1.11984095e+02] [ 1.47597455e-03 9.99998902e-01 -1.30560618e-04 1.03306882e+00] [ 7.51376667e-03 1.19466934e-04 9.99971764e-01 3.05281479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.01, Y:1.04, Z:0.29 [[ 9.99968076e-01 -2.71839420e-03 -7.51385902e-03 1.12013921e+02] [ 2.71762769e-03 9.99996301e-01 -1.12221023e-04 1.03781411e+00] [ 7.51413628e-03 9.17975690e-05 9.99971764e-01 2.88200550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999999 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:112.04, Y:1.04, Z:0.31 [[ 9.99967031e-01 -3.07890961e-03 -7.51383720e-03 1.12042731e+02] [ 3.07814244e-03 9.99995256e-01 -1.13662980e-04 1.04054433e+00] [ 7.51415152e-03 9.05305716e-05 9.99971764e-01 3.05302784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87863999999999 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:112.07, Y:1.04, Z:0.31 [[ 9.99959151e-01 -5.02404897e-03 -7.51367628e-03 1.12071151e+02] [ 5.02325751e-03 9.99987376e-01 -1.24204099e-04 1.04324233e+00] [ 7.51420543e-03 8.64558951e-05 9.99971764e-01 3.06776461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999999 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:112.10, Y:1.05, Z:0.31 [[ 9.99943173e-01 -7.56318085e-03 -7.51332246e-03 1.12100377e+02] [ 7.56228806e-03 9.99971395e-01 -1.47229815e-04 1.04858647e+00] [ 7.51422106e-03 9.04035401e-05 9.99971764e-01 3.07458459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93863999999999 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:112.13, Y:1.05, Z:0.31 [[ 9.99937836e-01 -8.23861645e-03 -7.51322664e-03 1.12130137e+02] [ 8.23769548e-03 9.99966058e-01 -1.53517530e-04 1.05158020e+00] [ 7.51423640e-03 9.16163131e-05 9.99971764e-01 3.06475058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:112.16, Y:1.06, Z:0.29 [[ 9.99884426e-01 -1.32167903e-02 -7.51343203e-03 1.12161685e+02] [ 1.32161130e-02 9.99912654e-01 -1.39796979e-04 1.05508718e+00] [ 7.51462343e-03 4.04824554e-05 9.99971764e-01 2.86742893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99864 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:112.19, Y:1.06, Z:0.30 [[ 9.99815224e-01 -1.76935194e-02 -7.51385178e-03 1.12189661e+02] [ 1.76931809e-02 9.99843457e-01 -1.11514839e-04 1.05693376e+00] [ 7.51464863e-03 -2.14497051e-05 9.99971764e-01 3.04264891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02864 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:112.22, Y:1.06, Z:0.30 [[ 9.99703024e-01 -2.31822808e-02 -7.51302964e-03 1.12221206e+02] [ 2.31816809e-02 9.99731255e-01 -1.66933667e-04 1.05933620e+00] [ 7.51488046e-03 -7.28056433e-06 9.99971763e-01 3.02302495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05864 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:112.25, Y:1.06, Z:0.31 [[ 9.99611554e-01 -2.68381539e-02 -7.51366980e-03 1.12250572e+02] [ 2.68379880e-02 9.99639789e-01 -1.22922126e-04 1.05921038e+00] [ 7.51426229e-03 -7.87774029e-05 9.99971764e-01 3.06984711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08864 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:112.28, Y:1.06, Z:0.31 [[ 9.99552499e-01 -2.89544150e-02 -7.51292737e-03 1.12279870e+02] [ 2.89539285e-02 9.99580732e-01 -1.73524643e-04 1.05925961e+00] [ 7.51480175e-03 -4.40817717e-05 9.99971763e-01 3.07512382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11864 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:112.31, Y:1.06, Z:0.31 [[ 9.99534187e-01 -2.95797648e-02 -7.51306335e-03 1.12309778e+02] [ 2.95793679e-02 9.99562421e-01 -1.63963261e-04 1.05942902e+00] [ 7.51462579e-03 -5.83447803e-05 9.99971763e-01 3.08976488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14864 meters Centerline goodness : 0.904626 Centerline is valid? [True, False] Translation: X:112.31, Y:1.07, Z:0.31 [[ 9.99862666e-01 -1.54029324e-02 -6.11551151e-03 1.12309920e+02] [ 1.53672563e-02 9.99864871e-01 -5.83845404e-03 1.06590218e+00] [ 6.20461444e-03 5.74367358e-03 9.99964256e-01 3.08257405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17864 meters Centerline goodness : 0.996456 Centerline is valid? [False, True] Translation: X:112.33, Y:1.06, Z:0.31 [[ 9.99960400e-01 -5.02095183e-03 -7.34773706e-03 1.12328750e+02] [ 4.98897517e-03 9.99978034e-01 -4.36378377e-03 1.06398517e+00] [ 7.36948600e-03 4.32695328e-03 9.99963483e-01 3.11977015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999999 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:112.36, Y:1.06, Z:0.29 [[ 9.99966640e-01 -3.65594531e-03 -7.30429857e-03 1.12360266e+02] [ 3.65594600e-03 9.99993317e-01 -1.32580030e-05 1.05642955e+00] [ 7.30429823e-03 -1.34465605e-05 9.99973323e-01 2.93894113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23863999999999 meters Centerline goodness : 0.968744 Centerline is valid? [True, True] Translation: X:112.41, Y:1.10, Z:0.29 [[ 9.95972264e-01 8.93639166e-02 -7.30342987e-03 1.12413523e+02] [-8.93657666e-02 9.95998873e-01 7.33000540e-05 1.09909792e+00] [ 7.28075829e-03 5.79671788e-04 9.99973327e-01 2.90672007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999999 meters Centerline goodness : 0.887210 Centerline is valid? [True, False] Translation: X:112.40, Y:1.10, Z:0.29 [[ 9.97111517e-01 7.56648371e-02 6.59199355e-03 1.12398760e+02] [-7.56615265e-02 9.97133276e-01 -7.50517415e-04 1.09795598e+00] [-6.62988390e-03 2.49589264e-04 9.99977991e-01 2.90773204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29863999999999 meters Centerline goodness : 0.997250 Centerline is valid? [False, True] Translation: X:112.38, Y:1.10, Z:0.29 [[ 9.97874287e-01 6.16502578e-02 2.11223193e-02 1.12383164e+02] [-6.16256564e-02 9.98097684e-01 -1.81426553e-03 1.09525320e+00] [-2.11939879e-02 5.08732132e-04 9.99775253e-01 2.91012391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32864 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:112.41, Y:1.09, Z:0.31 [[ 9.97981286e-01 5.98868596e-02 2.11404053e-02 1.12412518e+02] [-5.98670156e-02 9.98205126e-01 -1.57087776e-03 1.08992116e+00] [-2.11965358e-02 3.02093632e-04 9.99775283e-01 3.06815056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35864 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:112.45, Y:1.08, Z:0.31 [[ 9.97947519e-01 6.04422507e-02 2.11538079e-02 1.12445732e+02] [-6.04263526e-02 9.98171690e-01 -1.39052334e-03 1.08497635e+00] [-2.11991786e-02 1.09421865e-04 9.99775266e-01 3.05404053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38864 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:112.48, Y:1.08, Z:0.30 [[ 9.97782167e-01 6.31142325e-02 2.11504462e-02 1.12477804e+02] [-6.30979836e-02 9.98006305e-01 -1.43539075e-03 1.08069130e+00] [-2.11988722e-02 9.76567866e-05 9.99775274e-01 3.03498776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41864 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:112.51, Y:1.08, Z:0.30 [[ 9.97673260e-01 6.48145679e-02 2.11456464e-02 1.12509867e+02] [-6.47973476e-02 9.97897317e-01 -1.49924073e-03 1.07813390e+00] [-2.11983564e-02 1.25570584e-04 9.99775282e-01 3.04967820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44864 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:112.54, Y:1.08, Z:0.30 [[ 9.97432321e-01 6.84222322e-02 2.11462555e-02 1.12541339e+02] [-6.84059932e-02 9.97656452e-01 -1.49117796e-03 1.07602583e+00] [-2.11987279e-02 4.08184812e-05 9.99775281e-01 3.02804661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47864 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:112.57, Y:1.07, Z:0.30 [[ 9.97072631e-01 7.34802038e-02 2.11383324e-02 1.12572779e+02] [-7.34628867e-02 9.97296675e-01 -1.59564177e-03 1.07321603e+00] [-2.11984367e-02 3.80878135e-05 9.99775287e-01 3.04941572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50864 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:112.60, Y:1.07, Z:0.29 [[ 9.96880203e-01 7.60452178e-02 2.11420416e-02 1.12603948e+02] [-7.60295137e-02 9.97104368e-01 -1.54676883e-03 1.07107741e+00] [-2.11984464e-02 -6.54759200e-05 9.99775286e-01 2.87134667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53864 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:112.63, Y:1.07, Z:0.30 [[ 9.96770035e-01 7.74771362e-02 2.11374038e-02 1.12634353e+02] [-7.74604609e-02 9.96994128e-01 -1.60774404e-03 1.06938713e+00] [-2.11984309e-02 -3.47619569e-05 9.99775287e-01 3.00699107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56864 meters Centerline goodness : 0.987966 Centerline is valid? [True, True] Translation: X:112.69, Y:1.10, Z:0.28 [[ 9.86648784e-01 1.61484324e-01 2.11421607e-02 1.12689976e+02] [-1.61487988e-01 9.86873468e-01 -1.54512688e-03 1.10295284e+00] [-2.11141512e-02 -1.88970745e-03 9.99775286e-01 2.83268487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59863999999999 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:112.69, Y:1.07, Z:0.29 [[ 9.96335955e-01 8.29205672e-02 2.09486204e-02 1.12693121e+02] [-8.28547349e-02 9.96553637e-01 -3.99269720e-03 1.07049020e+00] [-2.12075005e-02 2.24237539e-03 9.99772581e-01 2.85890946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999999 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:112.72, Y:1.07, Z:0.30 [[ 9.96298956e-01 8.33184017e-02 2.11289742e-02 1.12723404e+02] [-8.33036950e-02 9.96522959e-01 -1.57678648e-03 1.06934931e+00] [-2.11868833e-02 -1.89170901e-04 9.99775515e-01 2.99626619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65863999999999 meters Centerline goodness : 0.873685 Centerline is valid? [True, False] Translation: X:112.71, Y:1.07, Z:0.30 [[ 9.96836463e-01 7.16809466e-02 3.43352318e-02 1.12711013e+02] [-7.17179841e-02 9.97424938e-01 -1.53256112e-04 1.07262584e+00] [-3.42578020e-02 -2.30968233e-03 9.99410360e-01 2.98407720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999999 meters Centerline goodness : 0.900599 Centerline is valid? [False, False] Translation: X:112.70, Y:1.07, Z:0.30 [[ 9.97292478e-01 5.68193119e-02 4.66827542e-02 1.12697709e+02] [-5.68463524e-02 9.98382658e-01 -7.49227042e-04 1.07433447e+00] [-4.66498227e-02 -1.90654580e-03 9.98909485e-01 2.98876171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71864 meters Centerline goodness : 0.995874 Centerline is valid? [False, True] Translation: X:112.70, Y:1.07, Z:0.30 [[ 9.98216139e-01 3.92674819e-02 4.49733782e-02 1.12703319e+02] [-3.94788432e-02 9.99213101e-01 3.82083754e-03 1.07097737e+00] [-4.47879540e-02 -5.58951864e-03 9.98980879e-01 2.98894441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74864 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:112.74, Y:1.08, Z:0.30 [[ 9.98290129e-01 3.75336047e-02 4.48112268e-02 1.12736114e+02] [-3.75070089e-02 9.99295335e-01 -1.43444566e-03 1.08132205e+00] [-4.48334898e-02 -2.48742144e-04 9.98994443e-01 2.96805047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77864 meters Centerline goodness : 0.806526 Centerline is valid? [True, False] Translation: X:112.74, Y:1.09, Z:0.30 [[ 9.98426698e-01 3.37276518e-02 4.47948107e-02 1.12735908e+02] [-3.34349978e-02 9.99414477e-01 -7.26666977e-03 1.08760331e+00] [-4.50136700e-02 5.75752271e-03 9.98969780e-01 2.96547908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80864 meters Centerline goodness : 0.997149 Centerline is valid? [False, True] Translation: X:112.77, Y:1.08, Z:0.30 [[ 9.99349304e-01 2.67553426e-02 2.41892616e-02 1.12765181e+02] [-2.67034883e-02 9.99640361e-01 -2.46423046e-03 1.08437885e+00] [-2.42464936e-02 1.81668933e-03 9.99704360e-01 2.96194002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83864 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:112.80, Y:1.08, Z:0.31 [[ 9.99497926e-01 2.04082667e-02 2.42363167e-02 1.12795715e+02] [-2.03993102e-02 9.99791722e-01 -6.16752806e-04 1.08420701e+00] [-2.42438556e-02 1.22039008e-04 9.99706067e-01 3.08515778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86864 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:112.83, Y:1.09, Z:0.29 [[ 9.99516472e-01 1.94756822e-02 2.42388326e-02 1.12828606e+02] [-1.94688404e-02 9.99810330e-01 -5.18241181e-04 1.08602307e+00] [-2.42443283e-02 4.60886343e-05 9.99706062e-01 2.94514055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89864 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:112.86, Y:1.09, Z:0.31 [[ 9.99594826e-01 1.49265525e-02 2.42359473e-02 1.12859859e+02] [-1.49156794e-02 9.99888557e-01 -6.29356916e-04 1.08714915e+00] [-2.42426405e-02 2.67606296e-04 9.99706068e-01 3.08183172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92864 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:112.89, Y:1.09, Z:0.31 [[ 9.99588211e-01 1.53624187e-02 2.42364172e-02 1.12891607e+02] [-1.53521101e-02 9.99881963e-01 -6.11354413e-04 1.08658191e+00] [-2.42429483e-02 2.39022519e-04 9.99706068e-01 3.07409864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95863999999999 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:112.92, Y:1.09, Z:0.29 [[ 9.99597528e-01 1.47442207e-02 2.42361411e-02 1.12923213e+02] [-1.47334782e-02 9.99891263e-01 -6.21759291e-04 1.08582647e+00] [-2.42426731e-02 2.64426392e-04 9.99706068e-01 2.90814071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999999 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:112.95, Y:1.08, Z:0.30 [[ 9.99648331e-01 1.07639033e-02 2.42353581e-02 1.12954195e+02] [-1.07512846e-02 9.99941991e-01 -6.50914990e-04 1.08365584e+00] [-2.42409586e-02 3.90124851e-04 9.99706069e-01 3.04455429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01863999999999 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:113.01, Y:1.12, Z:0.29 [[ 9.96624117e-01 7.84408579e-02 2.42363786e-02 1.13012776e+02] [-7.84490715e-02 9.96917934e-01 -6.13188591e-04 1.11502751e+00] [-2.42097795e-02 -1.29020285e-03 9.99706068e-01 2.93348368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999999 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:113.01, Y:1.08, Z:0.29 [[ 9.99698169e-01 4.57241426e-03 2.41384247e-02 1.13011752e+02] [-4.48051372e-03 9.99982513e-01 -3.85994280e-03 1.08360219e+00] [-2.41556519e-02 3.75062521e-03 9.99701174e-01 2.90942870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07864 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:113.04, Y:1.08, Z:0.30 [[ 9.99705334e-01 1.62831340e-03 2.42197159e-02 1.13041654e+02] [-1.61416573e-03 9.99998515e-01 -6.03677420e-04 1.07850265e+00] [-2.42206629e-02 5.64404901e-04 9.99706477e-01 3.04402955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10864 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:113.07, Y:1.08, Z:0.29 [[ 9.99704820e-01 1.87463731e-03 2.42230886e-02 1.13074456e+02] [-1.86382945e-03 9.99998153e-01 -4.68749534e-04 1.07747447e+00] [-2.42239226e-02 4.23463463e-04 9.99706468e-01 2.88709143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13864 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:113.10, Y:1.08, Z:0.30 [[ 9.99706468e-01 -6.30602912e-04 2.42194145e-02 1.13103813e+02] [ 6.45656746e-04 9.99999603e-01 -6.13745750e-04 1.07572398e+00] [-2.42190178e-02 6.29203025e-04 9.99706479e-01 3.03223766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:113.13, Y:1.07, Z:0.30 [[ 9.99706442e-01 -5.14278096e-04 2.42232421e-02 1.13134337e+02] [ 5.25620865e-04 9.99999755e-01 -4.61895019e-04 1.07400469e+00] [-2.42229987e-02 4.74491668e-04 9.99706468e-01 3.03280586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.17, Y:1.07, Z:0.28 [[ 9.99704520e-01 -2.01648398e-03 2.42240864e-02 1.13167808e+02] [ 2.02747521e-03 9.99997853e-01 -4.29179682e-04 1.07001416e+00] [-2.42231690e-02 4.78166603e-04 9.99706462e-01 2.84434798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:113.20, Y:1.07, Z:0.30 [[ 9.99690235e-01 -5.73479051e-03 2.42186990e-02 1.13196513e+02] [ 5.75184912e-03 9.99983257e-01 -6.34753801e-04 1.06715934e+00] [-2.42146533e-02 7.73859479e-04 9.99706483e-01 3.00310598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:113.21, Y:1.04, Z:0.29 [[ 9.97855354e-01 -6.08099701e-02 2.42247674e-02 1.13205112e+02] [ 6.08376262e-02 9.98147594e-01 -4.05608475e-04 1.03522454e+00] [-2.41552283e-02 1.87851593e-03 9.99706455e-01 2.91678156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:1.06, Z:0.28 [[ 9.99700818e-01 -2.97092751e-03 2.42785542e-02 1.13259854e+02] [ 2.93018219e-03 9.99994239e-01 1.71364659e-03 1.05621227e+00] [-2.42835055e-02 -1.64199331e-03 9.99703764e-01 2.82552952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:1.06, Z:0.28 [[ 9.99705799e-01 -1.53009037e-03 2.42068934e-02 1.13293130e+02] [ 1.54785095e-03 9.99998546e-01 -7.14978935e-04 1.05539999e+00] [-2.42057643e-02 7.52237251e-04 9.99706715e-01 2.82055613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.30, Y:1.04, Z:0.30 [[ 9.99246748e-01 -3.03311725e-02 2.42065526e-02 1.13300686e+02] [ 3.03576339e-02 9.99538837e-01 -7.26337173e-04 1.03854770e+00] [-2.41733588e-02 1.46064372e-03 9.99706715e-01 2.98179612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:113.35, Y:1.05, Z:0.30 [[ 9.99698257e-01 3.79829565e-03 2.42686698e-02 1.13351915e+02] [-3.83613526e-03 9.99991498e-01 1.51283008e-03 1.05020606e+00] [-2.42627173e-02 -1.60547150e-03 9.99704328e-01 2.96787246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.38, Y:1.05, Z:0.30 [[ 9.99673499e-01 8.18345794e-03 2.42059073e-02 1.13384012e+02] [-8.17391321e-03 9.99966471e-01 -4.93232347e-04 1.05000041e+00] [-2.42091321e-02 2.95214321e-04 9.99706872e-01 2.98582582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:113.41, Y:1.05, Z:0.30 [[ 9.99661779e-01 9.52333108e-03 2.41998558e-02 1.13414406e+02] [-9.50957972e-03 9.99954549e-01 -6.83262637e-04 1.04831931e+00] [-2.42052628e-02 4.52901086e-04 9.99706907e-01 2.95435160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:1.05, Z:0.28 [[ 9.99608580e-01 1.40342041e-02 2.42018164e-02 1.13446810e+02] [-1.40232542e-02 9.99901476e-01 -6.22106724e-04 1.04954666e+00] [-2.42081627e-02 2.82474995e-04 9.99706900e-01 2.78273390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:1.05, Z:0.28 [[ 9.99583598e-01 1.57214182e-02 2.41964291e-02 1.13479477e+02] [-1.57069567e-02 9.99876328e-01 -7.87621259e-04 1.05082112e+00] [-2.42058192e-02 4.07241029e-04 9.99706913e-01 2.76764773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:1.05, Z:0.27 [[ 9.99569889e-01 1.65707402e-02 2.41960368e-02 1.13512156e+02] [-1.65562402e-02 9.99862616e-01 -7.99491739e-04 1.05131854e+00] [-2.42059609e-02 3.98552472e-04 9.99706913e-01 2.74930779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.54, Y:1.05, Z:0.29 [[ 9.99540536e-01 1.82557879e-02 2.41959146e-02 1.13543107e+02] [-1.82416922e-02 9.99833284e-01 -8.03175465e-04 1.05102235e+00] [-2.42065433e-02 3.61432010e-04 9.99706913e-01 2.87837253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.57, Y:1.05, Z:0.29 [[ 9.99591737e-01 1.51930524e-02 2.41977343e-02 1.13572780e+02] [-1.51793896e-02 9.99884506e-01 -7.48222492e-04 1.05093970e+00] [-2.42063074e-02 3.80610185e-04 9.99706912e-01 2.92008612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:1.05, Z:0.29 [[ 9.99636777e-01 1.18574286e-02 2.42015477e-02 1.13605471e+02] [-1.18455538e-02 9.99929638e-01 -6.33971111e-04 1.05074419e+00] [-2.42073621e-02 3.47060104e-04 9.99706899e-01 2.92153142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:113.64, Y:1.05, Z:0.29 [[ 9.99675579e-01 7.93307672e-03 2.42033526e-02 1.13636329e+02] [-7.92132741e-03 9.99968457e-01 -5.81279841e-04 1.04820614e+00] [-2.42072005e-02 3.89368581e-04 9.99706887e-01 2.91060699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:1.05, Z:0.29 [[ 9.99688458e-01 6.08518153e-03 2.42065695e-02 1.13669629e+02] [-6.07511984e-03 9.99981427e-01 -4.89177993e-04 1.04508224e+00] [-2.42090967e-02 3.41967783e-04 9.99706858e-01 2.88696434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:1.04, Z:0.27 [[ 9.99695938e-01 4.70752292e-03 2.42047733e-02 1.13703961e+02] [-4.69583246e-03 9.99988829e-01 -5.39798111e-04 1.04322581e+00] [-2.42070440e-02 4.25972419e-04 9.99706876e-01 2.70592813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.73, Y:1.04, Z:0.29 [[ 9.99706944e-01 -8.58275126e-04 2.41927394e-02 1.13732132e+02] [ 8.79658153e-04 9.99999232e-01 -8.73232965e-04 1.04051983e+00] [-2.41919713e-02 8.94258399e-04 9.99706931e-01 2.88374279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:1.04, Z:0.27 [[ 9.99706696e-01 -7.83820042e-04 2.42055187e-02 1.13765633e+02] [ 7.96583817e-04 9.99999549e-01 -5.17670692e-04 1.03703327e+00] [-2.42051020e-02 5.36800581e-04 9.99706869e-01 2.68815220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:113.79, Y:1.03, Z:0.29 [[ 9.99689882e-01 -5.90646009e-03 2.41920008e-02 1.13793628e+02] [ 5.92964091e-03 9.99982027e-01 -8.86577847e-04 1.02818353e+00] [-2.41863294e-02 1.02975278e-03 9.99706938e-01 2.88235012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:1.02, Z:0.27 [[ 9.99692208e-01 -5.45675280e-03 2.42014986e-02 1.13826167e+02] [ 5.47348824e-03 9.99984825e-01 -6.25314703e-04 1.02344131e+00] [-2.41977192e-02 7.57588855e-04 9.99706905e-01 2.67356339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:1.02, Z:0.27 [[ 9.99692839e-01 -5.38374960e-03 2.41917820e-02 1.13858866e+02] [ 5.40685002e-03 9.99984987e-01 -8.89577436e-04 1.01883062e+00] [-2.41866296e-02 1.02010553e-03 9.99706940e-01 2.66012049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:1.01, Z:0.27 [[ 9.99692549e-01 -5.43919424e-03 2.41913678e-02 1.13890869e+02] [ 5.46257962e-03 9.99984674e-01 -9.00704250e-04 1.00825248e+00] [-2.41860979e-02 1.03257460e-03 9.99706940e-01 2.65562551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:1.00, Z:0.26 [[ 9.99695858e-01 -4.79444799e-03 2.41910011e-02 1.13922602e+02] [ 4.81788031e-03 9.99987979e-01 -9.10447533e-04 1.00264566e+00] [-2.41863452e-02 1.02671998e-03 9.99706940e-01 2.63680499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:113.95, Y:1.00, Z:0.28 [[ 9.99705375e-01 -1.99397535e-03 2.41906299e-02 1.13954653e+02] [ 2.01682499e-03 9.99997543e-01 -9.20204871e-04 9.97770548e-01] [-2.41887356e-02 9.68722023e-04 9.99706940e-01 2.79236785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.98, Y:0.99, Z:0.26 [[ 9.99706890e-01 -1.04401957e-03 2.41876940e-02 1.13983824e+02] [ 1.06845328e-03 9.99998932e-01 -9.97269271e-04 9.90021255e-01] [-2.41866270e-02 1.02282038e-03 9.99706938e-01 2.62763908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:0.98, Z:0.26 [[ 9.99707078e-01 7.56178583e-04 2.41906171e-02 1.14016909e+02] [-7.34126878e-04 9.99999307e-01 -9.20448711e-04 9.83980842e-01] [-2.41912964e-02 9.02420110e-04 9.99706940e-01 2.62247883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:0.97, Z:0.26 [[ 9.99701731e-01 3.35908946e-03 2.41901804e-02 1.14048256e+02] [-3.33752472e-03 9.99993996e-01 -9.31785345e-04 9.72345494e-01] [-2.41931651e-02 8.50772097e-04 9.99706941e-01 2.60725227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:0.97, Z:0.26 [[ 9.99697307e-01 4.48867276e-03 2.41897946e-02 1.14079996e+02] [-4.46719876e-03 9.99989579e-01 -9.41694988e-04 9.66875144e-01] [-2.41937695e-02 8.33349323e-04 9.99706941e-01 2.61243143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:0.96, Z:0.26 [[ 9.99690420e-01 5.82455930e-03 2.41896529e-02 1.14112305e+02] [-5.80338822e-03 9.99982713e-01 -9.45321985e-04 9.61565544e-01] [-2.41947408e-02 8.04647386e-04 9.99706941e-01 2.59219756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:0.96, Z:0.26 [[ 9.99683716e-01 6.88098702e-03 2.41892469e-02 1.14144115e+02] [-6.85987643e-03 9.99976014e-01 -9.55598892e-04 9.55722187e-01] [-2.41952422e-02 7.89361407e-04 9.99706941e-01 2.58123223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:0.94, Z:0.26 [[ 9.99672756e-01 8.32347206e-03 2.41888416e-02 1.14176323e+02] [-8.30253787e-03 9.99965067e-01 -9.65750190e-04 9.43491586e-01] [-2.41960350e-02 7.64605380e-04 9.99706941e-01 2.57176704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:0.94, Z:0.26 [[ 9.99658731e-01 9.86554716e-03 2.41886967e-02 1.14209012e+02] [-9.84497650e-03 9.99951067e-01 -9.69366224e-04 9.37804180e-01] [-2.41970764e-02 7.30898259e-04 9.99706941e-01 2.56743902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:0.93, Z:0.26 [[ 9.99610396e-01 1.39279072e-02 2.41882228e-02 1.14241539e+02] [-1.39082421e-02 9.99902794e-01 -9.81051316e-04 9.29910194e-01] [-2.41995355e-02 6.44253436e-04 9.99706941e-01 2.56942766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:0.93, Z:0.26 [[ 9.99572552e-01 1.64215468e-02 2.41877391e-02 1.14273971e+02] [-1.64023262e-02 9.99864980e-01 -9.92834939e-04 9.26041413e-01] [-2.42007771e-02 5.95675366e-04 9.99706941e-01 2.55911342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:0.92, Z:0.26 [[ 9.99509494e-01 1.98934210e-02 2.41872422e-02 1.14306734e+02] [-1.98749270e-02 9.99801969e-01 -1.00479537e-03 9.17477210e-01] [-2.42024412e-02 5.23582834e-04 9.99706941e-01 2.55965739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:0.91, Z:0.26 [[ 9.99467452e-01 2.19046525e-02 2.41867397e-02 1.14339302e+02] [-2.18864579e-02 9.99759946e-01 -1.01675039e-03 9.12646560e-01] [-2.42032051e-02 4.86846861e-04 9.99706941e-01 2.55645697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:0.91, Z:0.25 [[ 9.99397825e-01 2.48799915e-02 2.41862278e-02 1.14372486e+02] [-2.48623766e-02 9.99690354e-01 -1.02878516e-03 9.07958061e-01] [-2.42043348e-02 4.26838547e-04 9.99706941e-01 2.54575096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.41, Y:0.90, Z:0.25 [[ 9.99351367e-01 2.66814003e-02 2.41857082e-02 1.14405022e+02] [-2.66640206e-02 9.99643910e-01 -1.04085882e-03 9.03593846e-01] [-2.42048674e-02 3.95295465e-04 9.99706941e-01 2.53524764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.44, Y:0.90, Z:0.27 [[ 9.99220152e-01 3.12116179e-02 2.41851777e-02 1.14435322e+02] [-3.11952697e-02 9.99512754e-01 -1.05304306e-03 8.96784832e-01] [-2.42062607e-02 2.97758702e-04 9.99706941e-01 2.66587098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.47, Y:0.89, Z:0.27 [[ 9.99089824e-01 3.51365922e-02 2.41855991e-02 1.14466687e+02] [-3.51216274e-02 9.99382501e-01 -1.04337992e-03 8.93737382e-01] [-2.42073253e-02 1.92992658e-04 9.99706941e-01 2.68538407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:0.89, Z:0.25 [[ 9.98830042e-01 4.18773967e-02 2.41832918e-02 1.14497010e+02] [-4.18631317e-02 9.99122754e-01 -1.09605823e-03 8.91777461e-01] [-2.42079772e-02 8.23875630e-05 9.99706941e-01 2.52855370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:0.89, Z:0.25 [[ 9.98632963e-01 4.63390152e-02 2.41847330e-02 1.14530183e+02] [-4.63268519e-02 9.98925769e-01 -1.06327783e-03 8.90727921e-01] [-2.42080243e-02 -5.85782553e-05 9.99706941e-01 2.52274458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.56, Y:0.89, Z:0.27 [[ 9.98389609e-01 5.13158311e-02 2.41841704e-02 1.14561898e+02] [-5.13048210e-02 9.98682461e-01 -1.07592325e-03 8.89305934e-01] [-2.42075187e-02 -1.66573938e-04 9.99706941e-01 2.67321775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:114.60, Y:0.89, Z:0.27 [[ 9.98003120e-01 5.83538213e-02 2.41785696e-02 1.14595089e+02] [-5.83418460e-02 9.98295941e-01 -1.20100529e-03 8.90282656e-01] [-2.42074512e-02 -2.12015356e-04 9.99706934e-01 2.67202716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:114.63, Y:0.89, Z:0.27 [[ 9.97924536e-01 5.96843309e-02 2.41744011e-02 1.14626876e+02] [-5.96705010e-02 9.98217290e-01 -1.29368273e-03 8.90545160e-01] [-2.42085178e-02 -1.51500887e-04 9.99706919e-01 2.65738230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:0.89, Z:0.25 [[ 9.97650616e-01 6.40995726e-02 2.41763005e-02 1.14656990e+02] [-6.40880575e-02 9.97943463e-01 -1.25161552e-03 8.94746533e-01] [-2.42068090e-02 -3.00737141e-04 9.99706927e-01 2.51185412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:114.69, Y:0.90, Z:0.26 [[ 9.97547345e-01 6.56844679e-02 2.41835591e-02 1.14690644e+02] [-6.56773177e-02 9.97840318e-01 -1.09067676e-03 8.95930405e-01] [-2.42029708e-02 -5.00309583e-04 9.99706940e-01 2.63795681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:0.90, Z:0.25 [[ 9.97520273e-01 6.60980473e-02 2.41734044e-02 1.14720321e+02] [-6.60855620e-02 9.97813092e-01 -1.31587257e-03 8.97656810e-01] [-2.42075160e-02 -2.84903455e-04 9.99706915e-01 2.48821238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:0.90, Z:0.25 [[ 9.97563002e-01 6.54461977e-02 2.41837313e-02 1.14753123e+02] [-6.54390933e-02 9.97855975e-01 -1.08589954e-03 9.00702155e-01] [-2.42029488e-02 -4.99308252e-04 9.99706941e-01 2.48196777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:114.79, Y:0.90, Z:0.26 [[ 9.97596096e-01 6.49398624e-02 2.41835522e-02 1.14786122e+02] [-6.49325129e-02 9.97889062e-01 -1.08987435e-03 9.01976612e-01] [-2.42032785e-02 -4.83044425e-04 9.99706941e-01 2.61717455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:114.82, Y:0.90, Z:0.26 [[ 9.97693124e-01 6.34360143e-02 2.41723297e-02 1.14819543e+02] [-6.34222154e-02 9.97985888e-01 -1.33784670e-03 9.02623058e-01] [-2.42085116e-02 -1.98302243e-04 9.99706911e-01 2.60966535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.85, Y:0.91, Z:0.24 [[ 9.98098693e-01 5.66988074e-02 2.41711260e-02 1.14849397e+02] [-5.66823875e-02 9.98391329e-01 -1.36446689e-03 9.05258599e-01] [-2.42096063e-02 -8.20450748e-06 9.99706904e-01 2.44411878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.88, Y:0.90, Z:0.24 [[ 9.98069147e-01 5.72113817e-02 2.41833824e-02 1.14882897e+02] [-5.72016777e-02 9.98362045e-01 -1.09340758e-03 9.03795124e-01] [-2.42063264e-02 -2.92033672e-04 9.99706941e-01 2.43582308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:114.92, Y:0.90, Z:0.26 [[ 9.98214471e-01 5.46174107e-02 2.41828069e-02 1.14916489e+02] [-5.46066408e-02 9.98507332e-01 -1.10598949e-03 9.03058797e-01] [-2.42071163e-02 -2.16527142e-04 9.99706941e-01 2.56106697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:114.95, Y:0.90, Z:0.26 [[ 9.98589513e-01 4.72713814e-02 2.41743756e-02 1.14948093e+02] [-4.72540110e-02 9.98882073e-01 -1.28961609e-03 9.02866543e-01] [-2.42083123e-02 1.45460896e-04 9.99706925e-01 2.55791491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:0.90, Z:0.24 [[ 9.98766278e-01 4.33743361e-02 2.41782848e-02 1.14978124e+02] [-4.33578924e-02 9.99058879e-01 -1.20417068e-03 9.02532969e-01] [-2.42077603e-02 1.54365595e-04 9.99706937e-01 2.41041613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:0.90, Z:0.24 [[ 9.98886647e-01 4.05050932e-02 2.41827111e-02 1.15011577e+02] [-4.04901485e-02 9.99179324e-01 -1.10752569e-03 9.00530967e-01] [-2.42077254e-02 1.27131056e-04 9.99706942e-01 2.39516250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:0.90, Z:0.24 [[ 9.99047130e-01 3.63324677e-02 2.41823077e-02 1.15044412e+02] [-3.63160891e-02 9.99339730e-01 -1.11626594e-03 8.97054194e-01] [-2.42068975e-02 2.36995445e-04 9.99706942e-01 2.38601195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:0.89, Z:0.24 [[ 9.99104817e-01 3.47103438e-02 2.41817282e-02 1.15077133e+02] [-3.46931897e-02 9.99397373e-01 -1.12868185e-03 8.94084516e-01] [-2.42063325e-02 2.88730189e-04 9.99706942e-01 2.39152450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:0.89, Z:0.24 [[ 9.99159891e-01 3.30875262e-02 2.41811475e-02 1.15110314e+02] [-3.30695992e-02 9.99452400e-01 -1.14098783e-03 8.90553591e-01] [-2.42056584e-02 3.40368420e-04 9.99706942e-01 2.37782341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:0.88, Z:0.24 [[ 9.99243677e-01 3.04528242e-02 2.41805646e-02 1.15143522e+02] [-3.04338302e-02 9.99536118e-01 -1.15320987e-03 8.83745812e-01] [-2.42044662e-02 4.16430469e-04 9.99706942e-01 2.37208970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:0.88, Z:0.24 [[ 9.99272513e-01 2.94919125e-02 2.41799810e-02 1.15176614e+02] [-2.94723444e-02 9.99564917e-01 -1.16532007e-03 8.79690506e-01] [-2.42038282e-02 4.51831589e-04 9.99706942e-01 2.36527940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:0.88, Z:0.24 [[ 9.99290837e-01 2.88648661e-02 2.41793890e-02 1.15209651e+02] [-2.88448204e-02 9.99583208e-01 -1.17747749e-03 8.75295129e-01] [-2.42032989e-02 4.79192336e-04 9.99706942e-01 2.35063081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:0.87, Z:0.24 [[ 9.99268115e-01 2.96415242e-02 2.41787975e-02 1.15241444e+02] [-2.96214150e-02 9.99560482e-01 -1.18950087e-03 8.65545843e-01] [-2.42034291e-02 4.72420101e-04 9.99706942e-01 2.36013538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.27, Y:0.86, Z:0.25 [[ 9.99214189e-01 3.14070044e-02 2.41786110e-02 1.15271923e+02] [-3.13873204e-02 9.99506584e-01 -1.19327934e-03 8.59892806e-01] [-2.42041582e-02 4.33439834e-04 9.99706942e-01 2.51888924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.30, Y:0.86, Z:0.25 [[ 9.99156165e-01 3.31997648e-02 2.41812815e-02 1.15303389e+02] [-3.31819055e-02 9.99448679e-01 -1.13954781e-03 8.55809600e-01] [-2.42057826e-02 3.36205225e-04 9.99706941e-01 2.50432508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.34, Y:0.85, Z:0.25 [[ 9.98962380e-01 3.85921438e-02 2.41828408e-02 1.15335681e+02] [-3.85766170e-02 9.99255031e-01 -1.10841896e-03 8.49559708e-01] [-2.42076016e-02 1.74376655e-04 9.99706938e-01 2.48277235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:0.85, Z:0.23 [[ 9.98850202e-01 4.13949695e-02 2.41811936e-02 1.15367476e+02] [-4.13794749e-02 9.99142851e-01 -1.14101319e-03 8.45128479e-01] [-2.42076989e-02 1.39096167e-04 9.99706941e-01 2.31847971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:115.40, Y:0.84, Z:0.25 [[ 9.98709573e-01 4.46619142e-02 2.41764818e-02 1.15397272e+02] [-4.46451408e-02 9.99002147e-01 -1.23337482e-03 8.38478479e-01] [-2.42074421e-02 1.52420800e-04 9.99706945e-01 2.46508730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:0.84, Z:0.25 [[ 9.98553824e-01 4.80142079e-02 2.41846402e-02 1.15429662e+02] [-4.80022773e-02 9.98846649e-01 -1.07395111e-03 8.35316329e-01] [-2.42083117e-02 -8.85198149e-05 9.99706932e-01 2.47160796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:0.83, Z:0.23 [[ 9.98419166e-01 5.07386745e-02 2.41817309e-02 1.15461878e+02] [-5.07261766e-02 9.98711959e-01 -1.13036319e-03 8.32743414e-01] [-2.42079370e-02 -9.80704747e-05 9.99706940e-01 2.30645452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:0.83, Z:0.23 [[ 9.98191132e-01 5.50456568e-02 2.41752010e-02 1.15494411e+02] [-5.50313778e-02 9.98483836e-01 -1.25604742e-03 8.29527801e-01] [-2.42076874e-02 -7.66192299e-05 9.99706948e-01 2.29413906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.53, Y:0.83, Z:0.24 [[ 9.98069534e-01 5.72083635e-02 2.41745371e-02 1.15525236e+02] [-5.71944123e-02 9.98362254e-01 -1.26869934e-03 8.28988646e-01] [-2.42075255e-02 -1.16398282e-04 9.99706948e-01 2.43863887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:0.83, Z:0.24 [[ 9.97796105e-01 6.17930739e-02 2.41774626e-02 1.15558742e+02] [-6.17818099e-02 9.98088942e-01 -1.21330118e-03 8.29856200e-01] [-2.42062317e-02 -2.83100205e-04 9.99706946e-01 2.44086087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:0.83, Z:0.24 [[ 9.97706341e-01 6.32268483e-02 2.41748190e-02 1.15590457e+02] [-6.32148013e-02 9.97999145e-01 -1.26298671e-03 8.28700619e-01] [-2.42063034e-02 -2.68116534e-04 9.99706949e-01 2.42729139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:0.83, Z:0.24 [[ 9.97624679e-01 6.45023969e-02 2.41751965e-02 1.15622501e+02] [-6.44908952e-02 9.97917505e-01 -1.25592769e-03 8.27423758e-01] [-2.42058621e-02 -3.06135603e-04 9.99706948e-01 2.40389762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:0.83, Z:0.23 [[ 9.97535765e-01 6.58630293e-02 2.41755754e-02 1.15654933e+02] [-6.58520979e-02 9.97828613e-01 -1.24887577e-03 8.28861812e-01] [-2.42053356e-02 -3.46214110e-04 9.99706948e-01 2.25702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:0.83, Z:0.24 [[ 9.97655218e-01 6.40293628e-02 2.41724521e-02 1.15685485e+02] [-6.40164932e-02 9.97947985e-01 -1.30665625e-03 8.28643065e-01] [-2.42065142e-02 -2.43843189e-04 9.99706950e-01 2.39313448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59863999999999 meters Centerline goodness : 0.832035 Centerline is valid? [True, False] Translation: X:115.69, Y:0.82, Z:0.24 [[ 9.98567793e-01 4.79383724e-02 2.37544974e-02 1.15686091e+02] [-4.80120128e-02 9.98843531e-01 2.53916024e-03 8.24963445e-01] [-2.36053028e-02 -3.67602487e-03 9.99714598e-01 2.39617498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:115.69, Y:0.82, Z:0.24 [[ 9.99227332e-01 3.21764501e-02 2.25702245e-02 1.15687390e+02] [-3.23404023e-02 9.99452839e-01 6.93699546e-03 8.20277578e-01] [-2.23346670e-02 -7.66156560e-03 9.99721193e-01 2.39806310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:0.83, Z:0.22 [[ 9.99228309e-01 3.22774973e-02 2.23818878e-02 1.15718785e+02] [-3.22743717e-02 9.99478921e-01 -5.00954493e-04 8.27057954e-01] [-2.23863947e-02 -2.21793457e-04 9.99749369e-01 2.22915957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.75, Y:0.83, Z:0.24 [[ 9.99313858e-01 2.95118084e-02 2.23800259e-02 1.15749414e+02] [-2.95063622e-02 9.99564428e-01 -5.73602119e-04 8.27165623e-01] [-2.23872059e-02 -8.71446055e-05 9.99749371e-01 2.37181592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.78, Y:0.83, Z:0.24 [[ 9.99314131e-01 2.95008470e-02 2.23823095e-02 1.15782418e+02] [-2.94973758e-02 9.99564740e-01 -4.85290740e-04 8.26656369e-01] [-2.23868839e-02 -1.75261501e-04 9.99749367e-01 2.35825047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:0.83, Z:0.23 [[ 9.99367551e-01 2.76329669e-02 2.23811583e-02 1.15814403e+02] [-2.76280474e-02 9.99618133e-01 -5.29045417e-04 8.25597463e-01] [-2.23872308e-02 -8.96368808e-05 9.99749371e-01 2.34785089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:0.82, Z:0.23 [[ 9.99413542e-01 2.59159401e-02 2.23815811e-02 1.15845973e+02] [-2.59109452e-02 9.99664123e-01 -5.13192042e-04 8.23391539e-01] [-2.23873635e-02 -6.70368444e-05 9.99749369e-01 2.34345547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:0.82, Z:0.23 [[ 9.99446410e-01 2.46149281e-02 2.23825530e-02 1.15878325e+02] [-2.46104057e-02 9.99697004e-01 -4.77526295e-04 8.21084343e-01] [-2.23875254e-02 -7.35817681e-05 9.99749365e-01 2.32136058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.91, Y:0.82, Z:0.22 [[ 9.99439338e-01 2.49002951e-02 2.23826920e-02 1.15911901e+02] [-2.48959569e-02 9.99689936e-01 -4.72493238e-04 8.18258871e-01] [-2.23875171e-02 -8.50102060e-05 9.99749365e-01 2.15158595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.94, Y:0.82, Z:0.23 [[ 9.99529425e-01 2.09796479e-02 2.23781733e-02 1.15942486e+02] [-2.09707463e-02 9.99779890e-01 -6.32403214e-04 8.15197441e-01] [-2.23865152e-02 1.62818627e-04 9.99749377e-01 2.27993504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:0.81, Z:0.23 [[ 9.99540676e-01 2.04319372e-02 2.23824248e-02 1.15973732e+02] [-2.04262484e-02 9.99791246e-01 -4.82778127e-04 8.14019127e-01] [-2.23876165e-02 2.53674057e-05 9.99749366e-01 2.29653602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:0.81, Z:0.21 [[ 9.99522642e-01 2.12966051e-02 2.23817584e-02 1.16006286e+02] [-2.12906167e-02 9.99773201e-01 -5.05842888e-04 8.11809889e-01] [-2.23874550e-02 2.90799820e-05 9.99749369e-01 2.11290813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:0.81, Z:0.21 [[ 9.99510548e-01 2.18614648e-02 2.23772498e-02 1.16038912e+02] [-2.18521898e-02 9.99760995e-01 -6.58957558e-04 8.09592698e-01] [-2.23863073e-02 1.69643121e-04 9.99749381e-01 2.10819190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999999 meters Centerline goodness : 0.803132 Centerline is valid? [True, False] Translation: X:116.04, Y:0.80, Z:0.21 [[ 9.99804745e-01 1.13570587e-02 1.61706452e-02 1.16041243e+02] [-1.14867720e-02 9.99902410e-01 7.95136704e-03 8.00057729e-01] [-1.60787629e-02 -8.13556301e-03 9.99837630e-01 2.10178086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:116.04, Y:0.81, Z:0.21 [[ 9.99865315e-01 3.20210968e-03 1.60965167e-02 1.16041363e+02] [-3.16748259e-03 9.99992615e-01 -2.17625091e-03 8.07317372e-01] [-1.61033664e-02 2.12497236e-03 9.99868074e-01 2.09789149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:116.07, Y:0.81, Z:0.21 [[ 9.99862344e-01 3.93914674e-03 1.61175853e-02 1.16073376e+02] [-3.93693576e-03 9.99992236e-01 -1.68904835e-04 8.05410133e-01] [-1.61181255e-02 1.05427686e-04 9.99870089e-01 2.07589860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:116.11, Y:0.80, Z:0.21 [[ 9.99858684e-01 4.77885432e-03 1.61175053e-02 1.16106554e+02] [-4.77663461e-03 9.99988576e-01 -1.76214470e-04 8.03906463e-01] [-1.61181633e-02 9.92021348e-05 9.99870089e-01 2.06516857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:116.14, Y:0.80, Z:0.22 [[ 9.99860085e-01 4.47657175e-03 1.61174105e-02 1.16136829e+02] [-4.47417922e-03 9.99989974e-01 -1.84499594e-04 8.03250148e-01] [-1.61180748e-02 1.12361597e-04 9.99870089e-01 2.21263370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13864 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:116.17, Y:0.80, Z:0.21 [[ 9.99864655e-01 3.30113581e-03 1.61175181e-02 1.16167983e+02] [-3.29874118e-03 9.99994544e-01 -1.75156481e-04 8.04022422e-01] [-1.61180084e-02 1.21965253e-04 9.99870089e-01 2.05417959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16864 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:116.20, Y:0.80, Z:0.22 [[ 9.99866394e-01 2.72487529e-03 1.61173319e-02 1.16198324e+02] [-2.72215234e-03 9.99996277e-01 -1.90881274e-04 8.04106512e-01] [-1.61177920e-02 1.46981938e-04 9.99870089e-01 2.23384105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:116.23, Y:0.80, Z:0.20 [[ 9.99860007e-01 4.49108026e-03 1.61181819e-02 1.16230276e+02] [-4.48972951e-03 9.99989914e-01 -1.19987689e-04 8.04045908e-01] [-1.61185582e-02 4.76046142e-05 9.99870086e-01 2.03840144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22864 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:116.26, Y:0.80, Z:0.22 [[ 9.99863966e-01 3.50498495e-03 1.61172077e-02 1.16260037e+02] [-3.50223372e-03 9.99993847e-01 -1.98923412e-04 8.04177091e-01] [-1.61178058e-02 1.42450123e-04 9.99870090e-01 2.21339887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:116.29, Y:0.81, Z:0.20 [[ 9.99847771e-01 6.68030224e-03 1.61185616e-02 1.16292419e+02] [-6.67973305e-03 9.99977686e-01 -8.91505170e-05 8.05252652e-01] [-1.61187975e-02 -1.85307430e-05 9.99870084e-01 2.02480171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864000000002 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:116.33, Y:0.81, Z:0.20 [[ 9.99846683e-01 6.84485247e-03 1.61170498e-02 1.16325261e+02] [-6.84240622e-03 9.99976569e-01 -2.06919025e-04 8.05281796e-01] [-1.61180884e-02 9.66078989e-05 9.99870091e-01 2.01482655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31864000000002 meters Centerline goodness : 0.980652 Centerline is valid? [True, True] Translation: X:116.35, Y:0.77, Z:0.20 [[ 9.97166393e-01 -7.34808079e-02 1.61169384e-02 1.16347333e+02] [ 7.34938120e-02 9.97295650e-01 -2.15257826e-04 7.68862423e-01] [-1.60575352e-02 1.39914311e-03 9.99870091e-01 1.98373456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864000000002 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:116.39, Y:0.80, Z:0.20 [[ 9.99851815e-01 6.02878613e-03 1.61245725e-02 1.16386292e+02] [-6.03581160e-03 9.99981709e-01 3.87068907e-04 8.01696543e-01] [-1.61219440e-02 -4.84336431e-04 9.99869916e-01 2.00471371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37864000000002 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:116.42, Y:0.80, Z:0.22 [[ 9.99859021e-01 4.71320864e-03 1.61159205e-02 1.16416449e+02] [-4.71016021e-03 9.99988881e-01 -2.27108156e-04 8.00575169e-01] [-1.61168117e-02 1.51167571e-04 9.99870104e-01 2.20451977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864000000002 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:116.45, Y:0.80, Z:0.20 [[ 9.99857862e-01 4.94835035e-03 1.61173673e-02 1.16448804e+02] [-4.94697960e-03 9.99987756e-01 -1.24916163e-04 7.99208254e-01] [-1.61177881e-02 4.51661200e-05 9.99870099e-01 2.01139030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43864000000002 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:116.48, Y:0.80, Z:0.20 [[ 9.99859186e-01 4.67875219e-03 1.61157242e-02 1.16481773e+02] [-4.67554370e-03 9.99989042e-01 -2.36762792e-04 7.99121208e-01] [-1.61166554e-02 1.61379680e-04 9.99870105e-01 2.00556185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864000000002 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:116.51, Y:0.80, Z:0.22 [[ 9.99863503e-01 3.64182984e-03 1.61155995e-02 1.16512339e+02] [-3.63835447e-03 9.99993351e-01 -2.44966452e-04 7.98080982e-01] [-1.61163845e-02 1.86298751e-04 9.99870105e-01 2.16830754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49864000000002 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:116.54, Y:0.80, Z:0.22 [[ 9.99868627e-01 1.72646017e-03 1.61167135e-02 1.16544585e+02] [-1.72390496e-03 9.99998499e-01 -1.72435566e-04 7.96134604e-01] [-1.61169870e-02 1.44629230e-04 9.99870102e-01 2.17451747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:116.58, Y:0.80, Z:0.20 [[ 9.99870013e-01 4.78844537e-04 1.61160734e-02 1.16575242e+02] [-4.75469611e-04 9.99999864e-01 -2.13244585e-04 7.95899566e-01] [-1.61161733e-02 2.05554163e-04 9.99870105e-01 1.98416820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55864 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:116.61, Y:0.79, Z:0.21 [[ 9.99868798e-01 -1.63750182e-03 1.61154040e-02 1.16605546e+02] [ 1.64183198e-03 9.99998620e-01 -2.55470679e-04 7.94656016e-01] [-1.61149634e-02 2.81895947e-04 9.99870106e-01 2.14922432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:116.64, Y:0.79, Z:0.21 [[ 9.99857018e-01 -5.11934682e-03 1.61163422e-02 1.16637194e+02] [ 5.12317886e-03 9.99986857e-01 -1.96496105e-04 7.91715632e-01] [-1.61151244e-02 2.79034913e-04 9.99870104e-01 2.14176318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61864 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:116.67, Y:0.79, Z:0.22 [[ 9.99852053e-01 -6.01267700e-03 1.61158196e-02 1.16667749e+02] [ 6.01714276e-03 9.99981871e-01 -2.28629545e-04 7.89808683e-01] [-1.61141527e-02 3.25566907e-04 9.99870106e-01 2.15386131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters Centerline goodness : 0.962815 Centerline is valid? [True, True] Translation: X:116.72, Y:0.83, Z:0.19 [[ 9.95871334e-01 8.93338936e-02 1.61164911e-02 1.16720631e+02] [-8.93424895e-02 9.96000946e-01 -1.87281301e-04 8.27873691e-01] [-1.60687709e-02 -1.25337935e-03 9.99870103e-01 1.91783284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67864 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:116.72, Y:0.79, Z:0.21 [[ 9.99808496e-01 -1.11511724e-02 1.60817295e-02 1.16724961e+02] [ 1.11849760e-02 9.99935419e-01 -2.01357283e-03 7.85389009e-01] [-1.60582372e-02 2.19306099e-03 9.99868653e-01 2.11331475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:116.76, Y:0.78, Z:0.19 [[ 9.99809730e-01 -1.09998900e-02 1.61092248e-02 1.16757771e+02] [ 1.10039338e-02 9.99939442e-01 -1.62408318e-04 7.81681723e-01] [-1.61064628e-02 3.39642260e-04 9.99870225e-01 1.94935952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73864 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:116.79, Y:0.78, Z:0.19 [[ 9.99815106e-01 -1.05017580e-02 1.61079853e-02 1.16791275e+02] [ 1.05070539e-02 9.99944770e-01 -2.44177493e-04 7.81540181e-01] [-1.61045314e-02 4.13379815e-04 9.99870228e-01 1.94396154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:116.82, Y:0.78, Z:0.21 [[ 9.99819157e-01 -1.01089031e-02 1.61078600e-02 1.16823222e+02] [ 1.01142769e-02 9.99948818e-01 -2.52182662e-04 7.78085894e-01] [-1.61044863e-02 4.15056413e-04 9.99870228e-01 2.13108703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79864 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:116.85, Y:0.78, Z:0.20 [[ 9.99814623e-01 -1.05491016e-02 1.61070079e-02 1.16853489e+02] [ 1.05554099e-02 9.99944243e-01 -3.06684309e-04 7.75544435e-01] [-1.61028746e-02 4.76643527e-04 9.99870227e-01 1.95192361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:116.89, Y:0.77, Z:0.21 [[ 9.99815045e-01 -1.05077343e-02 1.61078660e-02 1.16886738e+02] [ 1.05131535e-02 9.99944704e-01 -2.51789706e-04 7.71892456e-01] [-1.61043296e-02 4.21087604e-04 9.99870228e-01 2.09155478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85864 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:116.92, Y:0.77, Z:0.19 [[ 9.99819725e-01 -1.00573633e-02 1.61048980e-02 1.16915673e+02] [ 1.00657319e-02 9.99949243e-01 -4.38652001e-04 7.67283082e-01] [-1.60996689e-02 6.00680509e-04 9.99870211e-01 1.93974578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88864 meters Centerline goodness : 0.914283 Centerline is valid? [True, False] Translation: X:116.94, Y:0.77, Z:0.19 [[ 9.99972583e-01 -7.20382299e-03 -1.71428414e-03 1.16943745e+02] [ 7.19682796e-03 9.99965892e-01 -4.05220835e-03 7.68452770e-01] [ 1.74341706e-03 4.03975984e-03 9.99990320e-01 1.94184082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91864 meters Centerline goodness : 0.992222 Centerline is valid? [False, True] Translation: X:116.97, Y:0.77, Z:0.20 [[ 9.99986606e-01 6.05779621e-04 -5.14014338e-03 1.16965358e+02] [-6.33395896e-04 9.99985366e-01 -5.37274035e-03 7.67030918e-01] [ 5.13681346e-03 5.37592414e-03 9.99972356e-01 1.98179026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94864 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:117.03, Y:0.76, Z:0.18 [[ 9.99981116e-01 3.54899993e-03 -5.01726707e-03 1.17030468e+02] [-3.54817387e-03 9.99993690e-01 1.73534891e-04 7.63965314e-01] [ 5.01785129e-03 -1.55729478e-04 9.99987398e-01 1.76802152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97864 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:117.02, Y:0.75, Z:0.20 [[ 9.99982784e-01 -3.07134626e-03 -4.99986873e-03 1.17020532e+02] [ 3.07633574e-03 9.99994777e-01 9.90537644e-04 7.50013381e-01] [ 4.99680033e-03 -1.00590187e-03 9.99987010e-01 1.99570337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00864 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:117.05, Y:0.75, Z:0.20 [[ 9.99975938e-01 -4.79533117e-03 -5.01276993e-03 1.17049708e+02] [ 4.79575448e-03 9.99988498e-01 7.24294526e-05 7.48195041e-01] [ 5.01236495e-03 -9.64677237e-05 9.99987433e-01 2.02014662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03864000000002 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:117.08, Y:0.75, Z:0.20 [[ 9.99982910e-01 -3.00847509e-03 -5.01284308e-03 1.17077410e+02] [ 3.00884986e-03 9.99995471e-01 6.72227404e-05 7.47021026e-01] [ 5.01261814e-03 -8.23044837e-05 9.99987433e-01 2.02825131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864000000002 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:117.11, Y:0.74, Z:0.20 [[ 9.99987413e-01 2.08564605e-04 -5.01292391e-03 1.17106403e+02] [-2.08259150e-04 9.99999976e-01 6.14552557e-05 7.44643024e-01] [ 5.01293661e-03 -6.04104949e-05 9.99987433e-01 2.00929366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09864000000002 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:117.14, Y:0.74, Z:0.20 [[ 9.99987017e-01 9.15512210e-04 -5.01273554e-03 1.17135710e+02] [-9.15146082e-04 9.99999578e-01 7.53328098e-05 7.43142772e-01] [ 5.01280239e-03 -7.07444464e-05 9.99987433e-01 2.02517790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864000000002 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:117.17, Y:0.74, Z:0.19 [[ 9.99985327e-01 2.05411537e-03 -5.01272324e-03 1.17165091e+02] [-2.05375892e-03 9.99997888e-01 7.62538917e-05 7.42870875e-01] [ 5.01286929e-03 -6.59578477e-05 9.99987433e-01 1.88656147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15864000000002 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:117.19, Y:0.74, Z:0.19 [[ 9.99984145e-01 2.56527832e-03 -5.01286301e-03 1.17193451e+02] [-2.56498186e-03 9.99996708e-01 6.55684228e-05 7.44212758e-01] [ 5.01301471e-03 -5.27094806e-05 9.99987433e-01 1.89719795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864000000002 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:117.22, Y:0.75, Z:0.20 [[ 9.99954330e-01 8.13687987e-03 -5.01289589e-03 1.17224038e+02] [-8.13666654e-03 9.99966895e-01 6.29500156e-05 7.47502626e-01] [ 5.01324215e-03 -2.21588784e-05 9.99987433e-01 2.03570529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21864000000002 meters Centerline goodness : 0.929886 Centerline is valid? [True, False] Translation: X:117.22, Y:0.73, Z:0.20 [[ 9.99983337e-01 5.32910968e-03 -2.21954770e-03 1.17221916e+02] [-5.28555194e-03 9.99801909e-01 1.91886696e-02 7.32610588e-01] [ 2.32136655e-03 -1.91766184e-02 9.99813417e-01 2.03238753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864000000002 meters Centerline goodness : 0.992419 Centerline is valid? [False, True] Translation: X:117.22, Y:0.73, Z:0.20 [[ 9.99983274e-01 5.30158960e-03 -2.31168221e-03 1.17222192e+02] [-5.25713404e-03 9.99808869e-01 1.88305228e-02 7.34300922e-01] [ 2.41107207e-03 -1.88180550e-02 9.99820018e-01 2.03016521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27864 meters Centerline goodness : 0.969471 Centerline is valid? [True, True] Translation: X:117.24, Y:0.72, Z:0.18 [[ 9.96581288e-01 -8.25818699e-02 -2.44341323e-03 1.17235609e+02] [ 8.25820001e-02 9.96584272e-01 -4.77213364e-05 7.17378372e-01] [ 2.43900811e-03 -1.54223761e-04 9.99997014e-01 1.83035468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:117.28, Y:0.76, Z:0.20 [[ 9.99968317e-01 7.57566400e-03 -2.44407438e-03 1.17282088e+02] [-7.57612023e-03 9.99971285e-01 -1.77465271e-04 7.59349764e-01] [ 2.44265978e-03 1.95976250e-04 9.99996997e-01 2.01090992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33864 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:117.31, Y:0.76, Z:0.20 [[ 9.99987542e-01 4.35315383e-03 -2.44231545e-03 1.17311038e+02] [-4.35307524e-03 9.99990525e-01 3.74913138e-05 7.59940079e-01] [ 2.44245551e-03 -2.68592638e-05 9.99997017e-01 2.01759199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:117.34, Y:0.76, Z:0.19 [[ 9.99996838e-01 5.98400239e-04 -2.44239217e-03 1.17339907e+02] [-5.98335202e-04 9.99999821e-01 2.73590222e-05 7.62837893e-01] [ 2.44240810e-03 -2.58975665e-05 9.99997017e-01 1.88816875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39864 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:117.37, Y:0.76, Z:0.20 [[ 9.99996888e-01 -5.08226003e-04 -2.44246049e-03 1.17370807e+02] [ 5.08271924e-04 9.99999871e-01 1.81802784e-05 7.64093795e-01] [ 2.44245093e-03 -1.94216559e-05 9.99997017e-01 2.02069694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:117.40, Y:0.77, Z:0.20 [[ 9.99993465e-01 -2.66556933e-03 -2.44241103e-03 1.17401118e+02] [ 2.66563785e-03 9.99996447e-01 2.47992327e-05 7.65648749e-01] [ 2.44233625e-03 -3.13096539e-05 9.99997017e-01 2.01788370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45864 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:117.43, Y:0.77, Z:0.20 [[ 9.99992152e-01 -3.11931490e-03 -2.44242415e-03 1.17429630e+02] [ 3.11938041e-03 9.99995134e-01 2.30124546e-05 7.65658810e-01] [ 2.44234048e-03 -3.06311241e-05 9.99997017e-01 2.03888240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:117.46, Y:0.77, Z:0.20 [[ 9.99991671e-01 -3.26985773e-03 -2.44247176e-03 1.17459313e+02] [ 3.26990733e-03 9.99994654e-01 1.63133708e-05 7.65615532e-01] [ 2.44240536e-03 -2.42998913e-05 9.99997017e-01 2.04195318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:117.49, Y:0.77, Z:0.19 [[ 9.99995374e-01 -1.81275452e-03 -2.44245778e-03 1.17489601e+02] [ 1.81280469e-03 9.99998357e-01 1.83277349e-05 7.67782927e-01] [ 2.44242055e-03 -2.27553491e-05 9.99997017e-01 1.90433229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:117.52, Y:0.77, Z:0.21 [[ 9.99996741e-01 -7.43152011e-04 -2.44246679e-03 1.17518608e+02] [ 7.43195841e-04 9.99999724e-01 1.70371867e-05 7.68610156e-01] [ 2.44245345e-03 -1.88523623e-05 9.99997017e-01 2.05763545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:117.55, Y:0.77, Z:0.19 [[ 9.99996712e-01 -7.81103974e-04 -2.44244335e-03 1.17548309e+02] [ 7.81156487e-04 9.99999695e-01 2.05464537e-05 7.69331048e-01] [ 2.44242656e-03 -2.24543166e-05 9.99997017e-01 1.89936997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:117.58, Y:0.77, Z:0.19 [[ 9.99996959e-01 -3.40506021e-04 -2.44247335e-03 1.17577292e+02] [ 3.40546003e-04 9.99999942e-01 1.59536780e-05 7.69669464e-01] [ 2.44246778e-03 -1.67854040e-05 9.99997017e-01 1.90592640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:117.61, Y:0.77, Z:0.19 [[ 9.99996747e-01 -7.35044160e-04 -2.44247538e-03 1.17605966e+02] [ 7.35084545e-04 9.99999730e-01 1.56367039e-05 7.69867463e-01] [ 2.44246323e-03 -1.74320790e-05 9.99997017e-01 1.90035852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:117.63, Y:0.77, Z:0.21 [[ 9.99994411e-01 -2.28319653e-03 -2.44247736e-03 1.17634832e+02] [ 2.28324076e-03 9.99997393e-01 1.53207544e-05 7.69475812e-01] [ 2.44243601e-03 -2.08974326e-05 9.99997017e-01 2.05075379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:117.66, Y:0.77, Z:0.20 [[ 9.99990256e-01 -3.67737858e-03 -2.44246818e-03 1.17663166e+02] [ 3.67743066e-03 9.99993238e-01 1.68328986e-05 7.68484227e-01] [ 2.44238976e-03 -2.58147419e-05 9.99997017e-01 2.04580151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72864 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:117.69, Y:0.77, Z:0.20 [[ 9.99986435e-01 -4.60039862e-03 -2.44247674e-03 1.17692256e+02] [ 4.60044995e-03 9.99989418e-01 1.53999480e-05 7.67890137e-01] [ 2.44238004e-03 -2.66362311e-05 9.99997017e-01 2.04761255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:117.72, Y:0.77, Z:0.20 [[ 9.99983907e-01 -5.12049738e-03 -2.44249241e-03 1.17721103e+02] [ 5.12054385e-03 9.99986890e-01 1.27737268e-05 7.67810336e-01] [ 2.44239498e-03 -2.52804107e-05 9.99997017e-01 2.04446524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864000000002 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:117.75, Y:0.77, Z:0.21 [[ 9.99981416e-01 -5.58582791e-03 -2.44249193e-03 1.17749792e+02] [ 5.58587597e-03 9.99984399e-01 1.28558373e-05 7.68946187e-01] [ 2.44238201e-03 -2.64990554e-05 9.99997017e-01 2.05381679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81864000000002 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:117.78, Y:0.77, Z:0.21 [[ 9.99986773e-01 -4.52629422e-03 -2.44248623e-03 1.17778463e+02] [ 4.52634158e-03 9.99989756e-01 1.38627043e-05 7.69483315e-01] [ 2.44239846e-03 -2.49180480e-05 9.99997017e-01 2.05930870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864000000002 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:117.81, Y:0.77, Z:0.20 [[ 9.99987747e-01 -4.30576603e-03 -2.44246885e-03 1.17806841e+02] [ 4.30582019e-03 9.99990730e-01 1.69172499e-05 7.69620665e-01] [ 2.44237337e-03 -2.74338743e-05 9.99997017e-01 2.03405254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87864000000002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:117.84, Y:0.77, Z:0.21 [[ 9.99991201e-01 -3.41060170e-03 -2.44247830e-03 1.17835273e+02] [ 3.41064904e-03 9.99994184e-01 1.52190130e-05 7.70639598e-01] [ 2.44241218e-03 -2.35493153e-05 9.99997017e-01 2.05927479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:117.87, Y:0.77, Z:0.19 [[ 9.99993680e-01 -2.58329266e-03 -2.44248338e-03 1.17865304e+02] [ 2.58333525e-03 9.99996663e-01 1.42834366e-05 7.72462169e-01] [ 2.44243833e-03 -2.05930997e-05 9.99997017e-01 1.88377251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93864000000002 meters Centerline goodness : 0.855057 Centerline is valid? [True, False] Translation: X:117.89, Y:0.79, Z:0.19 [[ 9.99962459e-01 -3.92271259e-03 -7.72609774e-03 1.17887962e+02] [ 3.82136025e-03 9.99907026e-01 -1.30895424e-02 7.85427970e-01] [ 7.77672592e-03 1.30595268e-02 9.99884479e-01 1.92870539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864000000002 meters Centerline goodness : 0.987562 Centerline is valid? [False, True] Translation: X:117.91, Y:0.79, Z:0.20 [[ 9.99956802e-01 6.83700243e-04 -9.26962038e-03 1.17908787e+02] [-8.64789761e-04 9.99808587e-01 -1.95458954e-02 7.91281689e-01] [ 9.25448252e-03 1.95530674e-02 9.99765989e-01 1.95846446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99864000000002 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:117.92, Y:0.74, Z:0.22 [[ 9.96494616e-01 -8.29495991e-02 -1.08556376e-02 1.17919902e+02] [ 8.29785998e-02 9.96548794e-01 2.24813778e-03 7.35095236e-01] [ 1.06316905e-02 -3.14104281e-03 9.99938549e-01 2.15466662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:117.95, Y:0.74, Z:0.22 [[ 9.96330610e-01 -8.49264389e-02 -1.06214353e-02 1.17947840e+02] [ 8.49227616e-02 9.96387218e-01 -7.97566193e-04 7.41523726e-01] [ 1.06507969e-02 -1.07362009e-04 9.99943273e-01 2.16647678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:117.98, Y:0.74, Z:0.22 [[ 9.96108041e-01 -8.74983575e-02 -1.06210994e-02 1.17975103e+02] [ 8.74947799e-02 9.96164655e-01 -8.01926478e-04 7.43544108e-01] [ 1.06505311e-02 -1.30485339e-04 9.99943273e-01 2.16654715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.01, Y:0.75, Z:0.20 [[ 9.95812765e-01 -9.07976146e-02 -1.06174277e-02 1.18005019e+02] [ 9.07937170e-02 9.95869359e-01 -8.49530605e-04 7.45011008e-01] [ 1.06507062e-02 -1.18022303e-04 9.99943273e-01 1.99090643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:118.03, Y:0.75, Z:0.22 [[ 9.95793043e-01 -9.10133842e-02 -1.06198006e-02 1.18034880e+02] [ 9.10098270e-02 9.95849658e-01 -8.18752491e-04 7.46519202e-01] [ 1.06502422e-02 -1.51198179e-04 9.99943273e-01 2.20490932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.06, Y:0.75, Z:0.20 [[ 9.95616701e-01 -9.29226788e-02 -1.06188460e-02 1.18064389e+02] [ 9.29190983e-02 9.95673315e-01 -8.31123342e-04 7.48508940e-01] [ 1.06501318e-02 -1.59213316e-04 9.99943273e-01 1.99937274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:118.09, Y:0.75, Z:0.22 [[ 9.95673628e-01 -9.23106078e-02 -1.06197527e-02 1.18094560e+02] [ 9.23071178e-02 9.95730247e-01 -8.19371916e-04 7.49387479e-01] [ 1.06500457e-02 -1.64451754e-04 9.99943273e-01 2.17681290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:118.12, Y:0.75, Z:0.22 [[ 9.95677636e-01 -9.22674207e-02 -1.06192605e-02 1.18122710e+02] [ 9.22638601e-02 9.95734251e-01 -8.25753561e-04 7.50248763e-01] [ 1.06501515e-02 -1.57589611e-04 9.99943273e-01 2.18149590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:118.15, Y:0.75, Z:0.22 [[ 9.95676312e-01 -9.22818554e-02 -1.06179641e-02 1.18151218e+02] [ 9.22781168e-02 9.95732916e-01 -8.42533579e-04 7.50686487e-01] [ 1.06504069e-02 -1.40915000e-04 9.99943273e-01 2.16995186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.18, Y:0.75, Z:0.20 [[ 9.95723746e-01 -9.17685283e-02 -1.06187809e-02 1.18182024e+02] [ 9.17648731e-02 9.95780355e-01 -8.31974160e-04 7.49723456e-01] [ 1.06503224e-02 -1.46014649e-04 9.99943273e-01 2.00417106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:118.21, Y:0.75, Z:0.22 [[ 9.95765215e-01 -9.13173719e-02 -1.06195177e-02 1.18211356e+02] [ 9.13137924e-02 9.95821829e-01 -8.22460446e-04 7.50404524e-01] [ 1.06502524e-02 -1.50730929e-04 9.99943273e-01 2.19206290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.24, Y:0.75, Z:0.20 [[ 9.95761126e-01 -9.13619889e-02 -1.06191329e-02 1.18241622e+02] [ 9.13583590e-02 9.95817737e-01 -8.27427861e-04 7.52516137e-01] [ 1.06503164e-02 -1.46226058e-04 9.99943273e-01 2.00903281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.27, Y:0.75, Z:0.20 [[ 9.95831110e-01 -9.05959620e-02 -1.06194419e-02 1.18270150e+02] [ 9.05923310e-02 9.95887720e-01 -8.23443156e-04 7.52271676e-01] [ 1.06503724e-02 -1.42029683e-04 9.99943273e-01 2.02748726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:118.30, Y:0.75, Z:0.22 [[ 9.95889649e-01 -8.99501942e-02 -1.06193369e-02 1.18299001e+02] [ 8.99465121e-02 9.95946256e-01 -8.24794808e-04 7.51712950e-01] [ 1.06504793e-02 -1.33767704e-04 9.99943273e-01 2.18990034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:118.33, Y:0.75, Z:0.20 [[ 9.95969457e-01 -8.90622924e-02 -1.06182878e-02 1.18329671e+02] [ 8.90584158e-02 9.96026052e-01 -8.38305654e-04 7.52069911e-01] [ 1.06507527e-02 -1.10721065e-04 9.99943273e-01 2.03026591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:118.36, Y:0.75, Z:0.20 [[ 9.96075499e-01 -8.78682578e-02 -1.06192565e-02 1.18358248e+02] [ 8.78644462e-02 9.96132098e-01 -8.25850536e-04 7.51583761e-01] [ 1.06507483e-02 -1.10445601e-04 9.99943273e-01 2.03717930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.39, Y:0.75, Z:0.20 [[ 9.96132670e-01 -8.72177544e-02 -1.06191498e-02 1.18387481e+02] [ 8.72138912e-02 9.96189266e-01 -8.27219836e-04 7.52868082e-01] [ 1.06508313e-02 -1.02116670e-04 9.99943273e-01 2.02633350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.42, Y:0.75, Z:0.20 [[ 9.96228464e-01 -8.61166795e-02 -1.06190432e-02 1.18415148e+02] [ 8.61127392e-02 9.96285054e-01 -8.28585508e-04 7.53084971e-01] [ 1.06509491e-02 -8.89744313e-05 9.99943273e-01 2.04115034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.44, Y:0.75, Z:0.21 [[ 9.96448501e-01 -8.35321746e-02 -1.06188818e-02 1.18444339e+02] [ 8.35280655e-02 9.96505079e-01 -8.30649734e-04 7.51899536e-01] [ 1.06511556e-02 -5.92749682e-05 9.99943273e-01 2.05835589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.47, Y:0.75, Z:0.21 [[ 9.96571307e-01 -8.20540800e-02 -1.06187737e-02 1.18472783e+02] [ 8.20498723e-02 9.96627877e-01 -8.32029176e-04 7.54112618e-01] [ 1.06512372e-02 -4.20926194e-05 9.99943273e-01 2.06011294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.50, Y:0.76, Z:0.22 [[ 9.96806081e-01 -7.91510015e-02 -1.06186647e-02 1.18503554e+02] [ 7.91466143e-02 9.96862638e-01 -8.33417620e-04 7.56514444e-01] [ 1.06513159e-02 -9.67560704e-06 9.99943273e-01 2.22883315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:0.76, Z:0.21 [[ 9.96837583e-01 -7.87528510e-02 -1.06217298e-02 1.18533340e+02] [ 7.87488572e-02 9.96894170e-01 -7.94368770e-04 7.58416398e-01] [ 1.06512993e-02 -4.45924371e-05 9.99943272e-01 2.06104019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:0.76, Z:0.21 [[ 9.96822040e-01 -7.89497731e-02 -1.06185923e-02 1.18561741e+02] [ 7.89453650e-02 9.96878595e-01 -8.34301620e-04 7.60633782e-01] [ 1.06513153e-02 -6.63840033e-06 9.99943273e-01 2.06406937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.59, Y:0.76, Z:0.21 [[ 9.96875738e-01 -7.82688474e-02 -1.06184274e-02 1.18590240e+02] [ 7.82643784e-02 9.96932288e-01 -8.36394859e-04 7.62806326e-01] [ 1.06513168e-02 2.73712365e-06 9.99943273e-01 2.09071080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71864000000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:118.62, Y:0.77, Z:0.23 [[ 9.97058099e-01 -7.59104630e-02 -1.06183170e-02 1.18621081e+02] [ 7.59058453e-02 9.97114638e-01 -8.37793738e-04 7.66578325e-01] [ 1.06512766e-02 2.93367026e-05 9.99943273e-01 2.27629167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864000000002 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:118.65, Y:0.77, Z:0.22 [[ 9.97257906e-01 -7.32381192e-02 -1.06229421e-02 1.18650673e+02] [ 7.32339745e-02 9.97314483e-01 -7.79157584e-04 7.72231896e-01] [ 1.06514781e-02 -9.39213417e-07 9.99943271e-01 2.24480542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.68, Y:0.78, Z:0.21 [[ 9.97237033e-01 -7.35217737e-02 -1.06229865e-02 1.18679776e+02] [ 7.35176510e-02 9.97293612e-01 -7.78599693e-04 7.76066894e-01] [ 1.06514806e-02 -4.52856291e-06 9.99943271e-01 2.09334067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.71, Y:0.78, Z:0.21 [[ 9.97301593e-01 -7.26415647e-02 -1.06177032e-02 1.18708429e+02] [ 7.26366851e-02 9.97358109e-01 -8.44986713e-04 7.82383768e-01] [ 1.06510336e-02 7.14718305e-05 9.99943274e-01 2.09683189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:0.79, Z:0.21 [[ 9.97364262e-01 -7.17760076e-02 -1.06175922e-02 1.18736656e+02] [ 7.17710641e-02 9.97420773e-01 -8.46379568e-04 7.87069875e-01] [ 1.06509567e-02 8.21128439e-05 9.99943274e-01 2.11139680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:0.79, Z:0.21 [[ 9.97408151e-01 -7.11635357e-02 -1.06174813e-02 1.18765128e+02] [ 7.11585428e-02 9.97464658e-01 -8.47768114e-04 7.91779494e-01] [ 1.06508925e-02 9.00463293e-05 9.99943274e-01 2.10431516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:0.80, Z:0.21 [[ 9.97410272e-01 -7.11338245e-02 -1.06173686e-02 1.18793314e+02] [ 7.11288148e-02 9.97466777e-01 -8.49177506e-04 7.95318535e-01] [ 1.06508777e-02 9.17775234e-05 9.99943274e-01 2.12043381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.82, Y:0.80, Z:0.23 [[ 9.97372800e-01 -7.16573212e-02 -1.06172553e-02 1.18822354e+02] [ 7.16523262e-02 9.97429306e-01 -8.50591843e-04 8.00258116e-01] [ 1.06509127e-02 8.76061295e-05 9.99943274e-01 2.27859728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:118.85, Y:0.81, Z:0.23 [[ 9.97493833e-01 -6.99523957e-02 -1.06167381e-02 1.18850347e+02] [ 6.99472354e-02 9.97550324e-01 -8.57047984e-04 8.09754723e-01] [ 1.06506831e-02 1.12288601e-04 9.99943274e-01 2.28735600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.88, Y:0.81, Z:0.23 [[ 9.97632415e-01 -6.79474819e-02 -1.06162451e-02 1.18881464e+02] [ 6.79421427e-02 9.97688889e-01 -8.63197578e-04 8.14551525e-01] [ 1.06503619e-02 1.39863442e-04 9.99943274e-01 2.31978211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:118.91, Y:0.82, Z:0.23 [[ 9.97755099e-01 -6.61207590e-02 -1.06210657e-02 1.18910798e+02] [ 6.61159570e-02 9.97811623e-01 -8.02987102e-04 8.21536302e-01] [ 1.06509169e-02 9.89625537e-05 9.99943272e-01 2.30170170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:118.94, Y:0.83, Z:0.23 [[ 9.97787676e-01 -6.56277662e-02 -1.06183754e-02 1.18940748e+02] [ 6.56225796e-02 9.97844165e-01 -8.36510889e-04 8.26690089e-01] [ 1.06503822e-02 1.37855074e-04 9.99943274e-01 2.30861410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:118.97, Y:0.83, Z:0.23 [[ 9.97782140e-01 -6.57114875e-02 -1.06208058e-02 1.18970253e+02] [ 6.57066273e-02 9.97838659e-01 -8.06278124e-04 8.32225987e-01] [ 1.06508323e-02 1.06632586e-04 9.99943273e-01 2.29856935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:119.00, Y:0.84, Z:0.23 [[ 9.97743299e-01 -6.62986081e-02 -1.06209062e-02 1.18998894e+02] [ 6.62937945e-02 9.97799822e-01 -8.05032623e-04 8.36975517e-01] [ 1.06509108e-02 9.91157351e-05 9.99943273e-01 2.29873164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:119.03, Y:0.84, Z:0.23 [[ 9.97462856e-01 -7.03921617e-02 -1.06204451e-02 1.19027503e+02] [ 7.03875194e-02 9.97519393e-01 -8.10734237e-04 8.42827579e-01] [ 1.06511693e-02 6.11305016e-05 9.99943273e-01 2.31963381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:119.06, Y:0.85, Z:0.23 [[ 9.97264518e-01 -7.31484086e-02 -1.06203009e-02 1.19056238e+02] [ 7.31439035e-02 9.97321066e-01 -8.12512854e-04 8.46951448e-01] [ 1.06512838e-02 3.34799789e-05 9.99943273e-01 2.31280486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:119.08, Y:0.85, Z:0.23 [[ 9.96977431e-01 -7.69626821e-02 -1.06182985e-02 1.19084686e+02] [ 7.69581317e-02 9.97033974e-01 -8.37077778e-04 8.54098776e-01] [ 1.06512281e-02 1.73832419e-05 9.99943274e-01 2.28029026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.11, Y:0.86, Z:0.23 [[ 9.96836882e-01 -7.87623254e-02 -1.06172635e-02 1.19113015e+02] [ 7.87577421e-02 9.96893423e-01 -8.49758913e-04 8.58248641e-01] [ 1.06512092e-02 1.08793245e-05 9.99943274e-01 2.31321222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.14, Y:0.86, Z:0.23 [[ 9.96889075e-01 -7.80992984e-02 -1.06147084e-02 1.19143271e+02] [ 7.80943448e-02 9.96945584e-01 -8.80994015e-04 8.62558110e-01] [ 1.06510917e-02 4.93046076e-05 9.99943274e-01 2.30370462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.17, Y:0.87, Z:0.23 [[ 9.96790205e-01 -7.93508934e-02 -1.06171022e-02 1.19172069e+02] [ 7.93463226e-02 9.96846746e-01 -8.51713273e-04 8.66688453e-01] [ 1.06512080e-02 6.55143057e-06 9.99943274e-01 2.31665142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.20, Y:0.87, Z:0.23 [[ 9.96752447e-01 -7.98239624e-02 -1.06157594e-02 1.19200567e+02] [ 7.98192435e-02 9.96808976e-01 -8.68139681e-04 8.70368834e-01] [ 1.06511826e-02 1.79784671e-05 9.99943274e-01 2.31818409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:119.23, Y:0.87, Z:0.23 [[ 9.96617460e-01 -8.14918525e-02 -1.06167677e-02 1.19229287e+02] [ 8.14873597e-02 9.96674008e-01 -8.55793696e-04 8.73906198e-01] [ 1.06511966e-02 -1.22334299e-05 9.99943274e-01 2.32943618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.26, Y:0.88, Z:0.23 [[ 9.96489676e-01 -8.30398116e-02 -1.06167314e-02 1.19258238e+02] [ 8.30354019e-02 9.96546230e-01 -8.56237482e-04 8.76196182e-01] [ 1.06511654e-02 -2.83327465e-05 9.99943274e-01 2.32114663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:0.88, Z:0.22 [[ 9.96447163e-01 -8.35487022e-02 -1.06144229e-02 1.19288072e+02] [ 8.35440217e-02 9.96503695e-01 -8.84362002e-04 8.79890162e-01] [ 1.06511990e-02 -5.55157355e-06 9.99943274e-01 2.19756072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43864000000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:119.32, Y:0.88, Z:0.23 [[ 9.96464654e-01 -8.33396798e-02 -1.06156404e-02 1.19317448e+02] [ 8.33351459e-02 9.96521198e-01 -8.69497798e-04 8.84824985e-01] [ 1.06511744e-02 -1.82321219e-05 9.99943274e-01 2.34858392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.35, Y:0.89, Z:0.22 [[ 9.96465177e-01 -8.33333149e-02 -1.06164355e-02 1.19347716e+02] [ 8.33288838e-02 9.96521730e-01 -8.59811630e-04 8.89081651e-01] [ 1.06511596e-02 -2.78833682e-05 9.99943274e-01 2.21290312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49864000000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:119.38, Y:0.89, Z:0.24 [[ 9.96487948e-01 -8.30606943e-02 -1.06155379e-02 1.19376001e+02] [ 8.30561311e-02 9.96544490e-01 -8.70753822e-04 8.94700287e-01] [ 1.06511812e-02 -1.39898197e-05 9.99943274e-01 2.37780489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:0.90, Z:0.22 [[ 9.96572790e-01 -8.20367862e-02 -1.06132144e-02 1.19406453e+02] [ 8.20318637e-02 9.96629302e-01 -8.99041086e-04 8.99559213e-01] [ 1.06511949e-02 2.53381245e-05 9.99943274e-01 2.20619022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.44, Y:0.90, Z:0.23 [[ 9.96627618e-01 -8.13676942e-02 -1.06155044e-02 1.19436112e+02] [ 8.13630309e-02 9.96684152e-01 -8.71136389e-04 9.04001747e-01] [ 1.06511873e-02 4.48897495e-06 9.99943274e-01 2.34173744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.47, Y:0.91, Z:0.24 [[ 9.96626301e-01 -8.13837588e-02 -1.06159934e-02 1.19465433e+02] [ 8.13791599e-02 9.96682840e-01 -8.65186431e-04 9.07502994e-01] [ 1.06511906e-02 -1.65307074e-06 9.99943274e-01 2.37423399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:119.49, Y:0.92, Z:0.24 [[ 9.96663666e-01 -8.09250949e-02 -1.06144100e-02 1.19493991e+02] [ 8.09202651e-02 9.96720186e-01 -8.84408951e-04 9.15345060e-01] [ 1.06511676e-02 2.25373986e-05 9.99943274e-01 2.39477191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.52, Y:0.92, Z:0.24 [[ 9.96738477e-01 -7.99985294e-02 -1.06133706e-02 1.19523685e+02] [ 7.99935127e-02 9.96794981e-01 -8.97036915e-04 9.20801810e-01] [ 1.06511161e-02 4.51104166e-05 9.99943274e-01 2.38254024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.55, Y:0.93, Z:0.22 [[ 9.96848474e-01 -7.86158372e-02 -1.06146028e-02 1.19553623e+02] [ 7.86109019e-02 9.96904985e-01 -8.82030925e-04 9.27679175e-01] [ 1.06510921e-02 4.48276809e-05 9.99943275e-01 2.24491736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:119.58, Y:0.93, Z:0.24 [[ 9.96868111e-01 -7.83663038e-02 -1.06156403e-02 1.19583228e+02] [ 7.83614892e-02 9.96924632e-01 -8.69362707e-04 9.31159305e-01] [ 1.06511220e-02 3.47825780e-05 9.99943275e-01 2.40399947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.61, Y:0.94, Z:0.23 [[ 9.96862902e-01 -7.84324234e-02 -1.06164395e-02 1.19613736e+02] [ 7.84277165e-02 9.96919432e-01 -8.59607024e-04 9.35726863e-01] [ 1.06511559e-02 2.42872459e-05 9.99943275e-01 2.25874875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.64, Y:0.94, Z:0.22 [[ 9.96766440e-01 -7.96490521e-02 -1.06156777e-02 1.19642868e+02] [ 7.96443151e-02 9.96822967e-01 -8.68913908e-04 9.40952331e-01] [ 1.06511595e-02 2.06258423e-05 9.99943275e-01 2.24932016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79864 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:119.67, Y:0.94, Z:0.24 [[ 9.96666694e-01 -8.08876334e-02 -1.06156207e-02 1.19673396e+02] [ 8.08829592e-02 9.96723227e-01 -8.69610281e-04 9.42943613e-01] [ 1.06511764e-02 8.08879106e-06 9.99943275e-01 2.39438958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.70, Y:0.94, Z:0.23 [[ 9.96537976e-01 -8.24581538e-02 -1.06167124e-02 1.19703927e+02] [ 8.24537104e-02 9.96594528e-01 -8.56300965e-04 9.44997667e-01] [ 1.06511665e-02 -2.20509020e-05 9.99943274e-01 2.25730729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.73, Y:0.95, Z:0.23 [[ 9.96249136e-01 -8.58776339e-02 -1.06156427e-02 1.19734427e+02] [ 8.58732455e-02 9.96305691e-01 -8.69363057e-04 9.48575691e-01] [ 1.06510841e-02 -4.54974986e-05 9.99943275e-01 2.27293955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88864 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:119.76, Y:0.95, Z:0.25 [[ 9.96230077e-01 -8.60984369e-02 -1.06156427e-02 1.19764276e+02] [ 8.60940609e-02 9.96286634e-01 -8.69363057e-04 9.52142155e-01] [ 1.06510738e-02 -4.78581651e-05 9.99943275e-01 2.46990488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.80, Y:0.96, Z:0.23 [[ 9.96081016e-01 -8.78059542e-02 -1.06171493e-02 1.19795056e+02] [ 8.78018718e-02 9.96137595e-01 -8.50923909e-04 9.55051585e-01] [ 1.06508577e-02 -8.46164282e-05 9.99943274e-01 2.28049947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:119.83, Y:0.96, Z:0.24 [[ 9.95903637e-01 -8.97955994e-02 -1.06158432e-02 1.19825127e+02] [ 8.97914595e-02 9.95960211e-01 -8.66918154e-04 9.55316898e-01] [ 1.06508028e-02 -8.98451083e-05 9.99943275e-01 2.42973967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.86, Y:0.96, Z:0.24 [[ 9.95904606e-01 -8.97850071e-02 -1.06145670e-02 1.19855942e+02] [ 8.97806997e-02 9.95961167e-01 -8.82580632e-04 9.57887733e-01] [ 1.06509391e-02 -7.40171403e-05 9.99943274e-01 2.43410263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.89, Y:0.96, Z:0.23 [[ 9.95880556e-01 -9.00510293e-02 -1.06174287e-02 1.19886235e+02] [ 9.00471114e-02 9.95937146e-01 -8.47457058e-04 9.62633184e-01] [ 1.06506060e-02 -1.12102779e-04 9.99943274e-01 2.30746347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03864000000002 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:119.91, Y:0.96, Z:0.25 [[ 9.95497626e-01 -9.41900920e-02 -1.06161592e-02 1.19912419e+02] [ 9.41862428e-02 9.95554221e-01 -8.63071912e-04 9.61999461e-01] [ 1.06502550e-02 -1.40710113e-04 9.99943275e-01 2.48838051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:119.95, Y:0.97, Z:0.25 [[ 9.96071847e-01 -8.79125110e-02 -1.05955496e-02 1.19945694e+02] [ 8.79056110e-02 9.96128183e-01 -1.11609023e-03 9.68320045e-01] [ 1.06526439e-02 1.80297796e-04 9.99943243e-01 2.45624171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:0.97, Z:0.23 [[ 9.96291349e-01 -8.53866005e-02 -1.06149152e-02 1.19976319e+02] [ 8.53821144e-02 9.96347895e-01 -8.75905930e-04 9.72965536e-01] [ 1.06509391e-02 -3.36664065e-05 9.99943277e-01 2.32682280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864000000002 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:120.01, Y:0.98, Z:0.25 [[ 9.96280518e-01 -8.55126640e-02 -1.06166789e-02 1.20006385e+02] [ 8.55084187e-02 9.96337082e-01 -8.53979540e-04 9.77457498e-01] [ 1.06508170e-02 -5.70122503e-05 9.99943277e-01 2.46249051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15864000000002 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:120.04, Y:0.98, Z:0.25 [[ 9.96380789e-01 -8.43364505e-02 -1.06153542e-02 1.20036593e+02] [ 8.43319625e-02 9.96437335e-01 -8.70491778e-04 9.82420155e-01] [ 1.06509495e-02 -2.78723708e-05 9.99943277e-01 2.46616334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864000000002 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:120.07, Y:0.98, Z:0.25 [[ 9.96399735e-01 -8.41122340e-02 -1.06159917e-02 1.20067510e+02] [ 8.41078183e-02 9.96456287e-01 -8.62512964e-04 9.84754710e-01] [ 1.06509195e-02 -3.34802097e-05 9.99943277e-01 2.48016977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.10, Y:0.99, Z:0.24 [[ 9.96365222e-01 -8.45201652e-02 -1.06153417e-02 1.20098784e+02] [ 8.45156858e-02 9.96421769e-01 -8.70665516e-04 9.87548989e-01] [ 1.06509463e-02 -2.96620431e-05 9.99943277e-01 2.36758584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864000000002 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:120.13, Y:0.99, Z:0.25 [[ 9.96255228e-01 -8.58067049e-02 -1.06174060e-02 1.20128217e+02] [ 8.58025750e-02 9.96311801e-01 -8.44718558e-04 9.90839317e-01] [ 1.06507295e-02 -6.94454984e-05 9.99943277e-01 2.50043970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:120.16, Y:1.00, Z:0.25 [[ 9.96204041e-01 -8.63993072e-02 -1.06145552e-02 1.20159193e+02] [ 8.63948289e-02 9.96260587e-01 -8.80569113e-04 9.95337712e-01] [ 1.06509436e-02 -3.98161749e-05 9.99943276e-01 2.47690368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.19, Y:1.00, Z:0.24 [[ 9.96221428e-01 -8.61983235e-02 -1.06167293e-02 1.20190820e+02] [ 8.61941258e-02 9.96277996e-01 -8.53168265e-04 9.97790424e-01] [ 1.06507554e-02 -6.51551896e-05 9.99943277e-01 2.38402151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.22, Y:1.00, Z:0.24 [[ 9.96183858e-01 -8.66313012e-02 -1.06178273e-02 1.20221305e+02] [ 8.66272762e-02 9.96240438e-01 -8.39277084e-04 9.99272336e-01] [ 1.06506166e-02 -8.37191721e-05 9.99943277e-01 2.38779629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:120.25, Y:1.00, Z:0.25 [[ 9.96095959e-01 -8.76361905e-02 -1.06178273e-02 1.20251028e+02] [ 8.76322225e-02 9.96152543e-01 -8.39277084e-04 1.00190485e+00] [ 1.06505267e-02 -9.44632899e-05 9.99943277e-01 2.52431569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:120.28, Y:1.01, Z:0.24 [[ 9.96368583e-01 -8.44809165e-02 -1.06123020e-02 1.20282707e+02] [ 8.44760228e-02 9.96425097e-01 -9.09349267e-04 1.00661076e+00] [ 1.06511868e-02 9.56197191e-06 9.99943274e-01 2.39968587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:120.31, Y:1.01, Z:0.24 [[ 9.96380378e-01 -8.43409388e-02 -1.06183094e-02 1.20313429e+02] [ 8.43368533e-02 9.96436953e-01 -8.32750051e-04 1.00928259e+00] [ 1.06507108e-02 -6.57789935e-05 9.99943277e-01 2.40603043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:120.34, Y:1.01, Z:0.25 [[ 9.96253225e-01 -8.58298526e-02 -1.06183094e-02 1.20343577e+02] [ 8.58258516e-02 9.96309806e-01 -8.32750051e-04 1.01115264e+00] [ 1.06506006e-02 -8.16955252e-05 9.99943277e-01 2.52844121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:120.36, Y:1.00, Z:0.25 [[ 9.94077954e-01 -1.08149849e-01 -1.06128073e-02 1.20360126e+02] [ 1.08146366e-01 9.94134572e-01 -9.03237859e-04 1.00039876e+00] [ 1.06482437e-02 -2.49847701e-04 9.99943275e-01 2.53513065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:120.41, Y:1.02, Z:0.24 [[ 9.96227501e-01 -8.61362248e-02 -1.05506914e-02 1.20405082e+02] [ 8.61232026e-02 9.96283072e-01 -1.68328647e-03 1.01523509e+00] [ 1.06564672e-02 7.68276942e-04 9.99942923e-01 2.39996442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:120.44, Y:1.01, Z:0.25 [[ 9.96051390e-01 -8.81413674e-02 -1.06173297e-02 1.20435018e+02] [ 8.81377198e-02 9.96107968e-01 -8.11879204e-04 1.01450496e+00] [ 1.06475668e-02 -1.27113819e-04 9.99943305e-01 2.52096735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:120.47, Y:1.02, Z:0.25 [[ 9.96051811e-01 -8.81365286e-02 -1.06179689e-02 1.20465763e+02] [ 8.81329697e-02 9.96108395e-01 -8.03528809e-04 1.01683290e+00] [ 1.06474682e-02 -1.35436807e-04 9.99943305e-01 2.52424342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:120.50, Y:1.02, Z:0.25 [[ 9.95888816e-01 -8.99595738e-02 -1.06179628e-02 1.20496302e+02] [ 8.99561177e-02 9.95945406e-01 -8.03608931e-04 1.01820262e+00] [ 1.06472036e-02 -1.54845563e-04 9.99943305e-01 2.52451234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:120.53, Y:1.02, Z:0.25 [[ 9.96031113e-01 -8.83707078e-02 -1.06132373e-02 1.20527912e+02] [ 8.83665028e-02 9.96087653e-01 -8.65418108e-04 1.02080811e+00] [ 1.06481922e-02 -7.58712982e-05 9.99943304e-01 2.53662448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.56, Y:1.02, Z:0.24 [[ 9.96029788e-01 -8.83850634e-02 -1.06180338e-02 1.20559002e+02] [ 8.83815295e-02 9.96086372e-01 -8.02513980e-04 1.02401903e+00] [ 1.06474090e-02 -1.39110234e-04 9.99943305e-01 2.43556515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:120.59, Y:1.03, Z:0.25 [[ 9.96265885e-01 -8.56828687e-02 -1.06175688e-02 1.20588966e+02] [ 8.56791163e-02 9.96322455e-01 -8.08619011e-04 1.02773550e+00] [ 1.06478070e-02 -1.04104378e-04 9.99943305e-01 2.54370196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:120.62, Y:1.03, Z:0.24 [[ 9.96427506e-01 -8.37827330e-02 -1.06150453e-02 1.20619695e+02] [ 8.37785196e-02 9.96484045e-01 -8.41757402e-04 1.03040190e+00] [ 1.06482480e-02 -5.05625513e-05 9.99943305e-01 2.44129716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:120.65, Y:1.03, Z:0.25 [[ 9.96725232e-01 -8.01628269e-02 -1.06176098e-02 1.20649598e+02] [ 8.01587670e-02 9.96781781e-01 -8.08060949e-04 1.03407302e+00] [ 1.06482164e-02 -4.56797730e-05 9.99943305e-01 2.54879401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:120.68, Y:1.04, Z:0.26 [[ 9.96851869e-01 -7.85724434e-02 -1.06171209e-02 1.20679447e+02] [ 7.85682249e-02 9.96908406e-01 -8.14491866e-04 1.03858234e+00] [ 1.06482937e-02 -2.22406022e-05 9.99943305e-01 2.55150355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:120.71, Y:1.05, Z:0.24 [[ 9.96952082e-01 -7.72903207e-02 -1.06184757e-02 1.20709142e+02] [ 7.72862197e-02 9.97008629e-01 -7.96630333e-04 1.04529578e+00] [ 1.06482837e-02 -2.64595734e-05 9.99943305e-01 2.44439800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864000000002 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:120.74, Y:1.05, Z:0.24 [[ 9.97036053e-01 -7.61995424e-02 -1.06178505e-02 1.20739293e+02] [ 7.61952917e-02 9.97092588e-01 -8.04877696e-04 1.04939782e+00] [ 1.06483113e-02 -6.53813233e-06 9.99943305e-01 2.44936533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:120.77, Y:1.05, Z:0.25 [[ 9.97115155e-01 -7.51573569e-02 -1.06178505e-02 1.20769716e+02] [ 7.51530471e-02 9.97171686e-01 -8.04877696e-04 1.05384113e+00] [ 1.06483123e-02 4.59193247e-06 9.99943305e-01 2.45362498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:120.80, Y:1.06, Z:0.25 [[ 9.97212152e-01 -7.38592284e-02 -1.06178505e-02 1.20800102e+02] [ 7.38548451e-02 9.97268677e-01 -8.04877696e-04 1.05921689e+00] [ 1.06482973e-02 1.84541180e-05 9.99943305e-01 2.45507764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93864000000002 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:120.83, Y:1.07, Z:0.26 [[ 9.97376134e-01 -7.16108175e-02 -1.06178505e-02 1.20830559e+02] [ 7.16063067e-02 9.97432649e-01 -8.04877696e-04 1.06854488e+00] [ 1.06482287e-02 4.24607479e-05 9.99943305e-01 2.57146998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864000000002 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:120.86, Y:1.07, Z:0.26 [[ 9.97454690e-01 -7.05077903e-02 -1.06203814e-02 1.20860811e+02] [ 7.05035726e-02 9.97511229e-01 -7.71478692e-04 1.07453547e+00] [ 1.06483450e-02 2.07402090e-05 9.99943305e-01 2.57291701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:120.89, Y:1.08, Z:0.25 [[ 9.97336825e-01 -7.21555846e-02 -1.06220592e-02 1.20890544e+02] [ 7.21516961e-02 9.97393388e-01 -7.49338983e-04 1.08304315e+00] [ 1.06484406e-02 -1.90562231e-05 9.99943304e-01 2.45266531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:120.92, Y:1.09, Z:0.26 [[ 9.97283702e-01 -7.28867295e-02 -1.06179904e-02 1.20921005e+02] [ 7.28823096e-02 9.97340225e-01 -8.03132039e-04 1.08766054e+00] [ 1.06482866e-02 2.70868335e-05 9.99943305e-01 2.56610704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:120.95, Y:1.09, Z:0.26 [[ 9.97159703e-01 -7.45636624e-02 -1.06201390e-02 1.20952301e+02] [ 7.45596405e-02 9.97216255e-01 -7.74685607e-04 1.09241239e+00] [ 1.06483387e-02 -1.93484789e-05 9.99943305e-01 2.57159155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:120.98, Y:1.10, Z:0.24 [[ 9.96785362e-01 -7.94114766e-02 -1.06188525e-02 1.20983209e+02] [ 7.94075477e-02 9.96841921e-01 -7.91762315e-04 1.09833454e+00] [ 1.06481924e-02 -5.39999529e-05 9.99943305e-01 2.44528085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:121.02, Y:1.10, Z:0.25 [[ 9.96695841e-01 -8.05273326e-02 -1.06183466e-02 1.21015267e+02] [ 8.05233954e-02 9.96752399e-01 -7.98489887e-04 1.10161657e+00] [ 1.06481627e-02 -5.91737730e-05 9.99943305e-01 2.45884494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:121.05, Y:1.10, Z:0.25 [[ 9.96548893e-01 -8.23258563e-02 -1.06186964e-02 1.21047676e+02] [ 8.23220710e-02 9.96605462e-01 -7.93811443e-04 1.10457076e+00] [ 1.06480020e-02 -8.30811606e-05 9.99943305e-01 2.46332906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:121.08, Y:1.11, Z:0.25 [[ 9.96502247e-01 -8.28885294e-02 -1.06190461e-02 1.21081116e+02] [ 8.28848262e-02 9.96558821e-01 -7.89104591e-04 1.10739186e+00] [ 1.06479118e-02 -9.38132951e-05 9.99943305e-01 2.45842894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:121.11, Y:1.11, Z:0.26 [[ 9.96513334e-01 -8.27550736e-02 -1.06194455e-02 1.21111518e+02] [ 8.27514205e-02 9.96569911e-01 -7.83693202e-04 1.10920335e+00] [ 1.06478744e-02 -9.78134723e-05 9.99943305e-01 2.61342737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:1.11, Z:0.24 [[ 9.96593522e-01 -8.17837931e-02 -1.06190036e-02 1.21143194e+02] [ 8.17800210e-02 9.96650091e-01 -7.89687428e-04 1.11282227e+00] [ 1.06480145e-02 -8.14249599e-05 9.99943305e-01 2.44465456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.17, Y:1.12, Z:0.24 [[ 9.96666684e-01 -8.08872144e-02 -1.06197416e-02 1.21174913e+02] [ 8.08834985e-02 9.96723257e-01 -7.79633855e-04 1.11589644e+00] [ 1.06480059e-02 -8.19267676e-05 9.99943305e-01 2.44481558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.21, Y:1.12, Z:0.24 [[ 9.96821773e-01 -7.89529731e-02 -1.06198643e-02 1.21208153e+02] [ 7.89491653e-02 9.96878340e-01 -7.77958983e-04 1.11943179e+00] [ 1.06481349e-02 -6.29429719e-05 9.99943305e-01 2.44966951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.24, Y:1.12, Z:0.24 [[ 9.97004445e-01 -7.66116559e-02 -1.06202599e-02 1.21239789e+02] [ 7.66077732e-02 9.97061007e-01 -7.72520717e-04 1.12370443e+00] [ 1.06482311e-02 -4.33878737e-05 9.99943305e-01 2.44863859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:121.27, Y:1.13, Z:0.26 [[ 9.97146397e-01 -7.47413271e-02 -1.06205993e-02 1.21271630e+02] [ 7.47373883e-02 9.97202955e-01 -7.67826410e-04 1.12703529e+00] [ 1.06482814e-02 -2.81205147e-05 9.99943305e-01 2.59587948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:121.30, Y:1.13, Z:0.24 [[ 9.97093039e-01 -7.54491733e-02 -1.06251815e-02 1.21301489e+02] [ 7.54459511e-02 9.97149644e-01 -7.04332351e-04 1.13114539e+00] [ 1.06480373e-02 -9.93420418e-05 9.99943303e-01 2.44386099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:121.33, Y:1.14, Z:0.24 [[ 9.96961423e-01 -7.71694487e-02 -1.06205739e-02 1.21333814e+02] [ 7.71656453e-02 9.97017990e-01 -7.68047401e-04 1.13609996e+00] [ 1.06481730e-02 -5.38298059e-05 9.99943305e-01 2.42628247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:121.37, Y:1.14, Z:0.24 [[ 9.96914534e-01 -7.77728001e-02 -1.06209122e-02 1.21365493e+02] [ 7.77690811e-02 9.96971107e-01 -7.63339722e-04 1.13903465e+00] [ 1.06481097e-02 -6.49941206e-05 9.99943305e-01 2.43603545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:121.40, Y:1.14, Z:0.24 [[ 9.96872039e-01 -7.83155892e-02 -1.06210323e-02 1.21398215e+02] [ 7.83119188e-02 9.96928615e-01 -7.61665900e-04 1.14293132e+00] [ 1.06480613e-02 -7.24699771e-05 9.99943305e-01 2.44215415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.43, Y:1.15, Z:0.24 [[ 9.96819147e-01 -7.89859074e-02 -1.06214180e-02 1.21431454e+02] [ 7.89823328e-02 9.96875729e-01 -7.56248692e-04 1.14577921e+00] [ 1.06479668e-02 -8.50611918e-05 9.99943305e-01 2.44593015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.46, Y:1.15, Z:0.25 [[ 9.96822628e-01 -7.89419080e-02 -1.06217978e-02 1.21464563e+02] [ 7.89383881e-02 9.96879214e-01 -7.50875326e-04 1.14842738e+00] [ 1.06479250e-02 -8.99780828e-05 9.99943305e-01 2.45631164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.50, Y:1.15, Z:0.25 [[ 9.96730632e-01 -8.00950479e-02 -1.06221735e-02 1.21496433e+02] [ 8.00916506e-02 9.96787225e-01 -7.45522903e-04 1.14959740e+00] [ 1.06477595e-02 -1.07661893e-04 9.99943305e-01 2.45365609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:1.15, Z:0.24 [[ 9.96632497e-01 -8.13069973e-02 -1.06224998e-02 1.21528709e+02] [ 8.13037186e-02 9.96689097e-01 -7.40844645e-04 1.15084447e+00] [ 1.06475655e-02 -1.25298882e-04 9.99943305e-01 2.44174193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:1.15, Z:0.24 [[ 9.96530864e-01 -8.25432749e-02 -1.06228206e-02 1.21560658e+02] [ 8.25401158e-02 9.96587471e-01 -7.36214512e-04 1.15062838e+00] [ 1.06473395e-02 -1.43148363e-04 9.99943305e-01 2.44641181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:121.59, Y:1.15, Z:0.25 [[ 9.96489266e-01 -8.30439155e-02 -1.06231357e-02 1.21592501e+02] [ 8.30408336e-02 9.96545877e-01 -7.31640439e-04 1.15126426e+00] [ 1.06472003e-02 -1.53082198e-04 9.99943305e-01 2.45585516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.63, Y:1.15, Z:0.25 [[ 9.96509316e-01 -8.28029306e-02 -1.06234502e-02 1.21625938e+02] [ 8.27998839e-02 9.96565929e-01 -7.27044634e-04 1.15174524e+00] [ 1.06471699e-02 -1.55113693e-04 9.99943305e-01 2.45857293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.66, Y:1.15, Z:0.25 [[ 9.96607809e-01 -8.16088838e-02 -1.06238077e-02 1.21659555e+02] [ 8.16058255e-02 9.96664421e-01 -7.21782323e-04 1.15057263e+00] [ 1.06472750e-02 -1.47630700e-04 9.99943305e-01 2.45717497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:121.69, Y:1.15, Z:0.25 [[ 9.96784275e-01 -7.94243996e-02 -1.06241672e-02 1.21691544e+02] [ 7.94212739e-02 9.96840884e-01 -7.16452200e-04 1.15198760e+00] [ 1.06475080e-02 -1.29636604e-04 9.99943305e-01 2.45905835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:121.72, Y:1.15, Z:0.26 [[ 9.97177059e-01 -7.43305710e-02 -1.06244772e-02 1.21722802e+02] [ 7.43272055e-02 9.97233654e-01 -7.11824990e-04 1.15167460e+00] [ 1.06479966e-02 -7.98721488e-05 9.99943305e-01 2.62633812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:1.15, Z:0.24 [[ 9.97258627e-01 -7.32278442e-02 -1.06260496e-02 1.21754138e+02] [ 7.32246668e-02 9.97315233e-01 -6.88295641e-04 1.15293950e+00] [ 1.06479235e-02 -9.16801721e-05 9.99943305e-01 2.44945068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.79, Y:1.15, Z:0.25 [[ 9.97338104e-01 -7.21375094e-02 -1.06247663e-02 1.21785959e+02] [ 7.21340648e-02 9.97394694e-01 -7.07564987e-04 1.15399351e+00] [ 1.06481275e-02 -6.07260585e-05 9.99943305e-01 2.46030581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:121.82, Y:1.15, Z:0.26 [[ 9.97467771e-01 -7.03218231e-02 -1.06248109e-02 1.21817266e+02] [ 7.03182826e-02 9.97524355e-01 -7.06895298e-04 1.15336894e+00] [ 1.06482178e-02 -4.20131754e-05 9.99943305e-01 2.62380233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.85, Y:1.15, Z:0.25 [[ 9.97440962e-01 -7.07007306e-02 -1.06270250e-02 1.21847822e+02] [ 7.06975666e-02 9.97497569e-01 -6.73566581e-04 1.15454760e+00] [ 1.06480533e-02 -7.94619113e-05 9.99943305e-01 2.46675139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:121.88, Y:1.15, Z:0.26 [[ 9.97426653e-01 -7.09026407e-02 -1.06248544e-02 1.21879074e+02] [ 7.08991403e-02 9.97483240e-01 -7.06223461e-04 1.15495245e+00] [ 1.06481872e-02 -4.88869366e-05 9.99943305e-01 2.63293392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.91, Y:1.16, Z:0.25 [[ 9.97429589e-01 -7.08612132e-02 -1.06256010e-02 1.21909708e+02] [ 7.08578306e-02 9.97486183e-01 -6.94941803e-04 1.15726845e+00] [ 1.06481346e-02 -5.97515187e-05 9.99943305e-01 2.47833322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:121.94, Y:1.16, Z:0.26 [[ 9.97519404e-01 -6.95855316e-02 -1.06251112e-02 1.21940204e+02] [ 6.95819978e-02 9.97575988e-01 -7.02351546e-04 1.15894342e+00] [ 1.06482293e-02 -3.87071670e-05 9.99943305e-01 2.63855727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:121.97, Y:1.16, Z:0.26 [[ 9.97514300e-01 -6.96584991e-02 -1.06260950e-02 1.21971151e+02] [ 6.96551284e-02 9.97570895e-01 -6.87423620e-04 1.16004259e+00] [ 1.06481680e-02 -5.44471229e-05 9.99943305e-01 2.64396722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:122.00, Y:1.16, Z:0.26 [[ 9.97454489e-01 -7.05098335e-02 -1.06257256e-02 1.22000431e+02] [ 7.05064513e-02 9.97511083e-01 -6.93031538e-04 1.16188455e+00] [ 1.06481446e-02 -5.79147873e-05 9.99943305e-01 2.64394371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.03, Y:1.16, Z:0.27 [[ 9.97461997e-01 -7.04039165e-02 -1.06232543e-02 1.22031882e+02] [ 7.04001282e-02 9.97518565e-01 -7.30594630e-04 1.16319347e+00] [ 1.06483301e-02 -1.91380830e-05 9.99943305e-01 2.65004641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:1.16, Z:0.26 [[ 9.97365569e-01 -7.17566905e-02 -1.06254266e-02 1.22062060e+02] [ 7.17533312e-02 9.97422164e-01 -6.97524763e-04 1.16264257e+00] [ 1.06480880e-02 -6.67225700e-05 9.99943305e-01 2.64622310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:1.16, Z:0.27 [[ 9.97297779e-01 -7.26928409e-02 -1.06250199e-02 1.22093104e+02] [ 7.26894687e-02 9.97354373e-01 -7.03723224e-04 1.16352280e+00] [ 1.06480657e-02 -7.05054420e-05 9.99943305e-01 2.65299036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:1.17, Z:0.25 [[ 9.97202934e-01 -7.39824190e-02 -1.06259603e-02 1.22123925e+02] [ 7.39792733e-02 9.97259541e-01 -6.89337965e-04 1.16592905e+00] [ 1.06478392e-02 -9.86909793e-05 9.99943305e-01 2.50750739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:1.17, Z:0.25 [[ 9.97152884e-01 -7.46540084e-02 -1.06256540e-02 1.22154276e+02] [ 7.46508509e-02 9.97209491e-01 -6.94027553e-04 1.16758524e+00] [ 1.06478149e-02 -1.01162535e-04 9.99943305e-01 2.51085732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:1.17, Z:0.25 [[ 9.97166156e-01 -7.44765264e-02 -1.06256540e-02 1.22184945e+02] [ 7.44733588e-02 9.97222762e-01 -6.94027553e-04 1.16831866e+00] [ 1.06478328e-02 -9.92673547e-05 9.99943305e-01 2.51442891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.22, Y:1.17, Z:0.27 [[ 9.97271598e-01 -7.30510465e-02 -1.06256540e-02 1.22216136e+02] [ 7.30477979e-02 9.97328200e-01 -6.94027553e-04 1.16854589e+00] [ 1.06479638e-02 -8.40466590e-05 9.99943305e-01 2.68437220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.25, Y:1.17, Z:0.27 [[ 9.97315076e-01 -7.24547634e-02 -1.06276411e-02 1.22246254e+02] [ 7.24518051e-02 9.97371694e-01 -6.63600254e-04 1.16845563e+00] [ 1.06477894e-02 -1.08173241e-04 9.99943305e-01 2.66648120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:1.17, Z:0.25 [[ 9.97263178e-01 -7.31652700e-02 -1.06300058e-02 1.22276173e+02] [ 7.31627380e-02 9.97319818e-01 -6.27394924e-04 1.16950669e+00] [ 1.06474189e-02 -1.52042470e-04 9.99943303e-01 2.50012617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:1.17, Z:0.25 [[ 9.97341072e-01 -7.20963541e-02 -1.06255659e-02 1.22307051e+02] [ 7.20930383e-02 9.97397669e-01 -6.95249571e-04 1.16826217e+00] [ 1.06480397e-02 -7.26283799e-05 9.99943305e-01 2.50390574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.34, Y:1.17, Z:0.27 [[ 9.97394794e-01 -7.13493028e-02 -1.06255659e-02 1.22337425e+02] [ 7.13459447e-02 9.97451389e-01 -6.95249571e-04 1.16885576e+00] [ 1.06480911e-02 -6.46527370e-05 9.99943305e-01 2.67445446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:1.17, Z:0.27 [[ 9.97407681e-01 -7.11690817e-02 -1.06244625e-02 1.22367499e+02] [ 7.11655332e-02 9.97464265e-01 -7.12157302e-04 1.17013770e+00] [ 1.06482052e-02 -4.57843738e-05 9.99943305e-01 2.68403097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:1.17, Z:0.27 [[ 9.97329237e-01 -7.22598744e-02 -1.06255630e-02 1.22398032e+02] [ 7.22565680e-02 9.97385836e-01 -6.95239527e-04 1.16978064e+00] [ 1.06480240e-02 -7.43840123e-05 9.99943305e-01 2.69476200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:1.17, Z:0.27 [[ 9.97329415e-01 -7.22574870e-02 -1.06251187e-02 1.22427966e+02] [ 7.22541076e-02 9.97386009e-01 -7.02080775e-04 1.17172065e+00] [ 1.06480753e-02 -6.75026621e-05 9.99943305e-01 2.69796297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:1.17, Z:0.25 [[ 9.97249466e-01 -7.33526371e-02 -1.06250966e-02 1.22458297e+02] [ 7.33493162e-02 9.97306064e-01 -7.02421001e-04 1.17203468e+00] [ 1.06479977e-02 -7.88546031e-05 9.99943305e-01 2.52932354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.49, Y:1.17, Z:0.27 [[ 9.97218362e-01 -7.37741606e-02 -1.06260077e-02 1.22488597e+02] [ 7.37710135e-02 9.97274969e-01 -6.88357540e-04 1.16968251e+00] [ 1.06478345e-02 -9.74485754e-05 9.99943305e-01 2.68523961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:1.17, Z:0.25 [[ 9.97187242e-01 -7.41935691e-02 -1.06263597e-02 1.22519000e+02] [ 7.41905037e-02 9.97243853e-01 -6.82924899e-04 1.16989193e+00] [ 1.06477406e-02 -1.07370984e-04 9.99943305e-01 2.53330216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.55, Y:1.17, Z:0.27 [[ 9.97127459e-01 -7.49927900e-02 -1.06260006e-02 1.22548095e+02] [ 7.49897109e-02 9.97184070e-01 -6.88467270e-04 1.17010538e+00] [ 1.06477086e-02 -1.10351097e-04 9.99943305e-01 2.72561470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.58, Y:1.17, Z:0.27 [[ 9.97236679e-01 -7.35267081e-02 -1.06221152e-02 1.22578108e+02] [ 7.35229069e-02 9.97293248e-01 -7.48440557e-04 1.16854173e+00] [ 1.06483942e-02 -3.45964128e-05 9.99943304e-01 2.72316575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.61, Y:1.17, Z:0.27 [[ 9.97272696e-01 -7.30363552e-02 -1.06236249e-02 1.22607970e+02] [ 7.30327748e-02 9.97329278e-01 -7.25094394e-04 1.16927222e+00] [ 1.06482104e-02 -5.27559612e-05 9.99943305e-01 2.74244322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:122.64, Y:1.17, Z:0.27 [[ 9.97154338e-01 -7.46349128e-02 -1.06233734e-02 1.22637479e+02] [ 7.46313816e-02 9.97210923e-01 -7.28997045e-04 1.16857090e+00] [ 1.06481526e-02 -6.59144674e-05 9.99943305e-01 2.74996171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:1.17, Z:0.26 [[ 9.97238371e-01 -7.35041981e-02 -1.06190112e-02 1.22668272e+02] [ 7.34998821e-02 9.97294908e-01 -7.96654408e-04 1.16847958e+00] [ 1.06488432e-02 1.39582753e-05 9.99943299e-01 2.56760251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.70, Y:1.17, Z:0.26 [[ 9.97277024e-01 -7.29768231e-02 -1.06264176e-02 1.22698406e+02] [ 7.29737080e-02 9.97333632e-01 -6.81102052e-04 1.16753249e+00] [ 1.06477883e-02 -9.62016681e-05 9.99943306e-01 2.56218894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.73, Y:1.17, Z:0.26 [[ 9.97185453e-01 -7.42176047e-02 -1.06263743e-02 1.22727780e+02] [ 7.42145529e-02 9.97242065e-01 -6.81776634e-04 1.16653495e+00] [ 1.06476673e-02 -1.08773877e-04 9.99943306e-01 2.56334092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:1.16, Z:0.26 [[ 9.97091413e-01 -7.54704967e-02 -1.06262875e-02 1.22756774e+02] [ 7.54675016e-02 9.97148028e-01 -6.83126902e-04 1.16403971e+00] [ 1.06475376e-02 -1.20799402e-04 9.99943306e-01 2.57877363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:1.16, Z:0.26 [[ 9.96993343e-01 -7.67551790e-02 -1.06262010e-02 1.22785723e+02] [ 7.67522426e-02 9.97049961e-01 -6.84470637e-04 1.15985162e+00] [ 1.06473899e-02 -1.33172085e-04 9.99943306e-01 2.58404818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:122.81, Y:1.16, Z:0.28 [[ 9.96864843e-01 -7.84064498e-02 -1.06261149e-02 1.22814117e+02] [ 7.84035930e-02 9.96921464e-01 -6.85804695e-04 1.15878059e+00] [ 1.06471735e-02 -1.49470995e-04 9.99943306e-01 2.76066145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.84, Y:1.16, Z:0.28 [[ 9.97050851e-01 -7.60053923e-02 -1.06198640e-02 1.22843842e+02] [ 7.60013685e-02 9.97107406e-01 -7.82538223e-04 1.15909968e+00] [ 1.06486222e-02 -2.68937971e-05 9.99943301e-01 2.75452320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.87, Y:1.16, Z:0.28 [[ 9.97050621e-01 -7.60082277e-02 -1.06210967e-02 1.22872217e+02] [ 7.60044080e-02 9.97107189e-01 -7.63391013e-04 1.15982924e+00] [ 1.06483959e-02 -4.61106844e-05 9.99943303e-01 2.75029226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.90, Y:1.16, Z:0.28 [[ 9.97232805e-01 -7.35795899e-02 -1.06196601e-02 1.22901550e+02] [ 7.35753945e-02 9.97289348e-01 -7.85739535e-04 1.15990900e+00] [ 1.06486883e-02 2.21955871e-06 9.99943301e-01 2.75819352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.93, Y:1.16, Z:0.28 [[ 9.97347023e-01 -7.20148553e-02 -1.06196006e-02 1.22930257e+02] [ 7.20105612e-02 9.97403559e-01 -7.86667073e-04 1.16005333e+00] [ 1.06486791e-02 1.98566644e-05 9.99943301e-01 2.76074551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.96, Y:1.16, Z:0.28 [[ 9.97339490e-01 -7.21188556e-02 -1.06213162e-02 1.22958817e+02] [ 7.21148532e-02 9.97396045e-01 -7.59828528e-04 1.15742426e+00] [ 1.06484567e-02 -8.14765928e-06 9.99943304e-01 2.76439546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:1.16, Z:0.26 [[ 9.97451922e-01 -7.05468973e-02 -1.06206548e-02 1.22991515e+02] [ 7.05426955e-02 9.97508464e-01 -7.70190620e-04 1.15774468e+00] [ 1.06485276e-02 1.90184948e-05 9.99943303e-01 2.61081407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.02, Y:1.16, Z:0.28 [[ 9.97273537e-01 -7.30244117e-02 -1.06267115e-02 1.23019843e+02] [ 7.30213664e-02 9.97330148e-01 -6.74813688e-04 1.15540433e+00] [ 1.06476176e-02 -1.03003158e-04 9.99943307e-01 2.77991649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:1.16, Z:0.26 [[ 9.97383151e-01 -7.15122771e-02 -1.06228119e-02 1.23051423e+02] [ 7.15084931e-02 9.97439719e-01 -7.36097687e-04 1.15567871e+00] [ 1.06482546e-02 -2.54498438e-05 9.99943305e-01 2.61092062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:1.16, Z:0.26 [[ 9.97375395e-01 -7.16197832e-02 -1.06267363e-02 1.23079978e+02] [ 7.16166642e-02 9.97432002e-01 -6.74246833e-04 1.15556477e+00] [ 1.06477363e-02 -8.85742017e-05 9.99943307e-01 2.61483729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.11, Y:1.15, Z:0.28 [[ 9.97207558e-01 -7.39199621e-02 -1.06266499e-02 1.23107743e+02] [ 7.39169591e-02 9.97264171e-01 -6.75604755e-04 1.15281323e+00] [ 1.06475179e-02 -1.11771482e-04 9.99943307e-01 2.78832350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.14, Y:1.15, Z:0.28 [[ 9.97198091e-01 -7.40480943e-02 -1.06229402e-02 1.23137724e+02] [ 7.40444774e-02 9.97254670e-01 -7.33911066e-04 1.15315734e+00] [ 1.06481214e-02 -5.47153407e-05 9.99943306e-01 2.80435279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:1.15, Z:0.26 [[ 9.97156520e-01 -7.46057375e-02 -1.06234629e-02 1.23168100e+02] [ 7.46022397e-02 9.97213106e-01 -7.25703450e-04 1.15159108e+00] [ 1.06479981e-02 -6.88941990e-05 9.99943306e-01 2.62835797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.20, Y:1.15, Z:0.28 [[ 9.97069254e-01 -7.57626248e-02 -1.06267353e-02 1.23196670e+02] [ 7.57597423e-02 9.97125873e-01 -6.74118782e-04 1.15107502e+00] [ 1.06472657e-02 -1.32935613e-04 9.99943307e-01 2.79587801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:123.23, Y:1.15, Z:0.28 [[ 9.96940772e-01 -7.74352119e-02 -1.06246927e-02 1.23226373e+02] [ 7.74320822e-02 9.96997379e-01 -7.06233497e-04 1.15087548e+00] [ 1.06474781e-02 -1.18619112e-04 9.99943307e-01 2.77863645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:123.27, Y:1.17, Z:0.27 [[ 9.99556336e-01 -2.78255588e-02 -1.06240020e-02 1.23273730e+02] [ 2.78195058e-02 9.99612705e-01 -7.17130792e-04 1.17028249e+00] [ 1.06398419e-02 4.21258141e-04 9.99943307e-01 2.68190466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.29, Y:1.15, Z:0.28 [[ 9.96524257e-01 -8.26154625e-02 -1.06812850e-02 1.23285845e+02] [ 8.26225035e-02 9.96580892e-01 2.18856487e-04 1.14508651e+00] [ 1.06266836e-02 -1.10061030e-03 9.99942929e-01 2.79523582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.32, Y:1.14, Z:0.28 [[ 9.96607941e-01 -8.16079600e-02 -1.06185480e-02 1.23316551e+02] [ 8.16045027e-02 9.96664502e-01 -7.59180224e-04 1.14376887e+00] [ 1.06450850e-02 -1.09916293e-04 9.99943333e-01 2.79661344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.35, Y:1.14, Z:0.28 [[ 9.96769728e-01 -7.96072736e-02 -1.06203406e-02 1.23345191e+02] [ 7.96040009e-02 9.96826298e-01 -7.31197347e-04 1.14465664e+00] [ 1.06448434e-02 -1.16586219e-04 9.99943335e-01 2.79740992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:1.15, Z:0.27 [[ 9.96838908e-01 -7.87361244e-02 -1.06214102e-02 1.23376256e+02] [ 7.87329806e-02 9.96895485e-01 -7.14453938e-04 1.14619555e+00] [ 1.06446892e-02 -1.24059797e-04 9.99943336e-01 2.65097825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:1.15, Z:0.28 [[ 9.97075403e-01 -7.56820775e-02 -1.06237248e-02 1.23405444e+02] [ 7.56791466e-02 9.97131991e-01 -6.78195569e-04 1.14652985e+00] [ 1.06445831e-02 -1.27782309e-04 9.99943337e-01 2.79907182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.44, Y:1.15, Z:0.28 [[ 9.97101166e-01 -7.53419070e-02 -1.06236177e-02 1.23435898e+02] [ 7.53389389e-02 9.97157752e-01 -6.79872670e-04 1.14808469e+00] [ 1.06446456e-02 -1.22470252e-04 9.99943337e-01 2.83857277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.47, Y:1.15, Z:0.28 [[ 9.97090283e-01 -7.54857631e-02 -1.06238562e-02 1.23465742e+02] [ 7.54828429e-02 9.97146871e-01 -6.76144148e-04 1.14835903e+00] [ 1.06445842e-02 -1.27742107e-04 9.99943337e-01 2.82048997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:1.15, Z:0.27 [[ 9.96962134e-01 -7.71598979e-02 -1.06232703e-02 1.23495175e+02] [ 7.71569751e-02 9.97018722e-01 -6.85314786e-04 1.14877663e+00] [ 1.06444782e-02 -1.36426510e-04 9.99943337e-01 2.68268718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.52, Y:1.15, Z:0.28 [[ 9.96972433e-01 -7.70266663e-02 -1.06236087e-02 1.23524661e+02] [ 7.70237922e-02 9.97029023e-01 -6.80027427e-04 1.14886672e+00] [ 1.06444265e-02 -1.40302035e-04 9.99943337e-01 2.82057612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:123.55, Y:1.15, Z:0.28 [[ 9.96876710e-01 -7.82557747e-02 -1.06235220e-02 1.23552871e+02] [ 7.82529560e-02 9.96933303e-01 -6.81381358e-04 1.14976911e+00] [ 1.06442649e-02 -1.52068791e-04 9.99943337e-01 2.82373995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:123.58, Y:1.15, Z:0.28 [[ 9.96914590e-01 -7.77719296e-02 -1.06219696e-02 1.23583678e+02] [ 7.77688265e-02 9.96971169e-01 -7.05502934e-04 1.15167762e+00] [ 1.06446658e-02 -1.22731945e-04 9.99943336e-01 2.82921419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.61, Y:1.15, Z:0.28 [[ 9.97004642e-01 -7.66083663e-02 -1.06255510e-02 1.23613028e+02] [ 7.66057909e-02 9.97061247e-01 -6.49763830e-04 1.15300856e+00] [ 1.06441025e-02 -1.66161183e-04 9.99943336e-01 2.83042186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:1.15, Z:0.27 [[ 9.96945119e-01 -7.73792680e-02 -1.06244265e-02 1.23641721e+02] [ 7.73765504e-02 9.97001717e-01 -6.67224501e-04 1.15486805e+00] [ 1.06442008e-02 -1.56895263e-04 9.99943337e-01 2.70289301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.67, Y:1.16, Z:0.28 [[ 9.97056977e-01 -7.59244871e-02 -1.06233819e-02 1.23671665e+02] [ 7.59215138e-02 9.97113563e-01 -6.83461225e-04 1.15636167e+00] [ 1.06446096e-02 -1.25093453e-04 9.99943337e-01 2.84469023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.70, Y:1.16, Z:0.28 [[ 9.97064379e-01 -7.58269756e-02 -1.06251576e-02 1.23700994e+02] [ 7.58242909e-02 9.97120979e-01 -6.55862670e-04 1.15752638e+00] [ 1.06442996e-02 -1.51707735e-04 9.99943336e-01 2.84818874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.73, Y:1.16, Z:0.29 [[ 9.97089914e-01 -7.54906925e-02 -1.06234976e-02 1.23728951e+02] [ 7.54877148e-02 9.97146499e-01 -6.81568422e-04 1.15829923e+00] [ 1.06446355e-02 -1.22358556e-04 9.99943337e-01 2.87024740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.76, Y:1.16, Z:0.29 [[ 9.97351804e-01 -7.19485724e-02 -1.06198931e-02 1.23760996e+02] [ 7.19448016e-02 9.97408343e-01 -7.37178391e-04 1.16223151e+00] [ 1.06454089e-02 -2.88199062e-05 9.99943336e-01 2.85831374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:1.17, Z:0.27 [[ 9.97415161e-01 -7.10637562e-02 -1.06272438e-02 1.23788505e+02] [ 7.10611470e-02 9.97471766e-01 -6.23399262e-04 1.16908223e+00] [ 1.06446767e-02 -1.33396255e-04 9.99943335e-01 2.71558093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:1.17, Z:0.29 [[ 9.97609923e-01 -6.82758703e-02 -1.06229501e-02 1.23818788e+02] [ 6.82723984e-02 9.97666479e-01 -6.89546654e-04 1.17244185e+00] [ 1.06452406e-02 -3.73556957e-05 9.99943337e-01 2.85013031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.85, Y:1.18, Z:0.29 [[ 9.97641883e-01 -6.78066697e-02 -1.06267775e-02 1.23846332e+02] [ 6.78037999e-02 9.97698475e-01 -6.30521259e-04 1.17535123e+00] [ 1.06450733e-02 -9.15014820e-05 9.99943335e-01 2.86368222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:1.18, Z:0.29 [[ 9.97754801e-01 -6.61244907e-02 -1.06258800e-02 1.23874482e+02] [ 6.61213786e-02 9.97811379e-01 -6.44311061e-04 1.18239797e+00] [ 1.06452288e-02 -5.97333835e-05 9.99943336e-01 2.86308139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:1.19, Z:0.27 [[ 9.97712500e-01 -6.67598482e-02 -1.06249740e-02 1.23903331e+02] [ 6.67566241e-02 9.97769071e-01 -6.58204344e-04 1.18691763e+00] [ 1.06452120e-02 -5.25886913e-05 9.99943337e-01 2.71508654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:1.19, Z:0.27 [[ 9.97686623e-01 -6.71458374e-02 -1.06226079e-02 1.23931831e+02] [ 6.71422498e-02 9.97743171e-01 -6.94398768e-04 1.19053018e+00] [ 1.06452605e-02 -2.04334342e-05 9.99943337e-01 2.72221764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:1.19, Z:0.27 [[ 9.97536821e-01 -6.93358025e-02 -1.06225171e-02 1.23960692e+02] [ 6.93323243e-02 9.97593376e-01 -6.95785321e-04 1.19445712e+00] [ 1.06451956e-02 -4.24123252e-05 9.99943337e-01 2.72143098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.99, Y:1.20, Z:0.27 [[ 9.97461225e-01 -7.04149774e-02 -1.06224260e-02 1.23989319e+02] [ 7.04115456e-02 9.97517783e-01 -6.97174256e-04 1.19789886e+00] [ 1.06451503e-02 -5.25371428e-05 9.99943337e-01 2.71593280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:1.20, Z:0.27 [[ 9.97344463e-01 -7.20499021e-02 -1.06223345e-02 1.24017513e+02] [ 7.20465482e-02 9.97401026e-01 -6.98564250e-04 1.20348826e+00] [ 1.06450589e-02 -6.85933512e-05 9.99943337e-01 2.72804093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:1.21, Z:0.27 [[ 9.97384725e-01 -7.14904097e-02 -1.06222440e-02 1.24046309e+02] [ 7.14870095e-02 9.97441285e-01 -6.99938377e-04 1.20680832e+00] [ 1.06451036e-02 -6.12446124e-05 9.99943337e-01 2.72723385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:1.21, Z:0.29 [[ 9.97525009e-01 -6.95055902e-02 -1.06221533e-02 1.24075650e+02] [ 6.95020628e-02 9.97581561e-01 -7.01311445e-04 1.21156886e+00] [ 1.06452094e-02 -3.86858633e-05 9.99943337e-01 2.86915906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:1.22, Z:0.27 [[ 9.97452165e-01 -7.05428485e-02 -1.06246942e-02 1.24104296e+02] [ 7.05397889e-02 9.97508746e-01 -6.62901897e-04 1.21605836e+00] [ 1.06449884e-02 -8.82507542e-05 9.99943337e-01 2.72765688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:1.22, Z:0.29 [[ 9.97391065e-01 -7.14019439e-02 -1.06219799e-02 1.24133228e+02] [ 7.13984968e-02 9.97447622e-01 -7.03863338e-04 1.21968161e+00] [ 1.06451258e-02 -5.63663950e-05 9.99943337e-01 2.87056463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:1.22, Z:0.27 [[ 9.97190481e-01 -7.41504491e-02 -1.06233810e-02 1.24162778e+02] [ 7.41473832e-02 9.97247060e-01 -6.82710727e-04 1.22269195e+00] [ 1.06447588e-02 -1.06903265e-04 9.99943337e-01 2.73118504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:1.22, Z:0.29 [[ 9.96966177e-01 -7.71078349e-02 -1.06218128e-02 1.24191787e+02] [ 7.71046856e-02 9.97022752e-01 -7.06294077e-04 1.22350445e+00] [ 1.06446499e-02 -1.14840234e-04 9.99943338e-01 2.88344119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:1.23, Z:0.29 [[ 9.96764181e-01 -7.96763180e-02 -1.06232153e-02 1.24220688e+02] [ 7.96735393e-02 9.96820775e-01 -6.85196883e-04 1.22500698e+00] [ 1.06440357e-02 -1.63409451e-04 9.99943337e-01 2.89431485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:1.23, Z:0.28 [[ 9.96479916e-01 -8.31562439e-02 -1.06215390e-02 1.24250949e+02] [ 8.31533951e-02 9.96536506e-01 -7.10315978e-04 1.22725894e+00] [ 1.06438186e-02 -1.75401421e-04 9.99943338e-01 2.75088583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:1.23, Z:0.29 [[ 9.96514803e-01 -8.27371115e-02 -1.06215984e-02 1.24280082e+02] [ 8.27342484e-02 9.96571393e-01 -7.09426077e-04 1.22766697e+00] [ 1.06438770e-02 -1.71816375e-04 9.99943338e-01 2.90698357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.31, Y:1.23, Z:0.29 [[ 9.96499541e-01 -8.29206566e-02 -1.06221156e-02 1.24308344e+02] [ 8.29178862e-02 9.96556136e-01 -7.01703746e-04 1.22948584e+00] [ 1.06437202e-02 -1.81515909e-04 9.99943338e-01 2.90999593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:1.23, Z:0.28 [[ 9.96395861e-01 -8.41573592e-02 -1.06219822e-02 1.24337590e+02] [ 8.41546379e-02 9.96452458e-01 -7.03689914e-04 1.23037030e+00] [ 1.06435209e-02 -1.92735347e-04 9.99943338e-01 2.76192359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:1.23, Z:0.28 [[ 9.96470750e-01 -8.32660323e-02 -1.06213217e-02 1.24365990e+02] [ 8.32631556e-02 9.96527339e-01 -7.13521531e-04 1.23136432e+00] [ 1.06438496e-02 -1.73361428e-04 9.99943338e-01 2.75402176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:1.23, Z:0.29 [[ 9.96712137e-01 -8.03249948e-02 -1.06212318e-02 1.24394144e+02] [ 8.03219369e-02 9.96768717e-01 -7.14856952e-04 1.23307042e+00] [ 1.06443325e-02 -1.40611313e-04 9.99943338e-01 2.90547621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:1.23, Z:0.28 [[ 9.97011783e-01 -7.65160869e-02 -1.06204075e-02 1.24424373e+02] [ 7.65126824e-02 9.97068343e-01 -7.27103534e-04 1.23299540e+00] [ 1.06449072e-02 -8.76650763e-05 9.99943338e-01 2.75663354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:1.23, Z:0.28 [[ 9.97176027e-01 -7.43448718e-02 -1.06212165e-02 1.24453320e+02] [ 7.43414720e-02 9.97232588e-01 -7.15087137e-04 1.23374930e+00] [ 1.06449863e-02 -7.65291222e-05 9.99943338e-01 2.76194116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:1.24, Z:0.29 [[ 9.97401804e-01 -7.12518969e-02 -1.06211239e-02 1.24481976e+02] [ 7.12483071e-02 9.97458353e-01 -7.16460072e-04 1.23589275e+00] [ 1.06451779e-02 -4.21385313e-05 9.99943338e-01 2.91496606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.51, Y:1.24, Z:0.29 [[ 9.97560129e-01 -6.89998663e-02 -1.06210930e-02 1.24509719e+02] [ 6.89961441e-02 9.97616669e-01 -7.16917114e-04 1.24088342e+00] [ 1.06452466e-02 -1.76465362e-05 9.99943338e-01 2.91343113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62864000000002 meters Centerline goodness : 0.852416 Centerline is valid? [True, False] Translation: X:124.51, Y:1.25, Z:0.29 [[ 9.98504606e-01 -5.41067084e-02 -7.81121535e-03 1.24507985e+02] [ 5.40642242e-02 9.98522028e-01 -5.55142555e-03 1.24725130e+00] [ 8.10003996e-03 5.12081668e-03 9.99954082e-01 2.91167364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:124.51, Y:1.25, Z:0.29 [[ 9.99206076e-01 -3.93170513e-02 -6.43330843e-03 1.24506952e+02] [ 3.92460973e-02 9.99171134e-01 -1.08068664e-02 1.25366478e+00] [ 6.85287021e-03 1.05458043e-02 9.99920909e-01 2.91152389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.54, Y:1.25, Z:0.29 [[ 9.99269831e-01 -3.75845799e-02 -6.87051937e-03 1.24536365e+02] [ 3.75838228e-02 9.99293450e-01 -2.39329413e-04 1.24763247e+00] [ 6.87466010e-03 -1.90657202e-05 9.99976369e-01 2.88792485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:1.25, Z:0.29 [[ 9.99287600e-01 -3.71094498e-02 -6.86889797e-03 1.24565511e+02] [ 3.71084118e-02 9.99311207e-01 -2.78538815e-04 1.25066111e+00] [ 6.87450315e-03 2.34464886e-05 9.99976370e-01 2.91051998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:1.26, Z:0.29 [[ 9.99365840e-01 -3.49390091e-02 -6.86899304e-03 1.24593784e+02] [ 3.49379356e-02 9.99389446e-01 -2.76251856e-04 1.25623750e+00] [ 6.87445111e-03 3.60882323e-05 9.99976370e-01 2.91270725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.62, Y:1.26, Z:0.29 [[ 9.99391751e-01 -3.41898068e-02 -6.86910096e-03 1.24622498e+02] [ 3.41887333e-02 9.99415357e-01 -2.73670590e-04 1.25888065e+00] [ 6.87444173e-03 3.86582693e-05 9.99976370e-01 2.90278903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:1.26, Z:0.28 [[ 9.99460076e-01 -3.21305478e-02 -6.86911918e-03 1.24652007e+02] [ 3.21294287e-02 9.99483679e-01 -2.73236809e-04 1.26244813e+00] [ 6.87435176e-03 5.23884072e-05 9.99976370e-01 2.77813763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:1.27, Z:0.28 [[ 9.99567347e-01 -2.85997206e-02 -6.86841318e-03 1.24680006e+02] [ 2.85984032e-02 9.99590940e-01 -2.89960288e-04 1.27091104e+00] [ 6.87389637e-03 9.34091867e-05 9.99976370e-01 2.78695944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.71, Y:1.28, Z:0.29 [[ 9.99607284e-01 -2.71680452e-02 -6.86837540e-03 1.24710378e+02] [ 2.71666879e-02 9.99630875e-01 -2.90852337e-04 1.27588417e+00] [ 6.87374200e-03 1.04147104e-04 9.99976370e-01 2.92564451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:1.28, Z:0.28 [[ 9.99632190e-01 -2.62352661e-02 -6.86993529e-03 1.24738608e+02] [ 2.62341407e-02 9.99655793e-01 -2.53902691e-04 1.28072143e+00] [ 6.87423182e-03 7.35824538e-05 9.99976369e-01 2.78806625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:1.28, Z:0.28 [[ 9.99644546e-01 -2.57605775e-02 -6.86829437e-03 1.24767735e+02] [ 2.57591761e-02 9.99668135e-01 -2.92441515e-04 1.28418757e+00] [ 6.87354849e-03 1.15415961e-04 9.99976370e-01 2.79198873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.80, Y:1.29, Z:0.29 [[ 9.99648764e-01 -2.55964159e-02 -6.86825611e-03 1.24798892e+02] [ 2.55950045e-02 9.99672351e-01 -2.93337473e-04 1.28953427e+00] [ 6.87351412e-03 1.17441397e-04 9.99976370e-01 2.92636013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.83, Y:1.30, Z:0.29 [[ 9.99651557e-01 -2.54865147e-02 -6.87040278e-03 1.24828505e+02] [ 2.54854451e-02 9.99675164e-01 -2.43194447e-04 1.29931086e+00] [ 6.87436920e-03 6.80144352e-05 9.99976369e-01 2.93527496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:1.30, Z:0.28 [[ 9.99637347e-01 -2.60380123e-02 -6.86990538e-03 1.24857630e+02] [ 2.60368760e-02 9.99660951e-01 -2.54792916e-04 1.30355415e+00] [ 6.87421044e-03 7.58296399e-05 9.99976369e-01 2.79997524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.89, Y:1.31, Z:0.29 [[ 9.99628402e-01 -2.63796838e-02 -6.86812317e-03 1.24887465e+02] [ 2.63782717e-02 9.99651989e-01 -2.96127997e-04 1.30795009e+00] [ 6.87354475e-03 1.14848737e-04 9.99976370e-01 2.94154087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.92, Y:1.32, Z:0.28 [[ 9.99610011e-01 -2.70671518e-02 -6.86981985e-03 1.24915946e+02] [ 2.70660262e-02 9.99633615e-01 -2.56784914e-04 1.31717423e+00] [ 6.87425328e-03 7.07460475e-05 9.99976370e-01 2.80941394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.95, Y:1.32, Z:0.29 [[ 9.99617141e-01 -2.68030000e-02 -6.86802837e-03 1.24946695e+02] [ 2.68015845e-02 9.99640729e-01 -2.98064507e-04 1.32258184e+00] [ 6.87354990e-03 1.13876348e-04 9.99976370e-01 2.93061559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.97, Y:1.33, Z:0.29 [[ 9.99590656e-01 -2.77725124e-02 -6.87074372e-03 1.24974840e+02] [ 2.77715517e-02 9.99614268e-01 -2.35212738e-04 1.32676904e+00] [ 6.87462591e-03 4.43052408e-05 9.99976368e-01 2.94384007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:1.33, Z:0.30 [[ 9.99503157e-01 -3.07609680e-02 -6.87033891e-03 1.25003662e+02] [ 3.07600139e-02 9.99526769e-01 -2.44525711e-04 1.33398954e+00] [ 6.87460950e-03 3.30725000e-05 9.99976369e-01 2.95085173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:1.34, Z:0.28 [[ 9.99413820e-01 -3.35382832e-02 -6.87023564e-03 1.25032410e+02] [ 3.35373786e-02 9.99437433e-01 -2.46877109e-04 1.33974522e+00] [ 6.87465051e-03 1.63227010e-05 9.99976369e-01 2.80696209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.06, Y:1.34, Z:0.30 [[ 9.99402087e-01 -3.38866145e-02 -6.86780695e-03 1.25062774e+02] [ 3.38853386e-02 9.99425681e-01 -3.02091650e-04 1.34490235e+00] [ 6.87409951e-03 6.91930616e-05 9.99976371e-01 2.95177158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:1.35, Z:0.28 [[ 9.99197045e-01 -3.94723904e-02 -6.86992605e-03 1.25091298e+02] [ 3.94715790e-02 9.99220661e-01 -2.53705696e-04 1.35137974e+00] [ 6.87458642e-03 -1.76648478e-05 9.99976370e-01 2.82134078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.12, Y:1.36, Z:0.30 [[ 9.99113722e-01 -4.15283369e-02 -6.86780597e-03 1.25121868e+02] [ 4.15272426e-02 9.99137326e-01 -3.01929879e-04 1.35840631e+00] [ 6.87441994e-03 1.64612411e-05 9.99976371e-01 2.98378578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.15, Y:1.36, Z:0.30 [[ 9.99093063e-01 -4.20221419e-02 -6.86951410e-03 1.25152372e+02] [ 4.20213270e-02 9.99116679e-01 -2.62987479e-04 1.36313089e+00] [ 6.87449742e-03 -2.59171319e-05 9.99976370e-01 2.97529727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:125.18, Y:1.37, Z:0.30 [[ 9.99052247e-01 -4.29815533e-02 -6.86973742e-03 1.25183091e+02] [ 4.29807961e-02 9.99075865e-01 -2.57880654e-04 1.36673763e+00] [ 6.87447297e-03 -3.76305370e-05 9.99976370e-01 2.98152944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:1.37, Z:0.28 [[ 9.98956866e-01 -4.51440082e-02 -6.87014245e-03 1.25213931e+02] [ 4.51433656e-02 9.98980488e-01 -2.48649265e-04 1.37291206e+00] [ 6.87436328e-03 -6.17514620e-05 9.99976369e-01 2.84130384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:125.24, Y:1.38, Z:0.30 [[ 9.99019738e-01 -4.37309500e-02 -6.86784972e-03 1.25244630e+02] [ 4.37299143e-02 9.99043344e-01 -3.00967856e-04 1.37694475e+00] [ 6.87444116e-03 3.42348583e-07 9.99976371e-01 2.99879787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.27, Y:1.38, Z:0.30 [[ 9.99041815e-01 -4.32234382e-02 -6.86921434e-03 1.25274905e+02] [ 4.32226060e-02 9.99065430e-01 -2.69633743e-04 1.38061758e+00] [ 6.87444907e-03 -2.75299602e-05 9.99976370e-01 2.98780487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.31, Y:1.38, Z:0.30 [[ 9.99012941e-01 -4.38857156e-02 -6.86928791e-03 1.25305266e+02] [ 4.38849106e-02 9.99036557e-01 -2.67952534e-04 1.38431779e+00] [ 6.87442904e-03 -3.37700371e-05 9.99976370e-01 2.96876256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49864000000002 meters Centerline goodness : 0.981438 Centerline is valid? [True, True] Translation: X:125.35, Y:1.42, Z:0.28 [[ 9.99309487e-01 3.65152652e-02 -6.86906953e-03 1.25348945e+02] [-3.65179990e-02 9.99332958e-01 -2.72945612e-04 1.42334318e+00] [ 6.85452089e-03 5.23601813e-04 9.99976370e-01 2.82008602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:125.36, Y:1.39, Z:0.30 [[ 9.99107556e-01 -4.16722106e-02 -6.89334430e-03 1.25363109e+02] [ 4.16751440e-02 9.99131174e-01 2.82387867e-04 1.39115745e+00] [ 6.87558745e-03 -5.69416968e-04 9.99976201e-01 2.95306954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55864 meters Centerline goodness : 0.866942 Centerline is valid? [True, False] Translation: X:125.36, Y:1.40, Z:0.29 [[ 9.99611190e-01 -2.74816006e-02 -4.71485210e-03 1.25362604e+02] [ 2.74543091e-02 9.99606472e-01 -5.75865581e-03 1.39996045e+00] [ 4.87125375e-03 5.62697379e-03 9.99972304e-01 2.94742509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:125.36, Y:1.41, Z:0.29 [[ 9.99859617e-01 -1.64908082e-02 -2.96637541e-03 1.25362227e+02] [ 1.64430117e-02 9.99745064e-01 -1.54736775e-02 1.40985570e+00] [ 3.22079262e-03 1.54227291e-02 9.99875875e-01 2.94667127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:125.39, Y:1.40, Z:0.30 [[ 9.99873787e-01 -1.55683254e-02 -3.16829923e-03 1.25392510e+02] [ 1.55682724e-02 9.99878806e-01 -4.13781050e-05 1.39723679e+00] [ 3.16855944e-03 -7.95206310e-06 9.99994980e-01 3.03638937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:125.42, Y:1.40, Z:0.31 [[ 9.99803881e-01 -1.95489493e-02 -3.16837540e-03 1.25423229e+02] [ 1.95489348e-02 9.99808901e-01 -3.55578276e-05 1.39717071e+00] [ 3.16846504e-03 -2.63875100e-05 9.99994980e-01 3.05987307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:125.45, Y:1.40, Z:0.29 [[ 9.99728384e-01 -2.30893996e-02 -3.16835007e-03 1.25454610e+02] [ 2.30893968e-02 9.99733404e-01 -3.74943487e-05 1.39719656e+00] [ 3.16837112e-03 -3.56711271e-05 9.99994980e-01 2.91807247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:125.49, Y:1.39, Z:0.29 [[ 9.99585699e-01 -2.86075721e-02 -3.16830545e-03 1.25486403e+02] [ 2.86075860e-02 9.99590718e-01 -4.09466740e-05 1.39390708e+00] [ 3.16818011e-03 -4.97078610e-05 9.99994980e-01 2.91614828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73864 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:125.49, Y:1.40, Z:0.29 [[ 9.99824149e-01 -1.84833306e-02 -3.16830798e-03 1.25490341e+02] [ 1.84832942e-02 9.99829168e-01 -4.07499714e-05 1.40211911e+00] [ 3.16851993e-03 -1.78179631e-05 9.99994980e-01 2.91645718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:125.54, Y:1.39, Z:0.29 [[ 9.99493018e-01 -3.16812022e-02 -3.16350717e-03 1.25544762e+02] [ 3.16801808e-02 9.99497988e-01 -3.72467749e-04 1.39011629e+00] [ 3.17371927e-03 2.72058436e-04 9.99994927e-01 2.93124825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:125.57, Y:1.38, Z:0.31 [[ 9.99322987e-01 -3.66543094e-02 -3.16693941e-03 1.25573891e+02] [ 3.66543921e-02 9.99328001e-01 -3.19162201e-05 1.38435239e+00] [ 3.16598109e-03 -8.41876265e-05 9.99994985e-01 3.10606366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:125.61, Y:1.38, Z:0.29 [[ 9.99309701e-01 -3.70147784e-02 -3.16672310e-03 1.25606562e+02] [ 3.70147953e-02 9.99314716e-01 -5.32816254e-05 1.38206958e+00] [ 3.16652520e-03 -6.39707620e-05 9.99994985e-01 2.93537073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:125.64, Y:1.38, Z:0.29 [[ 9.99337896e-01 -3.62455605e-02 -3.16694218e-03 1.25638939e+02] [ 3.62456453e-02 9.99342910e-01 -3.06280194e-05 1.37736691e+00] [ 3.16597135e-03 -8.41801227e-05 9.99994985e-01 2.94197131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:125.67, Y:1.37, Z:0.31 [[ 9.99359330e-01 -3.56496940e-02 -3.16695448e-03 1.25668604e+02] [ 3.56497801e-02 9.99364344e-01 -2.92988268e-05 1.37495394e+00] [ 3.16598588e-03 -8.36211748e-05 9.99994985e-01 3.11716338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:125.70, Y:1.37, Z:0.31 [[ 9.99579554e-01 -2.88216314e-02 -3.16672614e-03 1.25699936e+02] [ 2.88216052e-02 9.99584570e-01 -5.39110714e-05 1.37193467e+00] [ 3.16696440e-03 -3.73817261e-05 9.99994984e-01 3.10682907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:125.73, Y:1.37, Z:0.31 [[ 9.99633611e-01 -2.68815058e-02 -3.16681116e-03 1.25730169e+02] [ 2.68814998e-02 9.99638626e-01 -4.44773133e-05 1.37125820e+00] [ 3.16686238e-03 -4.06676163e-05 9.99994985e-01 3.13009535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:125.76, Y:1.37, Z:0.31 [[ 9.99720610e-01 -2.34237765e-02 -3.16669549e-03 1.25761505e+02] [ 2.34237111e-02 9.99725626e-01 -5.77418961e-05 1.37130189e+00] [ 3.16717916e-03 -1.64499967e-05 9.99994984e-01 3.11648145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:125.79, Y:1.37, Z:0.31 [[ 9.99784295e-01 -2.05264425e-02 -3.16682340e-03 1.25791789e+02] [ 2.05264113e-02 9.99789310e-01 -4.23640052e-05 1.37065126e+00] [ 3.16702577e-03 -2.26486526e-05 9.99994985e-01 3.10178275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03864000000002 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:125.82, Y:1.37, Z:0.31 [[ 9.99837795e-01 -1.77300643e-02 -3.16681276e-03 1.25822118e+02] [ 1.77300149e-02 9.99842810e-01 -4.36742750e-05 1.37135763e+00] [ 3.16708932e-03 -1.24804468e-05 9.99994985e-01 3.12246911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:125.85, Y:1.37, Z:0.30 [[ 9.99902710e-01 -1.35846202e-02 -3.16680552e-03 1.25853863e+02] [ 1.35845470e-02 9.99907725e-01 -4.46002386e-05 1.37412480e+00] [ 3.16711918e-03 1.57628090e-06 9.99994985e-01 2.95166433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:125.88, Y:1.38, Z:0.30 [[ 9.99919436e-01 -1.22919521e-02 -3.16696115e-03 1.25883067e+02] [ 1.22919365e-02 9.99924451e-01 -2.44016702e-05 1.37514007e+00] [ 3.16702184e-03 -1.45283810e-05 9.99994985e-01 2.96065174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864000000002 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:125.91, Y:1.38, Z:0.31 [[ 9.99912251e-01 -1.28631133e-02 -3.16695959e-03 1.25911851e+02] [ 1.28630999e-02 9.99917267e-01 -2.46027045e-05 1.37601570e+00] [ 3.16701404e-03 -1.61363719e-05 9.99994985e-01 3.11398637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:125.94, Y:1.38, Z:0.30 [[ 9.99934832e-01 -1.09682387e-02 -3.16684648e-03 1.25942993e+02] [ 1.09681691e-02 9.99939847e-01 -3.93511997e-05 1.37736873e+00] [ 3.16708760e-03 4.61412755e-06 9.99994985e-01 2.96459972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864000000002 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:125.97, Y:1.38, Z:0.31 [[ 9.99936867e-01 -1.07811008e-02 -3.16696412e-03 1.25972429e+02] [ 1.07810804e-02 9.99941882e-01 -2.34935891e-05 1.38008066e+00] [ 3.16703335e-03 -1.06511890e-05 9.99994985e-01 3.11724906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:126.00, Y:1.38, Z:0.30 [[ 9.99971189e-01 -6.89867789e-03 -3.16688361e-03 1.26002972e+02] [ 6.89860387e-03 9.99976204e-01 -3.42972518e-05 1.38261271e+00] [ 3.16704486e-03 1.24491881e-05 9.99994985e-01 2.96346608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864000000002 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:126.03, Y:1.38, Z:0.31 [[ 9.99982388e-01 -5.01927902e-03 -3.16696398e-03 1.26034023e+02] [ 5.01922996e-03 9.99987403e-01 -2.34390122e-05 1.38390280e+00] [ 3.16704173e-03 7.54287887e-06 9.99994985e-01 3.13082670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:126.06, Y:1.38, Z:0.31 [[ 9.99980941e-01 -5.29975650e-03 -3.16705578e-03 1.26062317e+02] [ 5.29974767e-03 9.99985956e-01 -1.11807750e-05 1.38399938e+00] [ 3.16707056e-03 -5.60403457e-06 9.99994985e-01 3.13170771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:126.09, Y:1.39, Z:0.31 [[ 9.99981487e-01 -5.19568381e-03 -3.16704843e-03 1.26091331e+02] [ 5.19567147e-03 9.99986502e-01 -1.21248631e-05 1.38538808e+00] [ 3.16706868e-03 -4.33030455e-06 9.99994985e-01 3.12239108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:126.12, Y:1.39, Z:0.31 [[ 9.99989424e-01 -3.33490979e-03 -3.16693097e-03 1.26119735e+02] [ 3.33484004e-03 9.99994439e-01 -2.73023285e-05 1.38752164e+00] [ 3.16700441e-03 1.67408315e-05 9.99994985e-01 3.12280618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:126.15, Y:1.39, Z:0.31 [[ 9.99994438e-01 -1.04619911e-03 -3.16698708e-03 1.26149760e+02] [ 1.04614077e-03 9.99999453e-01 -2.00768645e-05 1.39012491e+00] [ 3.16700635e-03 1.67636385e-05 9.99994985e-01 3.07943581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:126.18, Y:1.39, Z:0.30 [[ 9.99992365e-01 -2.28905341e-03 -3.16714413e-03 1.26178405e+02] [ 2.28906488e-03 9.99997380e-01 -3.33008667e-09 1.39147602e+00] [ 3.16713584e-03 -7.24646833e-06 9.99994985e-01 2.97279165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:126.21, Y:1.40, Z:0.30 [[ 9.99994165e-01 -1.28078031e-03 -3.16694424e-03 1.26207025e+02] [ 1.28070704e-03 9.99999180e-01 -2.51617527e-05 1.39539521e+00] [ 3.16697387e-03 2.11056781e-05 9.99994985e-01 2.96247360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:126.24, Y:1.40, Z:0.30 [[ 9.99994457e-01 -1.02769472e-03 -3.16694097e-03 1.26236219e+02] [ 1.02761891e-03 9.99999472e-01 -2.55674079e-05 1.39758306e+00] [ 3.16696557e-03 2.23128578e-05 9.99994985e-01 2.96426675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:126.27, Y:1.40, Z:0.31 [[ 9.99994892e-01 -4.31734721e-04 -3.16693763e-03 1.26267094e+02] [ 4.31654626e-04 9.99999906e-01 -2.59746737e-05 1.40180683e+00] [ 3.16694855e-03 2.46075178e-05 9.99994985e-01 3.10031835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:126.30, Y:1.40, Z:0.30 [[ 9.99988140e-01 -3.69980128e-03 -3.16719953e-03 1.26295072e+02] [ 3.69983837e-03 9.99993156e-01 5.85135292e-06 1.40361183e+00] [ 3.16715620e-03 -1.75694098e-05 9.99994984e-01 2.98576949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:126.33, Y:1.40, Z:0.31 [[ 9.99988012e-01 -3.73459645e-03 -3.16692035e-03 1.26327286e+02] [ 3.73452982e-03 9.99993026e-01 -2.69524646e-05 1.40480270e+00] [ 3.16699892e-03 1.51251831e-05 9.99994985e-01 3.11076082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:126.36, Y:1.41, Z:0.30 [[ 9.99928622e-01 -1.15203923e-02 -3.16719499e-03 1.26356436e+02] [ 1.15204663e-02 9.99933637e-01 5.13911999e-06 1.40603763e+00] [ 3.16692561e-03 -4.16263164e-05 9.99994984e-01 2.98806105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:126.38, Y:1.40, Z:0.31 [[ 9.99853965e-01 -1.67934453e-02 -3.16690802e-03 1.26384614e+02] [ 1.67934419e-02 9.99858980e-01 -2.76866212e-05 1.40494623e+00] [ 3.16692637e-03 -2.55007077e-05 9.99994985e-01 3.09978431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:126.42, Y:1.40, Z:0.31 [[ 9.99838637e-01 -1.76825486e-02 -3.16663536e-03 1.26417538e+02] [ 1.76824540e-02 9.99843652e-01 -5.78489835e-05 1.40372423e+00] [ 3.16716318e-03 1.84576459e-06 9.99994985e-01 3.12892247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:126.45, Y:1.40, Z:0.30 [[ 9.99761834e-01 -2.15927262e-02 -3.16703597e-03 1.26447635e+02] [ 2.15927956e-02 9.99766848e-01 -1.23002123e-05 1.40385697e+00] [ 3.16656316e-03 -5.60878774e-05 9.99994985e-01 2.99415860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:126.48, Y:1.40, Z:0.30 [[ 9.99733913e-01 -2.28489314e-02 -3.16690278e-03 1.26477749e+02] [ 2.28489586e-02 9.99738928e-01 -2.75890117e-05 1.40446020e+00] [ 3.16670637e-03 -4.47787597e-05 9.99994985e-01 2.99528966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:126.51, Y:1.40, Z:0.31 [[ 9.99797621e-01 -1.98667415e-02 -3.16690278e-03 1.26509888e+02] [ 1.98667538e-02 9.99802636e-01 -2.75890117e-05 1.40485622e+00] [ 3.16682585e-03 -3.53326494e-05 9.99994985e-01 3.13736857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:126.54, Y:1.40, Z:0.31 [[ 9.99823251e-01 -1.85320365e-02 -3.16711607e-03 1.26540459e+02] [ 1.85321219e-02 9.99828265e-01 -2.41123271e-06 1.40463762e+00] [ 3.16661686e-03 -5.62825745e-05 9.99994985e-01 3.13590631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.57, Y:1.41, Z:0.30 [[ 9.99810040e-01 -1.92315816e-02 -3.16719993e-03 1.26569204e+02] [ 1.92317008e-02 9.99815054e-01 7.19305491e-06 1.40531461e+00] [ 3.16647584e-03 -6.81023302e-05 9.99994984e-01 2.99070785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:126.60, Y:1.41, Z:0.30 [[ 9.99832970e-01 -1.80000685e-02 -3.16689053e-03 1.26599454e+02] [ 1.80000704e-02 9.99837985e-01 -2.79120686e-05 1.40647740e+00] [ 3.16687987e-03 -2.90968460e-05 9.99994985e-01 2.99587093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:126.63, Y:1.41, Z:0.30 [[ 9.99837416e-01 -1.77513787e-02 -3.16689053e-03 1.26629819e+02] [ 1.77513794e-02 9.99842431e-01 -2.79120686e-05 1.40744720e+00] [ 3.16688701e-03 -2.83091447e-05 9.99994985e-01 2.99369692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:126.66, Y:1.41, Z:0.31 [[ 9.99865531e-01 -1.60900957e-02 -3.16689053e-03 1.26660793e+02] [ 1.60900880e-02 9.99870546e-01 -2.79120686e-05 1.40684213e+00] [ 3.16692967e-03 -2.30472319e-05 9.99994985e-01 3.11536571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:1.41, Z:0.30 [[ 9.99813547e-01 -1.90483766e-02 -3.16706542e-03 1.26690372e+02] [ 1.90484471e-02 9.99818562e-01 -7.90696889e-06 1.40782633e+00] [ 3.16664141e-03 -5.24221836e-05 9.99994985e-01 2.98560285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:1.41, Z:0.30 [[ 9.99807848e-01 -1.93452536e-02 -3.16688641e-03 1.26720501e+02] [ 1.93452617e-02 9.99812863e-01 -2.80895206e-05 1.40866793e+00] [ 3.16683716e-03 -3.31801231e-05 9.99994985e-01 3.00297784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864000000002 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:126.75, Y:1.41, Z:0.31 [[ 9.99804881e-01 -1.94979934e-02 -3.16688641e-03 1.26751605e+02] [ 1.94980022e-02 9.99809895e-01 -2.80895206e-05 1.40876488e+00] [ 3.16683206e-03 -3.36639183e-05 9.99994985e-01 3.13488098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:126.78, Y:1.41, Z:0.30 [[ 9.99760162e-01 -2.16699945e-02 -3.16699986e-03 1.26782613e+02] [ 2.16700545e-02 9.99765177e-01 -1.53482515e-05 1.40822199e+00] [ 3.16658878e-03 -5.32844894e-05 9.99994985e-01 3.00798029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.81, Y:1.41, Z:0.30 [[ 9.99733889e-01 -2.28500051e-02 -3.16688853e-03 1.26813329e+02] [ 2.28500311e-02 9.99738904e-01 -2.79590353e-05 1.40574148e+00] [ 3.16670053e-03 -4.44119065e-05 9.99994985e-01 3.01639861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.84, Y:1.40, Z:0.30 [[ 9.99733352e-01 -2.28734594e-02 -3.16688853e-03 1.26844305e+02] [ 2.28734855e-02 9.99738367e-01 -2.79590353e-05 1.40417118e+00] [ 3.16669949e-03 -4.44861988e-05 9.99994985e-01 3.00676031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:126.88, Y:1.40, Z:0.30 [[ 9.99710393e-01 -2.38558327e-02 -3.16688853e-03 1.26875253e+02] [ 2.38558638e-02 9.99715408e-01 -2.79590353e-05 1.40182940e+00] [ 3.16665424e-03 -4.75979234e-05 9.99994985e-01 3.01304627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:126.91, Y:1.40, Z:0.32 [[ 9.99757572e-01 -2.17891625e-02 -3.16688853e-03 1.26905902e+02] [ 2.17891833e-02 9.99762587e-01 -2.79590353e-05 1.39757918e+00] [ 3.16674587e-03 -4.10516573e-05 9.99994985e-01 3.15944394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:126.94, Y:1.40, Z:0.30 [[ 9.99738990e-01 -2.26257240e-02 -3.16691822e-03 1.26936561e+02] [ 2.26257599e-02 9.99744004e-01 -2.45047071e-05 1.39592891e+00] [ 3.16666194e-03 -4.71556201e-05 9.99994985e-01 3.01368547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:126.97, Y:1.39, Z:0.32 [[ 9.99819578e-01 -1.87291926e-02 -3.16689589e-03 1.26967034e+02] [ 1.87292006e-02 9.99824593e-01 -2.71133816e-05 1.39139100e+00] [ 3.16684820e-03 -3.22049388e-05 9.99994985e-01 3.15787200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.00, Y:1.39, Z:0.30 [[ 9.99839988e-01 -1.76059616e-02 -3.16692160e-03 1.26997560e+02] [ 1.76059738e-02 9.99845003e-01 -2.40348729e-05 1.38973877e+00] [ 3.16685389e-03 -3.17257116e-05 9.99994985e-01 3.00554706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.03, Y:1.39, Z:0.30 [[ 9.99860199e-01 -1.64180737e-02 -3.16690389e-03 1.27026828e+02] [ 1.64180731e-02 9.99865214e-01 -2.61769117e-05 1.38858001e+00] [ 3.16690681e-03 -2.58212076e-05 9.99994985e-01 3.00673975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.06, Y:1.39, Z:0.30 [[ 9.99855065e-01 -1.67278079e-02 -3.16690222e-03 1.27056552e+02] [ 1.67278082e-02 9.99860080e-01 -2.63776059e-05 1.38520187e+00] [ 3.16690035e-03 -2.66015501e-05 9.99994985e-01 3.00963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:1.38, Z:0.30 [[ 9.99846112e-01 -1.72546354e-02 -3.16690138e-03 1.27086656e+02] [ 1.72546381e-02 9.99851127e-01 -2.64776632e-05 1.38294109e+00] [ 3.16688678e-03 -2.81701485e-05 9.99994985e-01 3.01476162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.12, Y:1.38, Z:0.30 [[ 9.99769604e-01 -2.12299168e-02 -3.16689967e-03 1.27116008e+02] [ 2.12299388e-02 9.99774619e-01 -2.66806628e-05 1.37689461e+00] [ 3.16675234e-03 -4.05585707e-05 9.99994985e-01 3.01924509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.15, Y:1.37, Z:0.30 [[ 9.99730162e-01 -2.30124932e-02 -3.16689797e-03 1.27146484e+02] [ 2.30125235e-02 9.99735176e-01 -2.68812069e-05 1.37380173e+00] [ 3.16667790e-03 -4.60043606e-05 9.99994985e-01 3.01369409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.18, Y:1.37, Z:0.32 [[ 9.99661050e-01 -2.58409861e-02 -3.16689797e-03 1.27175092e+02] [ 2.58410306e-02 9.99666064e-01 -2.68812069e-05 1.37065976e+00] [ 3.16653507e-03 -5.49638119e-05 9.99994985e-01 3.17301323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.21, Y:1.37, Z:0.30 [[ 9.99657162e-01 -2.59909786e-02 -3.16662245e-03 1.27207422e+02] [ 2.59909202e-02 9.99662177e-01 -5.95837963e-05 1.36588189e+00] [ 3.16710134e-03 -2.27400628e-05 9.99994984e-01 3.02010716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:127.24, Y:1.36, Z:0.32 [[ 9.99671184e-01 -2.54459089e-02 -3.16689648e-03 1.27236934e+02] [ 2.54459562e-02 9.99676199e-01 -2.53487561e-05 1.36325095e+00] [ 3.16651606e-03 -5.52442881e-05 9.99994985e-01 3.17403494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:127.27, Y:1.36, Z:0.32 [[ 9.99726395e-01 -2.31755545e-02 -3.16675193e-03 1.27267220e+02] [ 2.31755333e-02 9.99731410e-01 -4.34145324e-05 1.35992983e+00] [ 3.16690753e-03 -2.99885108e-05 9.99994985e-01 3.17648405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.30, Y:1.36, Z:0.30 [[ 9.99786699e-01 -2.04090380e-02 -3.16674496e-03 1.27298703e+02] [ 2.04090000e-02 9.99791714e-01 -4.43138902e-05 1.35900660e+00] [ 3.16698978e-03 -2.03256601e-05 9.99994985e-01 3.03383375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.33, Y:1.36, Z:0.32 [[ 9.99835527e-01 -1.78574670e-02 -3.16689867e-03 1.27327914e+02] [ 1.78574800e-02 9.99840542e-01 -2.41989530e-05 1.35843989e+00] [ 3.16682581e-03 -3.23578565e-05 9.99994985e-01 3.17165013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:1.36, Z:0.30 [[ 9.99904502e-01 -1.34521088e-02 -3.16680130e-03 1.27358569e+02] [ 1.34520589e-02 9.99909516e-01 -3.70442227e-05 1.35775389e+00] [ 3.16701307e-03 -5.55931253e-06 9.99994985e-01 3.04047718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.39, Y:1.36, Z:0.32 [[ 9.99947440e-01 -9.75132518e-03 -3.16690134e-03 1.27387459e+02] [ 9.75129920e-03 9.99952455e-01 -2.36443472e-05 1.35829862e+00] [ 3.16698133e-03 -7.23829806e-06 9.99994985e-01 3.18196537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:1.36, Z:0.30 [[ 9.99977703e-01 -5.87911047e-03 -3.16688126e-03 1.27417383e+02] [ 5.87905655e-03 9.99982718e-01 -2.63354334e-05 1.36090975e+00] [ 3.16698136e-03 7.71657222e-06 9.99994985e-01 3.04184623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:1.36, Z:0.30 [[ 9.99987810e-01 -3.78829234e-03 -3.16689906e-03 1.27446417e+02] [ 3.78823538e-03 9.99992824e-01 -2.39856604e-05 1.36217375e+00] [ 3.16696720e-03 1.19884089e-05 9.99994985e-01 3.04768445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:1.36, Z:0.30 [[ 9.99993583e-01 -1.67468342e-03 -3.16689588e-03 1.27475090e+02] [ 1.67461456e-03 9.99998598e-01 -2.43976687e-05 1.36356066e+00] [ 3.16693230e-03 1.90941822e-05 9.99994985e-01 3.04165978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:127.51, Y:1.37, Z:0.32 [[ 9.99994538e-01 9.45623241e-04 -3.16688408e-03 1.27505078e+02] [-9.45709827e-04 9.99999552e-01 -2.58435036e-05 1.36802325e+00] [ 3.16685823e-03 2.88383159e-05 9.99994985e-01 3.19758808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:1.37, Z:0.31 [[ 9.99992954e-01 2.01559753e-03 -3.16685654e-03 1.27535220e+02] [-2.01569980e-03 9.99997968e-01 -2.91037121e-05 1.37085117e+00] [ 3.16679144e-03 3.54869391e-05 9.99994985e-01 3.05008960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.56, Y:1.38, Z:0.30 [[ 9.99993429e-01 1.76413963e-03 -3.16687455e-03 1.27563604e+02] [-1.76423395e-03 9.99998443e-01 -2.69907149e-05 1.37549007e+00] [ 3.16682200e-03 3.25776452e-05 9.99994985e-01 3.04747365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:1.38, Z:0.30 [[ 9.99994006e-01 1.39976131e-03 -3.16685958e-03 1.27591375e+02] [-1.39985904e-03 9.99999020e-01 -2.86456161e-05 1.37749449e+00] [ 3.16681638e-03 3.30786014e-05 9.99994985e-01 3.04558527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:1.38, Z:0.30 [[ 9.99994908e-01 3.94723043e-04 -3.16684371e-03 1.27620514e+02] [-3.94820990e-04 9.99999922e-01 -3.03038903e-05 1.37976233e+00] [ 3.16683150e-03 3.15540724e-05 9.99994985e-01 3.04822581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.65, Y:1.38, Z:0.32 [[ 9.99988559e-01 -3.58524035e-03 -3.16683972e-03 1.27649289e+02] [ 3.58516105e-03 9.99993573e-01 -3.07151844e-05 1.38289814e+00] [ 3.16692949e-03 1.93612026e-05 9.99994985e-01 3.19790963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:127.68, Y:1.38, Z:0.32 [[ 9.99980471e-01 -5.38797945e-03 -3.16673870e-03 1.27679125e+02] [ 5.38787646e-03 9.99985484e-01 -4.10522200e-05 1.38388977e+00] [ 3.16691392e-03 2.39894214e-05 9.99994985e-01 3.20712518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:127.71, Y:1.39, Z:0.32 [[ 9.99960537e-01 -8.30029308e-03 -3.16681363e-03 1.27711077e+02] [ 8.30022917e-03 9.99965552e-01 -3.33230577e-05 1.38566561e+00] [ 3.16698113e-03 7.03646383e-06 9.99994985e-01 3.20372514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.74, Y:1.39, Z:0.31 [[ 9.99937916e-01 -1.06832972e-02 -3.16706729e-03 1.27740202e+02] [ 1.06833298e-02 9.99942932e-01 -6.60630396e-06 1.38626918e+00] [ 3.16695712e-03 -2.72289306e-05 9.99994985e-01 3.05414117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:127.77, Y:1.39, Z:0.32 [[ 9.99936756e-01 -1.07914493e-02 -3.16683854e-03 1.27771729e+02] [ 1.07914071e-02 9.99941771e-01 -3.04200097e-05 1.38744746e+00] [ 3.16698241e-03 -3.75655796e-06 9.99994985e-01 3.18170384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.80, Y:1.39, Z:0.32 [[ 9.99910087e-01 -1.30302455e-02 -3.16709735e-03 1.27800980e+02] [ 1.30303019e-02 9.99915102e-01 -2.84396733e-06 1.38783606e+00] [ 3.16686552e-03 -3.84245228e-05 9.99994985e-01 3.21214746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:127.83, Y:1.39, Z:0.32 [[ 9.99918708e-01 -1.23510301e-02 -3.16684422e-03 1.27830569e+02] [ 1.23509971e-02 9.99923723e-01 -2.99723060e-05 1.38819731e+00] [ 3.16697286e-03 -9.14381451e-06 9.99994985e-01 3.22399572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:127.86, Y:1.39, Z:0.33 [[ 9.99930434e-01 -1.13621609e-02 -3.16688816e-03 1.27861676e+02] [ 1.13621381e-02 9.99935449e-01 -2.52086778e-05 1.38807058e+00] [ 3.16697016e-03 -1.07756964e-05 9.99994985e-01 3.25687014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:1.39, Z:0.31 [[ 9.99931978e-01 -1.12253430e-02 -3.16706532e-03 1.27891365e+02] [ 1.12253805e-02 9.99936993e-01 -5.92479726e-06 1.38726704e+00] [ 3.16693229e-03 -2.96271192e-05 9.99994985e-01 3.07710468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:127.92, Y:1.39, Z:0.32 [[ 9.99959189e-01 -8.46121869e-03 -3.16684102e-03 1.27922916e+02] [ 8.46116681e-03 9.99964203e-01 -2.97788201e-05 1.38694610e+00] [ 3.16697962e-03 2.98243462e-06 9.99994985e-01 3.23612646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.95, Y:1.39, Z:0.32 [[ 9.99952874e-01 -9.17715775e-03 -3.16709389e-03 1.27951792e+02] [ 9.17719563e-03 9.99957889e-01 -2.57165518e-06 1.38638878e+00] [ 3.16698412e-03 -2.64935062e-05 9.99994985e-01 3.23929093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.98, Y:1.39, Z:0.32 [[ 9.99950353e-01 -9.44784377e-03 -3.16699633e-03 1.27980923e+02] [ 9.44785108e-03 9.99955368e-01 -1.26537406e-05 1.38656743e+00] [ 3.16697453e-03 -1.72681973e-05 9.99994985e-01 3.24022458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:1.39, Z:0.31 [[ 9.99938829e-01 -1.05975350e-02 -3.16698816e-03 1.28010137e+02] [ 1.05975455e-02 9.99943844e-01 -1.34735681e-05 1.38682595e+00] [ 3.16695310e-03 -2.00895571e-05 9.99994985e-01 3.08441782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:1.39, Z:0.31 [[ 9.99945237e-01 -9.97465545e-03 -3.16679731e-03 1.28038843e+02] [ 9.97460340e-03 9.99950252e-01 -3.22272910e-05 1.38778091e+00] [ 3.16696123e-03 6.37978856e-07 9.99994985e-01 3.08268420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:128.07, Y:1.39, Z:0.32 [[ 9.99962074e-01 -8.11301572e-03 -3.16679309e-03 1.28070369e+02] [ 8.11295304e-03 9.99967089e-01 -3.26373239e-05 1.38976025e+00] [ 3.16695365e-03 6.94404250e-06 9.99994985e-01 3.22746272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:128.10, Y:1.39, Z:0.32 [[ 9.99960037e-01 -8.36032805e-03 -3.16705460e-03 1.28100436e+02] [ 8.36034754e-03 9.99965052e-01 -7.08438697e-06 1.38982382e+00] [ 3.16700314e-03 -1.93935733e-05 9.99994985e-01 3.22175124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.13, Y:1.39, Z:0.32 [[ 9.99943645e-01 -1.01329690e-02 -3.16707515e-03 1.28129219e+02] [ 1.01330035e-02 9.99948660e-01 -5.16056239e-06 1.38998984e+00] [ 3.16696484e-03 -2.69317119e-05 9.99994985e-01 3.24237892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.16, Y:1.39, Z:0.32 [[ 9.99942045e-01 -1.02897035e-02 -3.16692923e-03 1.28158656e+02] [ 1.02896970e-02 9.99947059e-01 -1.83726811e-05 1.39070568e+00] [ 3.16695062e-03 -1.42151257e-05 9.99994985e-01 3.22498620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864000000002 meters Centerline goodness : 0.835803 Centerline is valid? [True, False] Translation: X:128.15, Y:1.40, Z:0.33 [[ 9.99990240e-01 -4.35931208e-03 -7.18411531e-04 1.28154629e+02] [ 4.34753375e-03 9.99868029e-01 -1.56532185e-02 1.40455447e+00] [ 7.86553986e-04 1.56499424e-02 9.99877223e-01 3.25580374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43864000000002 meters Centerline goodness : 0.821190 Centerline is valid? [False, False] Translation: X:128.15, Y:1.42, Z:0.33 [[ 9.99978058e-01 -3.76068212e-04 6.61378887e-03 1.28150298e+02] [ 5.90513258e-04 9.99473123e-01 -3.24519325e-02 1.42092241e+00] [-6.59810008e-03 3.24551260e-02 9.99451414e-01 3.27170039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:128.18, Y:1.41, Z:0.33 [[ 9.99999682e-01 4.66882549e-04 -6.46169314e-04 1.28176127e+02] [-4.80745436e-04 9.99766086e-01 -2.16227301e-02 1.41342360e+00] [ 6.35922891e-04 2.16230338e-02 9.99765993e-01 3.27720374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.21, Y:1.40, Z:0.33 [[ 9.99993060e-01 3.66880915e-03 -6.47531142e-04 1.28205390e+02] [-3.66880994e-03 9.99993270e-01 -3.62487357e-08 1.39857047e+00] [ 6.47526651e-04 2.41191718e-06 9.99999790e-01 3.25600904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:128.24, Y:1.40, Z:0.34 [[ 9.99981357e-01 6.07182229e-03 -6.47531137e-04 1.28235766e+02] [-6.07182361e-03 9.99981566e-01 -7.76541552e-08 1.40006282e+00] [ 6.47518729e-04 4.00934756e-06 9.99999790e-01 3.41826483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:128.27, Y:1.40, Z:0.35 [[ 9.99976855e-01 6.77279206e-03 -6.47531764e-04 1.28266027e+02] [-6.77279260e-03 9.99977064e-01 1.34820523e-06 1.40451698e+00] [ 6.47526043e-04 3.03742432e-06 9.99999790e-01 3.45383805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:128.30, Y:1.41, Z:0.33 [[ 9.99985997e-01 5.25237394e-03 -6.47532116e-04 1.28296357e+02] [-5.25237364e-03 9.99986206e-01 2.15497087e-06 1.40680587e+00] [ 6.47534503e-04 1.24613993e-06 9.99999790e-01 3.28326922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:1.41, Z:0.33 [[ 9.99994283e-01 3.31873696e-03 -6.47530089e-04 1.28326100e+02] [-3.31873797e-03 9.99994493e-01 -4.95242572e-07 1.40813684e+00] [ 6.47524879e-04 2.64422243e-06 9.99999790e-01 3.28612345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.36, Y:1.41, Z:0.34 [[ 9.99999594e-01 -6.26928469e-04 -6.47530054e-04 1.28355260e+02] [ 6.26928253e-04 9.99999803e-01 -5.37048793e-07 1.40877491e+00] [ 6.47530264e-04 1.31093689e-07 9.99999790e-01 3.41105711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.39, Y:1.41, Z:0.33 [[ 9.99996335e-01 -2.62864715e-03 -6.47529038e-04 1.28386126e+02] [ 2.62864657e-03 9.99996545e-01 -1.73528993e-06 1.40948066e+00] [ 6.47531363e-04 3.31585792e-08 9.99999790e-01 3.28349560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:128.42, Y:1.41, Z:0.35 [[ 9.99988282e-01 -4.79746414e-03 -6.47529924e-04 1.28416527e+02] [ 4.79746486e-03 9.99988492e-01 -4.44031080e-07 1.41135314e+00] [ 6.47524602e-04 -2.66247618e-06 9.99999790e-01 3.45021094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:128.45, Y:1.41, Z:0.35 [[ 9.99982646e-01 -5.85564289e-03 -6.47528703e-04 1.28446577e+02] [ 5.85564275e-03 9.99982856e-01 -2.10267774e-06 1.41112205e+00] [ 6.47529914e-04 -1.68905551e-06 9.99999790e-01 3.46644879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.48, Y:1.41, Z:0.33 [[ 9.99981863e-01 -5.98777936e-03 -6.47528469e-04 1.28477467e+02] [ 5.98777899e-03 9.99982073e-01 -2.51245266e-06 1.41105293e+00] [ 6.47531905e-04 -1.36485027e-06 9.99999790e-01 3.28272734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:128.51, Y:1.41, Z:0.34 [[ 9.99972628e-01 -7.37042936e-03 -6.47529003e-04 1.28507866e+02] [ 7.37043081e-03 9.99972838e-01 -1.46080002e-07 1.41162069e+00] [ 6.47512491e-04 -4.62649171e-06 9.99999790e-01 3.44586860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:128.54, Y:1.41, Z:0.34 [[ 9.99972590e-01 -7.37558849e-03 -6.47528199e-04 1.28538500e+02] [ 7.37558757e-03 9.99972800e-01 -3.80100536e-06 1.41236300e+00] [ 6.47538621e-04 -9.74999760e-07 9.99999790e-01 3.44675244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:128.57, Y:1.41, Z:0.34 [[ 9.99963730e-01 -8.49226481e-03 -6.47528189e-04 1.28569040e+02] [ 8.49226404e-03 9.99963940e-01 -3.93663933e-06 1.41093041e+00] [ 6.47538270e-04 -1.56248381e-06 9.99999790e-01 3.44470067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:128.60, Y:1.41, Z:0.35 [[ 9.99964007e-01 -8.45962103e-03 -6.47527869e-04 1.28600017e+02] [ 8.45962077e-03 9.99964217e-01 -3.13825796e-06 1.41002837e+00] [ 6.47531246e-04 -2.33969519e-06 9.99999790e-01 3.45007302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:128.63, Y:1.41, Z:0.34 [[ 9.99957513e-01 -9.19530134e-03 -6.47527033e-04 1.28631373e+02] [ 9.19530203e-03 9.99957722e-01 -1.91392810e-06 1.40957395e+00] [ 6.47517257e-04 -4.04035986e-06 9.99999790e-01 3.44687556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94864 meters Centerline goodness : 0.769995 Centerline is valid? [True, False] Translation: X:128.65, Y:1.42, Z:0.35 [[ 9.99974176e-01 -5.96099567e-03 -4.01417546e-03 1.28652825e+02] [ 5.93278053e-03 9.99957869e-01 -7.00447978e-03 1.41544609e+00] [ 4.05576002e-03 6.98048368e-03 9.99967411e-01 3.48564488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97864 meters Centerline goodness : 0.999068 Centerline is valid? [False, True] Translation: X:128.67, Y:1.42, Z:0.35 [[ 9.99974490e-01 1.63138092e-03 -6.95399193e-03 1.28674022e+02] [-1.69397459e-03 9.99958022e-01 -9.00474725e-03 1.41788227e+00] [ 6.93900984e-03 9.01629742e-03 9.99935276e-01 3.52129982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:128.70, Y:1.41, Z:0.35 [[ 9.99969435e-01 3.75486630e-03 -6.85789716e-03 1.28703171e+02] [-3.75448934e-03 9.99992950e-01 6.78409023e-05 1.41040940e+00] [ 6.85810354e-03 -4.20909270e-05 9.99976482e-01 3.52030578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03864000000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:128.73, Y:1.41, Z:0.35 [[ 9.99965652e-01 4.65413848e-03 -6.85806924e-03 1.28732135e+02] [-4.65389460e-03 9.99989169e-01 5.15186784e-05 1.41024444e+00] [ 6.85823474e-03 -1.96001774e-05 9.99976482e-01 3.54094546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:128.76, Y:1.41, Z:0.35 [[ 9.99962250e-01 5.33533997e-03 -6.85808804e-03 1.28762085e+02] [-5.33512485e-03 9.99985767e-01 4.96612699e-05 1.41012289e+00] [ 6.85825539e-03 -1.30706392e-05 9.99976482e-01 3.52557847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:128.79, Y:1.41, Z:0.34 [[ 9.99949368e-01 7.36402003e-03 -6.85801359e-03 1.28792754e+02] [-7.36380232e-03 9.99972885e-01 5.69959995e-05 1.40894314e+00] [ 6.85824736e-03 -6.49205727e-06 9.99976482e-01 3.38235957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864000000002 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:128.82, Y:1.41, Z:0.36 [[ 9.99948965e-01 7.41863959e-03 -6.85789836e-03 1.28821787e+02] [-7.41834408e-03 9.99972481e-01 6.85276755e-05 1.40788243e+00] [ 6.85821803e-03 -1.76499285e-05 9.99976482e-01 3.56693000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15864000000002 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:128.85, Y:1.41, Z:0.35 [[ 9.99952031e-01 6.99299020e-03 -6.85814755e-03 1.28850405e+02] [-6.99286181e-03 9.99975549e-01 4.27008477e-05 1.40885970e+00] [ 6.85827847e-03 5.25927873e-06 9.99976482e-01 3.54764087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:128.88, Y:1.41, Z:0.35 [[ 9.99924296e-01 1.02157822e-02 -6.85862208e-03 1.28880600e+02] [-1.02160740e-02 9.99947815e-01 -7.50842201e-06 1.40933085e+00] [ 6.85818745e-03 7.75760445e-05 9.99976479e-01 3.52812550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:128.91, Y:1.41, Z:0.36 [[ 9.99894111e-01 1.28348276e-02 -6.85819341e-03 1.28910119e+02] [-1.28348740e-02 9.99917629e-01 3.72519837e-05 1.41095412e+00] [ 6.85810662e-03 5.07760092e-05 9.99976482e-01 3.56579979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:128.94, Y:1.41, Z:0.35 [[ 9.99854828e-01 1.55976333e-02 -6.85830007e-03 1.28940624e+02] [-1.55978212e-02 9.99878346e-01 2.61002981e-05 1.41189041e+00] [ 6.85787283e-03 8.08780290e-05 9.99976481e-01 3.53315380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:128.97, Y:1.41, Z:0.34 [[ 9.99829317e-01 1.71552763e-02 -6.85810262e-03 1.28972195e+02] [-1.71553615e-02 9.99852835e-01 4.64089089e-05 1.41224392e+00] [ 6.85788951e-03 7.12522422e-05 9.99976482e-01 3.39522072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:129.00, Y:1.41, Z:0.36 [[ 9.99825317e-01 1.73869323e-02 -6.85789699e-03 1.29000319e+02] [-1.73868793e-02 9.99848835e-01 6.73478883e-05 1.41292629e+00] [ 6.85803129e-03 5.19013038e-05 9.99976482e-01 3.55733920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:129.03, Y:1.41, Z:0.36 [[ 9.99830738e-01 1.70722528e-02 -6.85808945e-03 1.29029310e+02] [-1.70723288e-02 9.99854256e-01 4.74623846e-05 1.41370384e+00] [ 6.85790021e-03 6.96292069e-05 9.99976482e-01 3.55837092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters Centerline goodness : 0.862226 Centerline is valid? [True, False] Translation: X:129.02, Y:1.41, Z:0.35 [[ 9.99963466e-01 5.57246447e-03 6.48180556e-03 1.29017615e+02] [-5.59015971e-03 9.99980689e-01 2.71508004e-03 1.41087238e+00] [-6.46655070e-03 -2.75121518e-03 9.99975307e-01 3.54889651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:129.02, Y:1.43, Z:0.36 [[ 9.99962960e-01 8.59443013e-03 -4.63846001e-04 1.29019987e+02] [-8.60061008e-03 9.99841836e-01 -1.55670330e-02 1.42755022e+00] [ 3.29982859e-04 1.55704458e-02 9.99878719e-01 3.58138791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:129.02, Y:1.39, Z:0.37 [[ 9.98920836e-01 -4.64428990e-02 -4.70237454e-04 1.29015778e+02] [ 4.64429041e-02 9.98920946e-01 -1.91349497e-07 1.38976221e+00] [ 4.69738930e-04 -2.16480500e-05 9.99999889e-01 3.65824693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:129.08, Y:1.42, Z:0.37 [[ 9.99941835e-01 1.07752759e-02 -4.69928199e-04 1.29075526e+02] [-1.07753071e-02 9.99941943e-01 -6.38971907e-05 1.41558554e+00] [ 4.69212406e-04 6.89570948e-05 9.99999888e-01 3.71767480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:129.10, Y:1.41, Z:0.37 [[ 9.99966950e-01 8.11651681e-03 -4.69851614e-04 1.29103710e+02] [-8.11651723e-03 9.99967061e-01 1.01392928e-06 1.41468918e+00] [ 4.69844367e-04 2.79966295e-06 9.99999890e-01 3.72285912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:129.13, Y:1.41, Z:0.36 [[ 9.99979594e-01 6.37105489e-03 -4.69852092e-04 1.29134247e+02] [-6.37105541e-03 9.99979705e-01 3.94527337e-07 1.41422062e+00] [ 4.69845070e-04 2.59893443e-06 9.99999890e-01 3.57151165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters Centerline goodness : 0.931688 Centerline is valid? [True, False] Translation: X:129.13, Y:1.42, Z:0.36 [[ 9.99997287e-01 2.25309190e-03 -5.91482674e-04 1.29134524e+02] [-2.25571158e-03 9.99987482e-01 -4.46633644e-03 1.41554136e+00] [ 5.81412203e-04 4.46765854e-03 9.99989851e-01 3.57149641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57864 meters Centerline goodness : 0.999313 Centerline is valid? [False, True] Translation: X:129.13, Y:1.42, Z:0.36 [[ 9.99998068e-01 -1.87475567e-03 -5.90258735e-04 1.29134627e+02] [ 1.86927235e-03 9.99956326e-01 -9.15708848e-03 1.41778161e+00] [ 6.07400259e-04 9.15596744e-03 9.99957899e-01 3.57325247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:129.16, Y:1.41, Z:0.36 [[ 9.99997817e-01 -1.98349087e-03 -6.56900225e-04 1.29164163e+02] [ 1.98351719e-03 9.99998032e-01 3.94193250e-05 1.40825267e+00] [ 6.56820744e-04 -4.07222118e-05 9.99999783e-01 3.57529488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:129.19, Y:1.41, Z:0.36 [[ 9.99999733e-01 -3.19638454e-04 -6.56591910e-04 1.29194792e+02] [ 3.19637315e-04 9.99999949e-01 -1.84048118e-06 1.40889072e+00] [ 6.56592465e-04 1.63060942e-06 9.99999784e-01 3.55744396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:129.22, Y:1.41, Z:0.34 [[ 9.99998208e-01 -1.77534980e-03 -6.56613345e-04 1.29224021e+02] [ 1.77535077e-03 9.99998424e-01 8.94929645e-07 1.41074706e+00] [ 6.56610721e-04 -2.06064705e-06 9.99999784e-01 3.42179968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:129.25, Y:1.41, Z:0.35 [[ 9.99997845e-01 1.96966139e-03 -6.56563091e-04 1.29254242e+02] [-1.96966530e-03 9.99998060e-01 -5.31406161e-06 1.41324797e+00] [ 6.56551350e-04 6.60725969e-06 9.99999784e-01 3.54784063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:129.28, Y:1.41, Z:0.34 [[ 9.99999018e-01 1.23800150e-03 -6.56595095e-04 1.29283859e+02] [-1.23800265e-03 9.99999234e-01 -1.35014559e-06 1.41397336e+00] [ 6.56592920e-04 2.16301073e-06 9.99999784e-01 3.41971334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:129.32, Y:1.42, Z:0.36 [[ 9.99988168e-01 4.82003633e-03 -6.56561722e-04 1.29315111e+02] [-4.82004092e-03 9.99988384e-01 -5.40447708e-06 1.41524809e+00] [ 6.56528045e-04 8.56906750e-06 9.99999784e-01 3.57084439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:129.34, Y:1.42, Z:0.34 [[ 9.99998826e-01 1.38416128e-03 -6.56628493e-04 1.29344274e+02] [-1.38415975e-03 9.99999042e-01 2.77431930e-06 1.41635742e+00] [ 6.56631704e-04 -1.86543731e-06 9.99999784e-01 3.43834709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.37, Y:1.42, Z:0.34 [[ 9.99999254e-01 1.02982182e-03 -6.56558458e-04 1.29373492e+02] [-1.02982567e-03 9.99999470e-01 -5.53428740e-06 1.41791649e+00] [ 6.56552410e-04 6.21042403e-06 9.99999784e-01 3.44758671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.40, Y:1.42, Z:0.34 [[ 9.99999675e-01 -4.68946874e-04 -6.56558100e-04 1.29403558e+02] [ 4.68943314e-04 9.99999890e-01 -5.57643653e-06 1.41982295e+00] [ 6.56560642e-04 5.26854619e-06 9.99999784e-01 3.43707209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.43, Y:1.42, Z:0.34 [[ 9.99999585e-01 -6.32138763e-04 -6.56557739e-04 1.29433403e+02] [ 6.32135210e-04 9.99999800e-01 -5.61854606e-06 1.42161709e+00] [ 6.56561160e-04 5.20351047e-06 9.99999784e-01 3.44972244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:1.42, Z:0.34 [[ 9.99999150e-01 -1.12607082e-03 -6.56557375e-04 1.29463572e+02] [ 1.12606735e-03 9.99999366e-01 -5.66075899e-06 1.42484159e+00] [ 6.56563333e-04 4.92142636e-06 9.99999784e-01 3.44434829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:1.43, Z:0.34 [[ 9.99998619e-01 -1.52667105e-03 -6.56557375e-04 1.29493610e+02] [ 1.52666767e-03 9.99998835e-01 -5.66075899e-06 1.42616619e+00] [ 6.56565252e-04 4.65840626e-06 9.99999784e-01 3.44222117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.52, Y:1.43, Z:0.36 [[ 9.99999712e-01 -3.80433311e-04 -6.56557375e-04 1.29524095e+02] [ 3.80429676e-04 9.99999928e-01 -5.66075899e-06 1.42717556e+00] [ 6.56559481e-04 5.41098345e-06 9.99999784e-01 3.55305186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:1.43, Z:0.35 [[ 9.99999180e-01 -1.09934113e-03 -6.56588687e-04 1.29554124e+02] [ 1.09933998e-03 9.99999396e-01 -2.11876129e-06 1.43065647e+00] [ 6.56590619e-04 1.39694535e-06 9.99999784e-01 3.45866712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.58, Y:1.43, Z:0.36 [[ 9.99998476e-01 -1.61767478e-03 -6.56557411e-04 1.29584386e+02] [ 1.61767138e-03 9.99998692e-01 -5.71302778e-06 1.43331877e+00] [ 6.56565794e-04 4.65092494e-06 9.99999784e-01 3.56517255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.61, Y:1.43, Z:0.36 [[ 9.99998348e-01 -1.69489761e-03 -6.56564642e-04 1.29614378e+02] [ 1.69489476e-03 9.99998564e-01 -4.89498424e-06 1.43354512e+00] [ 6.56571996e-04 3.78216819e-06 9.99999784e-01 3.56536815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.64, Y:1.43, Z:0.36 [[ 9.99995670e-01 -2.86850792e-03 -6.56564084e-04 1.29644717e+02] [ 2.86850529e-03 9.99995886e-01 -4.95755187e-06 1.43392483e+00] [ 6.56575603e-04 3.07417286e-06 9.99999784e-01 3.59959335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.68, Y:1.43, Z:0.36 [[ 9.99995187e-01 -3.03234655e-03 -6.56579044e-04 1.29675085e+02] [ 3.03234504e-03 9.99995402e-01 -3.29743512e-06 1.43466798e+00] [ 6.56586024e-04 1.30644504e-06 9.99999784e-01 3.58763544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.71, Y:1.44, Z:0.36 [[ 9.99979852e-01 -6.31380250e-03 -6.56588622e-04 1.29705558e+02] [ 6.31380240e-03 9.99980068e-01 -2.23159855e-06 1.43519997e+00] [ 6.56589625e-04 -1.91401723e-06 9.99999784e-01 3.59007383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:129.74, Y:1.44, Z:0.36 [[ 9.99954010e-01 -9.56796850e-03 -6.56569701e-04 1.29736100e+02] [ 9.56796774e-03 9.99954226e-01 -4.29400857e-06 1.43627634e+00] [ 6.56580732e-04 -1.98822663e-06 9.99999784e-01 3.60183488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:1.44, Z:0.34 [[ 9.99927379e-01 -1.20335549e-02 -6.56563900e-04 1.29767037e+02] [ 1.20335543e-02 9.99927594e-01 -4.93072273e-06 1.43568158e+00] [ 6.56575695e-04 -2.97043266e-06 9.99999784e-01 3.43225872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:1.44, Z:0.34 [[ 9.99916623e-01 -1.28963182e-02 -6.56555611e-04 1.29798158e+02] [ 1.28963172e-02 9.99916839e-01 -5.85943599e-06 1.43642639e+00] [ 6.56576577e-04 -2.60820196e-06 9.99999784e-01 3.44123842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters Centerline goodness : 0.880611 Centerline is valid? [True, False] Translation: X:129.79, Y:1.45, Z:0.34 [[ 9.99969304e-01 -2.32852072e-03 7.48126303e-03 1.29793241e+02] [ 2.39185332e-03 9.99961288e-01 -8.46773114e-03 1.44605586e+00] [-7.46125612e-03 8.48536530e-03 9.99936162e-01 3.44939021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29864 meters Centerline goodness : 0.999706 Centerline is valid? [False, True] Translation: X:129.79, Y:1.45, Z:0.34 [[ 9.99970269e-01 -2.28711052e-03 7.36415057e-03 1.29793609e+02] [ 2.34881075e-03 9.99962122e-01 -8.38073967e-03 1.44578891e+00] [-7.34470396e-03 8.39778749e-03 9.99937764e-01 3.44861261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.82, Y:1.43, Z:0.34 [[ 9.99959601e-01 -5.10362890e-03 7.39922591e-03 1.29823814e+02] [ 5.10400991e-03 9.99986974e-01 -3.26111826e-05 1.43398703e+00] [-7.39896309e-03 7.03755876e-05 9.99972625e-01 3.42714887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:1.43, Z:0.33 [[ 9.99943963e-01 -7.57104193e-03 7.39936532e-03 1.29855514e+02] [ 7.57124887e-03 9.99971338e-01 4.41630655e-08 1.42979170e+00] [-7.39915357e-03 5.59782757e-05 9.99972624e-01 3.25279827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:1.43, Z:0.33 [[ 9.99945039e-01 -7.42765491e-03 7.39921767e-03 1.29888532e+02] [ 7.42810265e-03 9.99972411e-01 -3.30315165e-05 1.42937319e+00] [-7.39876818e-03 8.79918494e-05 9.99972625e-01 3.25563934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:1.43, Z:0.32 [[ 9.99943437e-01 -7.64034767e-03 7.39919945e-03 1.29921232e+02] [ 7.64082840e-03 9.99970808e-01 -3.67035668e-05 1.42898911e+00] [-7.39870303e-03 9.32375041e-05 9.99972625e-01 3.24718705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:129.95, Y:1.43, Z:0.34 [[ 9.99945776e-01 -7.32784068e-03 7.39918208e-03 1.29952710e+02] [ 7.32833668e-03 9.99973147e-01 -3.99234562e-05 1.42502742e+00] [-7.39869083e-03 9.41449888e-05 9.99972625e-01 3.40721363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.98, Y:1.42, Z:0.34 [[ 9.99932625e-01 -8.94417690e-03 7.39911815e-03 1.29983679e+02] [ 8.94480052e-03 9.99959993e-01 -5.11938076e-05 1.42234195e+00] [-7.39836425e-03 1.17373994e-04 9.99972625e-01 3.39522909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:130.02, Y:1.42, Z:0.34 [[ 9.99922151e-01 -1.00470316e-02 7.39924650e-03 1.30016408e+02] [ 1.00475200e-02 9.99949522e-01 -2.88455651e-05 1.41819397e+00] [-7.39858318e-03 1.03187397e-04 9.99972625e-01 3.38562257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:130.05, Y:1.42, Z:0.34 [[ 9.99911896e-01 -1.10205612e-02 7.39916614e-03 1.30046513e+02] [ 1.10211730e-02 9.99939264e-01 -4.19155788e-05 1.41664777e+00] [-7.39825481e-03 1.23459376e-04 9.99972625e-01 3.36731542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:1.41, Z:0.32 [[ 9.99905853e-01 -1.15558271e-02 7.39920997e-03 1.30078030e+02] [ 1.15564018e-02 9.99933222e-01 -3.49169565e-05 1.41412749e+00] [-7.39831237e-03 1.20421913e-04 9.99972625e-01 3.21791900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:1.41, Z:0.32 [[ 9.99908739e-01 -1.13033839e-02 7.39912467e-03 1.30110064e+02] [ 1.13040488e-02 9.99936106e-01 -4.80515443e-05 1.41066000e+00] [-7.39810877e-03 1.31687226e-04 9.99972625e-01 3.23082388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:1.41, Z:0.32 [[ 9.99921253e-01 -1.01361156e-02 7.39910263e-03 1.30141801e+02] [ 1.01367722e-02 9.99948620e-01 -5.12348538e-05 1.40920751e+00] [-7.39820314e-03 1.26233837e-04 9.99972625e-01 3.20961186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.17, Y:1.41, Z:0.34 [[ 9.99941443e-01 -7.89705154e-03 7.39907911e-03 1.30171135e+02] [ 7.89767045e-03 9.99968811e-01 -5.44319221e-05 1.40509875e+00] [-7.39841849e-03 1.12864223e-04 9.99972625e-01 3.37363837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:130.20, Y:1.40, Z:0.34 [[ 9.99954390e-01 -6.03869098e-03 7.39949905e-03 1.30203200e+02] [ 6.03884770e-03 9.99981766e-01 1.16300609e-06 1.40316265e+00] [-7.39937115e-03 4.35214948e-05 9.99972623e-01 3.35720889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:130.24, Y:1.40, Z:0.34 [[ 9.99971441e-01 -1.53833262e-03 7.39934842e-03 1.30235427e+02] [ 1.53850256e-03 9.99998816e-01 -1.72747397e-05 1.40198385e+00] [-7.39931309e-03 2.86581628e-05 9.99972624e-01 3.37999633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:130.27, Y:1.40, Z:0.34 [[ 9.99971585e-01 1.44232460e-03 7.39930270e-03 1.30267735e+02] [-1.44219543e-03 9.99998960e-01 -2.27935388e-05 1.40181109e+00] [-7.39932788e-03 1.21216506e-05 9.99972625e-01 3.35069281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:1.40, Z:0.32 [[ 9.99970702e-01 1.96332418e-03 7.39870699e-03 1.30298096e+02] [-1.96268738e-03 9.99998070e-01 -9.33285529e-05 1.40140197e+00] [-7.39887594e-03 7.88044696e-05 9.99972625e-01 3.21917900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:1.40, Z:0.32 [[ 9.99963325e-01 4.31326827e-03 7.39896531e-03 1.30330459e+02] [-4.31292032e-03 9.99990697e-01 -6.29826440e-05 1.40151529e+00] [-7.39916814e-03 3.10691863e-05 9.99972625e-01 3.20689279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:1.40, Z:0.32 [[ 9.99960458e-01 4.93339351e-03 7.39895138e-03 1.30362915e+02] [-4.93305072e-03 9.99987830e-01 -6.45785664e-05 1.40232581e+00] [-7.39917993e-03 2.80766104e-05 9.99972625e-01 3.20220383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:130.39, Y:1.40, Z:0.34 [[ 9.99963896e-01 4.17890025e-03 7.39894286e-03 1.30392389e+02] [-4.17852970e-03 9.99991268e-01 -6.55398782e-05 1.40292211e+00] [-7.39915214e-03 3.46208094e-05 9.99972625e-01 3.35022461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:130.42, Y:1.40, Z:0.34 [[ 9.99959639e-01 5.09613085e-03 7.39928413e-03 1.30424283e+02] [-5.09607112e-03 9.99987015e-01 -2.69263167e-05 1.40447386e+00] [-7.39932527e-03 -1.07820482e-05 9.99972625e-01 3.36831781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:130.46, Y:1.41, Z:0.33 [[ 9.99953218e-01 6.23030001e-03 7.39901519e-03 1.30455821e+02] [-6.23005166e-03 9.99980591e-01 -5.66134834e-05 1.40638915e+00] [-7.39922431e-03 1.05145880e-05 9.99972625e-01 3.33024832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:130.49, Y:1.41, Z:0.33 [[ 9.99953590e-01 6.17057402e-03 7.39879914e-03 1.30487086e+02] [-6.17014947e-03 9.99980961e-01 -8.02057780e-05 1.40885415e+00] [-7.39915319e-03 3.45503590e-05 9.99972625e-01 3.34862153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:1.42, Z:0.32 [[ 9.99951696e-01 6.46999746e-03 7.39900913e-03 1.30518634e+02] [-6.46974947e-03 9.99979069e-01 -5.74511265e-05 1.41556450e+00] [-7.39922598e-03 9.57861596e-06 9.99972625e-01 3.18239652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01864 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:130.55, Y:1.42, Z:0.34 [[ 9.99961630e-01 4.68990048e-03 7.39888652e-03 1.30549060e+02] [-4.68950835e-03 9.99989002e-01 -7.03473787e-05 1.41808346e+00] [-7.39913507e-03 3.56475393e-05 9.99972625e-01 3.35035700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:130.58, Y:1.42, Z:0.34 [[ 9.99970706e-01 1.95984042e-03 7.39907559e-03 1.30581124e+02] [-1.95952128e-03 9.99998079e-01 -5.03817343e-05 1.42189337e+00] [-7.39916011e-03 3.58816123e-05 9.99972625e-01 3.36699434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:130.61, Y:1.42, Z:0.34 [[ 9.99972431e-01 -6.25785607e-04 7.39904471e-03 1.30612543e+02] [ 6.26198092e-04 9.99999803e-01 -5.34318600e-05 1.42281823e+00] [-7.39900981e-03 5.80636546e-05 9.99972625e-01 3.37487520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:130.64, Y:1.42, Z:0.33 [[ 9.99970979e-01 -1.81478213e-03 7.39916573e-03 1.30644143e+02] [ 1.81514196e-03 9.99998352e-01 -4.19164673e-05 1.42409492e+00] [-7.39907746e-03 5.53457870e-05 9.99972625e-01 3.34577453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:130.67, Y:1.43, Z:0.33 [[ 9.99951196e-01 -6.54673844e-03 7.39907240e-03 1.30674416e+02] [ 6.54729093e-03 9.99978565e-01 -5.04504745e-05 1.42624170e+00] [-7.39858351e-03 9.88918919e-05 9.99972625e-01 3.34514947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:1.43, Z:0.32 [[ 9.99951946e-01 -6.43075574e-03 7.39939183e-03 1.30707488e+02] [ 6.43109574e-03 9.99979320e-01 -2.21576770e-05 1.42638253e+00] [-7.39909633e-03 6.97428096e-05 9.99972624e-01 3.17957548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:130.74, Y:1.43, Z:0.33 [[ 9.99957014e-01 -5.58833066e-03 7.39864517e-03 1.30739999e+02] [ 5.58912157e-03 9.99984377e-01 -8.62266458e-05 1.42623711e+00] [-7.39804771e-03 1.27574867e-04 9.99972626e-01 3.32627014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:130.77, Y:1.43, Z:0.33 [[ 9.99951455e-01 -6.50819223e-03 7.39799548e-03 1.30773128e+02] [ 6.50940988e-03 9.99978804e-01 -1.40525642e-04 1.42666635e+00] [-7.39692410e-03 1.88675405e-04 9.99972625e-01 3.33552900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:1.43, Z:0.32 [[ 9.99931465e-01 -9.07427072e-03 7.39744228e-03 1.30800851e+02] [ 9.07588948e-03 9.99958796e-01 -1.85286849e-04 1.42699287e+00] [-7.39545613e-03 2.52412519e-04 9.99972621e-01 3.19551598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:1.42, Z:0.33 [[ 9.99578496e-01 -2.80729534e-02 7.39860089e-03 1.30822819e+02] [ 2.80743824e-02 9.99605833e-01 -8.93407443e-05 1.41761197e+00] [-7.39317655e-03 2.97014238e-04 9.99972626e-01 3.30256957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:130.86, Y:1.43, Z:0.32 [[ 9.99953404e-01 -6.19666435e-03 7.40205784e-03 1.30863159e+02] [ 6.19526517e-03 9.99980787e-01 2.11941199e-04 1.42711661e+00] [-7.40322896e-03 -1.66073612e-04 9.99972582e-01 3.17967573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:1.43, Z:0.32 [[ 9.99957943e-01 -5.42034213e-03 7.39806405e-03 1.30895881e+02] [ 5.42120042e-03 9.99985301e-01 -9.59667477e-05 1.42689789e+00] [-7.39743513e-03 1.36069100e-04 9.99972629e-01 3.16939351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:130.93, Y:1.43, Z:0.33 [[ 9.99948412e-01 -6.96011215e-03 7.39804898e-03 1.30926156e+02] [ 6.96102106e-03 9.99975767e-01 -9.71151713e-05 1.42702967e+00] [-7.39719377e-03 1.48608136e-04 9.99972629e-01 3.33546123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:1.43, Z:0.32 [[ 9.99949186e-01 -6.84734313e-03 7.39858856e-03 1.30958706e+02] [ 6.84794476e-03 9.99976551e-01 -5.59872085e-05 1.42704391e+00] [-7.39803170e-03 1.06649489e-04 9.99972629e-01 3.17330666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:130.99, Y:1.43, Z:0.33 [[ 9.99938454e-01 -8.26790586e-03 7.39801205e-03 1.30988188e+02] [ 8.26886483e-03 9.99965807e-01 -9.90476211e-05 1.42565079e+00] [-7.39694018e-03 1.60214687e-04 9.99972629e-01 3.34760685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.02, Y:1.43, Z:0.32 [[ 9.99941293e-01 -7.91655908e-03 7.39857574e-03 1.31020097e+02] [ 7.91719507e-03 9.99968657e-01 -5.66759955e-05 1.42517851e+00] [-7.39789517e-03 1.15248636e-04 9.99972629e-01 3.16921255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:131.05, Y:1.42, Z:0.33 [[ 9.99932426e-01 -8.96735938e-03 7.39798202e-03 1.31049092e+02] [ 8.96834762e-03 9.99959779e-01 -1.00417210e-04 1.42420044e+00] [-7.39678399e-03 1.66758099e-04 9.99972630e-01 3.31935139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:131.08, Y:1.42, Z:0.32 [[ 9.99948991e-01 -6.87558494e-03 7.39882771e-03 1.31082215e+02] [ 6.87605789e-03 9.99976359e-01 -3.84862535e-05 1.42421536e+00] [-7.39838818e-03 8.93590580e-05 9.99972628e-01 3.17594568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:131.11, Y:1.42, Z:0.33 [[ 9.99956951e-01 -5.60055203e-03 7.39792473e-03 1.31113731e+02] [ 5.60146882e-03 9.99984306e-01 -1.03210887e-04 1.42413663e+00] [-7.39723059e-03 1.44645688e-04 9.99972630e-01 3.30728768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.15, Y:1.42, Z:0.32 [[ 9.99942153e-01 -7.80781398e-03 7.39787436e-03 1.31145100e+02] [ 7.80881777e-03 9.99969505e-01 -1.06810657e-04 1.42423465e+00] [-7.39681481e-03 1.64573131e-04 9.99972630e-01 3.16238935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:131.18, Y:1.42, Z:0.33 [[ 9.99959953e-01 -5.03615624e-03 7.39790716e-03 1.31178524e+02] [ 5.03706703e-03 9.99987308e-01 -1.04488308e-04 1.42367560e+00] [-7.39728705e-03 1.41747878e-04 9.99972630e-01 3.29406768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.21, Y:1.42, Z:0.32 [[ 9.99931334e-01 -9.08928914e-03 7.39675441e-03 1.31207346e+02] [ 9.09090626e-03 9.99958660e-01 -1.85031252e-04 1.42311724e+00] [-7.39476683e-03 2.52261748e-04 9.99972627e-01 3.16005016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:131.24, Y:1.42, Z:0.33 [[ 9.99919725e-01 -1.02866799e-02 7.39788859e-03 1.31238752e+02] [ 1.02877418e-02 9.99947074e-01 -1.05508806e-04 1.42222622e+00] [-7.39641171e-03 1.81607904e-04 9.99972630e-01 3.29599215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:131.27, Y:1.42, Z:0.33 [[ 9.99918257e-01 -1.04283829e-02 7.39783137e-03 1.31269768e+02] [ 1.04294784e-02 9.99945606e-01 -1.09517777e-04 1.42133206e+00] [-7.39628688e-03 1.86664347e-04 9.99972630e-01 3.31100659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:131.30, Y:1.42, Z:0.33 [[ 9.99888736e-01 -1.29532514e-02 7.39789310e-03 1.31301623e+02] [ 1.29543843e-02 9.99916083e-01 -1.05229508e-04 1.41810425e+00] [-7.39590923e-03 2.01052950e-04 9.99972630e-01 3.29429955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:131.33, Y:1.42, Z:0.32 [[ 9.99850220e-01 -1.56465222e-02 7.39762375e-03 1.31332506e+02] [ 1.56478657e-02 9.99877557e-01 -1.23766690e-04 1.41646572e+00] [-7.39478144e-03 2.39505175e-04 9.99972630e-01 3.15463420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:131.37, Y:1.41, Z:0.32 [[ 9.99827321e-01 -1.70470129e-02 7.39783977e-03 1.31365963e+02] [ 1.70482864e-02 9.99854661e-01 -1.09121470e-04 1.41432275e+00] [-7.39490438e-03 2.35223119e-04 9.99972630e-01 3.15983722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.40, Y:1.41, Z:0.32 [[ 9.99843037e-01 -1.60989131e-02 7.39778596e-03 1.31399365e+02] [ 1.61001868e-02 9.99870377e-01 -1.12655065e-04 1.41272823e+00] [-7.39501341e-03 2.31743118e-04 9.99972630e-01 3.15409708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:131.43, Y:1.41, Z:0.32 [[ 9.99842039e-01 -1.61608029e-02 7.39773027e-03 1.31431990e+02] [ 1.61621045e-02 9.99869378e-01 -1.16200372e-04 1.41128204e+00] [-7.39488607e-03 2.35744907e-04 9.99972630e-01 3.15803304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:131.46, Y:1.41, Z:0.33 [[ 9.99869881e-01 -1.43351262e-02 7.39767332e-03 1.31461540e+02] [ 1.43364040e-02 9.99897221e-01 -1.19719328e-04 1.40819337e+00] [-7.39519681e-03 2.25759783e-04 9.99972630e-01 3.28512580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:131.49, Y:1.41, Z:0.31 [[ 9.99860062e-01 -1.50041799e-02 7.39801489e-03 1.31493180e+02] [ 1.50053195e-02 9.99887409e-01 -9.85550181e-05 1.40686763e+00] [-7.39570320e-03 2.09550804e-04 9.99972629e-01 3.14088196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:131.53, Y:1.40, Z:0.31 [[ 9.99846886e-01 -1.58581044e-02 7.39765242e-03 1.31525953e+02] [ 1.58594315e-02 9.99874224e-01 -1.20759490e-04 1.40134635e+00] [-7.39480696e-03 2.38063562e-04 9.99972630e-01 3.14166904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:131.55, Y:1.40, Z:0.33 [[ 9.99801200e-01 -1.85158295e-02 7.39759269e-03 1.31553528e+02] [ 1.85172555e-02 9.99828533e-01 -1.24314352e-04 1.39813172e+00] [-7.39402246e-03 2.61272752e-04 9.99972630e-01 3.29881588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:131.59, Y:1.40, Z:0.33 [[ 9.99812661e-01 -1.78855312e-02 7.39932959e-03 1.31585289e+02] [ 1.78861729e-02 9.99840029e-01 -2.05533081e-05 1.39779758e+00] [-7.39777830e-03 1.52895146e-04 9.99972624e-01 3.29632562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.62, Y:1.40, Z:0.31 [[ 9.99857454e-01 -1.51763942e-02 7.39928054e-03 1.31619646e+02] [ 1.51769827e-02 9.99884823e-01 -2.33854570e-05 1.39590628e+00] [-7.39807340e-03 1.35680876e-04 9.99972625e-01 3.14000769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864000000002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:131.65, Y:1.39, Z:0.33 [[ 9.99808221e-01 -1.81328454e-02 7.39731762e-03 1.31646496e+02] [ 1.81343233e-02 9.99835551e-01 -1.32760311e-04 1.39141515e+00] [-7.39369381e-03 2.66880200e-04 9.99972631e-01 3.26810113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.68, Y:1.39, Z:0.31 [[ 9.99889399e-01 -1.29011607e-02 7.39936389e-03 1.31680851e+02] [ 1.29016381e-02 9.99916770e-01 -1.67850412e-05 1.38818347e+00] [-7.39853150e-03 1.12247100e-04 9.99972624e-01 3.11625914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.71, Y:1.38, Z:0.31 [[ 9.99900325e-01 -1.20258666e-02 7.39718825e-03 1.31713942e+02] [ 1.20271980e-02 9.99927661e-01 -1.35532155e-04 1.38488410e+00] [-7.39502325e-03 2.24486094e-04 9.99972631e-01 3.11744642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15864000000002 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:131.74, Y:1.38, Z:0.33 [[ 9.99886007e-01 -1.31626232e-02 7.39712096e-03 1.31742687e+02] [ 1.31640122e-02 9.99913341e-01 -1.39109918e-04 1.38326386e+00] [-7.39464889e-03 2.36469850e-04 9.99972631e-01 3.28785716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.78, Y:1.38, Z:0.31 [[ 9.99910482e-01 -1.11485690e-02 7.39841609e-03 1.31776215e+02] [ 1.11493959e-02 9.99937841e-01 -7.05365684e-05 1.38215661e+00] [-7.39716983e-03 1.53018124e-04 9.99972629e-01 3.12063238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:131.81, Y:1.38, Z:0.31 [[ 9.99914445e-01 -1.07882988e-02 7.39698994e-03 1.31808002e+02] [ 1.07896580e-02 9.99941780e-01 -1.43864731e-04 1.37803415e+00] [-7.39500723e-03 2.23663414e-04 9.99972632e-01 3.10729237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:131.84, Y:1.37, Z:0.33 [[ 9.99852411e-01 -1.55061934e-02 7.39692799e-03 1.31835259e+02] [ 1.55077046e-02 9.99879738e-01 -1.46982441e-04 1.37489153e+00] [-7.39375928e-03 2.61670122e-04 9.99972632e-01 3.28242209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:131.87, Y:1.37, Z:0.32 [[ 9.99911560e-01 -1.10508129e-02 7.39950339e-03 1.31870263e+02] [ 1.10512317e-02 9.99938933e-01 -1.57160220e-05 1.37406734e+00] [-7.39887785e-03 9.74882587e-05 9.99972623e-01 3.24947865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:131.90, Y:1.37, Z:0.31 [[ 9.99918505e-01 -1.04052887e-02 7.39683681e-03 1.31901501e+02] [ 1.04066489e-02 9.99945839e-01 -1.45420731e-04 1.37107279e+00] [-7.39492305e-03 2.22385163e-04 9.99972632e-01 3.12007639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:131.93, Y:1.37, Z:0.31 [[ 9.99934627e-01 -8.71959262e-03 7.39665497e-03 1.31934246e+02] [ 8.72097121e-03 9.99961960e-01 -1.54146319e-04 1.36885395e+00] [-7.39502951e-03 2.18642257e-04 9.99972632e-01 3.12462528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:131.97, Y:1.36, Z:0.31 [[ 9.99942236e-01 -7.79843957e-03 7.39657898e-03 1.31967264e+02] [ 7.79981932e-03 9.99969569e-01 -1.57710365e-04 1.36441150e+00] [-7.39512399e-03 2.15393235e-04 9.99972632e-01 3.11880713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:132.00, Y:1.36, Z:0.33 [[ 9.99940294e-01 -8.04365450e-03 7.39650060e-03 1.31997325e+02] [ 8.04506751e-03 9.99967625e-01 -1.61304428e-04 1.36189447e+00] [-7.39496366e-03 2.20800144e-04 9.99972633e-01 3.26235192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:132.03, Y:1.36, Z:0.31 [[ 9.99947638e-01 -7.07127557e-03 7.39720944e-03 1.32028758e+02] [ 7.07242320e-03 9.99974982e-01 -1.28995619e-04 1.35964719e+00] [-7.39611221e-03 1.81305060e-04 9.99972632e-01 3.12220316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:132.06, Y:1.36, Z:0.31 [[ 9.99960472e-01 -4.93429260e-03 7.39642440e-03 1.32061603e+02] [ 4.93564298e-03 9.99987806e-01 -1.64330257e-04 1.35510354e+00] [-7.39552335e-03 2.00829872e-04 9.99972633e-01 3.10798467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:132.10, Y:1.35, Z:0.31 [[ 9.99965446e-01 -3.79488263e-03 7.39634211e-03 1.32095025e+02] [ 3.79622865e-03 9.99992780e-01 -1.67954074e-04 1.35368529e+00] [-7.39565134e-03 1.96026476e-04 9.99972633e-01 3.10994088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:132.13, Y:1.35, Z:0.31 [[ 9.99969850e-01 -2.36537189e-03 7.39625848e-03 1.32127218e+02] [ 2.36670549e-03 9.99997185e-01 -1.71559440e-04 1.35174138e+00] [-7.39583186e-03 1.89059033e-04 9.99972633e-01 3.09691353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:132.16, Y:1.35, Z:0.32 [[ 9.99967791e-01 -3.11653299e-03 7.39618321e-03 1.32156305e+02] [ 3.11791067e-03 9.99995124e-01 -1.74745209e-04 1.34930124e+00] [-7.39560255e-03 1.97800220e-04 9.99972633e-01 3.24326838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:132.19, Y:1.35, Z:0.31 [[ 9.99970519e-01 -2.05888306e-03 7.39749220e-03 1.32189010e+02] [ 2.05981801e-03 9.99997872e-01 -1.18770467e-04 1.34743965e+00] [-7.39723192e-03 1.34004453e-04 9.99972631e-01 3.09514060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:132.22, Y:1.34, Z:0.31 [[ 9.99968487e-01 -2.88469797e-03 7.39612660e-03 1.32221371e+02] [ 2.88607946e-03 9.99995820e-01 -1.76119357e-04 1.34429887e+00] [-7.39558763e-03 1.97459616e-04 9.99972633e-01 3.09879016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:132.25, Y:1.34, Z:0.31 [[ 9.99968121e-01 -3.00923858e-03 7.39605000e-03 1.32254292e+02] [ 3.01064683e-03 9.99995452e-01 -1.79279098e-04 1.34217033e+00] [-7.39547687e-03 2.01540278e-04 9.99972633e-01 3.09332863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:132.29, Y:1.34, Z:0.31 [[ 9.99969022e-01 -2.69344612e-03 7.39596014e-03 1.32286971e+02] [ 2.69487259e-03 9.99996352e-01 -1.82912781e-04 1.33830974e+00] [-7.39544049e-03 2.02838285e-04 9.99972633e-01 3.10437133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:132.32, Y:1.34, Z:0.31 [[ 9.99970999e-01 -1.81744624e-03 7.39586839e-03 1.32319373e+02] [ 1.81887565e-03 9.99998328e-01 -1.86550275e-04 1.33673745e+00] [-7.39551698e-03 1.99997030e-04 9.99972633e-01 3.09532386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:132.35, Y:1.33, Z:0.31 [[ 9.99971891e-01 -1.23275162e-03 7.39578666e-03 1.32351075e+02] [ 1.23418859e-03 9.99999220e-01 -1.89735874e-04 1.33498445e+00] [-7.39554700e-03 1.98858336e-04 9.99972633e-01 3.10160461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:132.38, Y:1.33, Z:0.33 [[ 9.99972399e-01 7.09943366e-04 7.39576326e-03 1.32380534e+02] [-7.08552777e-04 9.99999731e-01 -1.90643592e-04 1.33342509e+00] [-7.39589662e-03 1.85398042e-04 9.99972633e-01 3.25029874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864000000002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:132.41, Y:1.33, Z:0.32 [[ 9.99969082e-01 2.66850814e-03 7.39687479e-03 1.32410075e+02] [-2.66749049e-03 9.99996431e-01 -1.47440902e-04 1.33308648e+00] [-7.39724184e-03 1.27705250e-04 9.99972632e-01 3.23909055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81864000000002 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:132.44, Y:1.33, Z:0.32 [[ 9.99957035e-01 5.58589962e-03 7.39763610e-03 1.32441521e+02] [-5.58517745e-03 9.99984396e-01 -1.18276371e-04 1.33360234e+00] [-7.39818134e-03 7.69541789e-05 9.99972630e-01 3.24920576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864000000002 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:132.47, Y:1.33, Z:0.31 [[ 9.99951057e-01 6.57071784e-03 7.39657636e-03 1.32473470e+02] [-6.56972617e-03 9.99978407e-01 -1.58361101e-04 1.33359679e+00] [-7.39745719e-03 1.09759869e-04 9.99972632e-01 3.10527081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87864000000002 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:132.50, Y:1.33, Z:0.32 [[ 9.99953419e-01 6.20207947e-03 7.39552657e-03 1.32502336e+02] [-6.20078728e-03 9.99980755e-01 -1.97642924e-04 1.33313387e+00] [-7.39661005e-03 1.51775630e-04 9.99972633e-01 3.23545715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864000000002 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:132.54, Y:1.33, Z:0.31 [[ 9.99945752e-01 7.33303299e-03 7.39724147e-03 1.32535331e+02] [-7.33224709e-03 9.99973110e-01 -1.33357465e-04 1.33289067e+00] [-7.39802047e-03 7.91118285e-05 9.99972631e-01 3.10137524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93864000000002 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:132.56, Y:1.33, Z:0.32 [[ 9.99950113e-01 6.71401551e-03 7.39545156e-03 1.32563699e+02] [-6.71272242e-03 9.99977449e-01 -1.99657592e-04 1.33229893e+00] [-7.39662529e-03 1.50004018e-04 9.99972633e-01 3.23700520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864000000002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:132.60, Y:1.33, Z:0.31 [[ 9.99951643e-01 6.48021788e-03 7.39723623e-03 1.32596954e+02] [-6.47940923e-03 9.99979000e-01 -1.33277163e-04 1.33147153e+00] [-7.39794455e-03 8.53409971e-05 9.99972631e-01 3.10420261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:132.63, Y:1.33, Z:0.31 [[ 9.99955870e-01 5.79362112e-03 7.39538982e-03 1.32629476e+02] [-5.79229177e-03 9.99983204e-01 -2.01158853e-04 1.33041807e+00] [-7.39643105e-03 1.58313720e-04 9.99972633e-01 3.10467563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:132.66, Y:1.33, Z:0.32 [[ 9.99960482e-01 4.93380493e-03 7.39535176e-03 1.32658542e+02] [-4.93244181e-03 9.99987815e-01 -2.02548749e-04 1.32794198e+00] [-7.39626098e-03 1.66063603e-04 9.99972633e-01 3.24412311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:132.69, Y:1.33, Z:0.31 [[ 9.99959030e-01 5.21752951e-03 7.39694321e-03 1.32690717e+02] [-5.21660648e-03 9.99986383e-01 -1.44074310e-04 1.32592544e+00] [-7.39759420e-03 1.05481466e-04 9.99972632e-01 3.09305074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:132.72, Y:1.32, Z:0.31 [[ 9.99961097e-01 4.80777152e-03 7.39530799e-03 1.32723280e+02] [-4.80639793e-03 9.99988428e-01 -2.03499622e-04 1.32274564e+00] [-7.39620080e-03 1.67946912e-04 9.99972634e-01 3.09834560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:132.76, Y:1.32, Z:0.31 [[ 9.99952081e-01 6.41443461e-03 7.39526959e-03 1.32755771e+02] [-6.41309469e-03 9.99979415e-01 -2.04885771e-04 1.31938600e+00] [-7.39643158e-03 1.57449389e-04 9.99972634e-01 3.09075693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14864 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:132.79, Y:1.32, Z:0.32 [[ 9.99942967e-01 7.70537320e-03 7.39523089e-03 1.32785841e+02] [-7.70405831e-03 9.99970302e-01 -2.06273329e-04 1.31590594e+00] [-7.39660067e-03 1.49288275e-04 9.99972634e-01 3.21741704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:132.82, Y:1.31, Z:0.31 [[ 9.99925715e-01 9.68809438e-03 7.39627050e-03 1.32817670e+02] [-9.68711008e-03 9.99953065e-01 -1.68894458e-04 1.31320865e+00] [-7.39755962e-03 9.72334256e-05 9.99972633e-01 3.07787035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:132.85, Y:1.31, Z:0.31 [[ 9.99910278e-01 1.11690330e-02 7.39517606e-03 1.32850541e+02] [-1.11678012e-02 9.99937617e-01 -2.07836807e-04 1.31067997e+00] [-7.39703606e-03 1.25230303e-04 9.99972634e-01 3.08312393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:132.88, Y:1.31, Z:0.32 [[ 9.99860182e-01 1.49976058e-02 7.39513635e-03 1.32881922e+02] [-1.49964684e-02 9.99887525e-01 -2.09240093e-04 1.30699742e+00] [-7.39744268e-03 9.83099084e-05 9.99972634e-01 3.22287838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:132.91, Y:1.31, Z:0.31 [[ 9.99839953e-01 1.62905793e-02 7.39489579e-03 1.32912886e+02] [-1.62894141e-02 9.99867295e-01 -2.17771187e-04 1.30545908e+00] [-7.39746207e-03 9.72778131e-05 9.99972634e-01 3.07186766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:132.94, Y:1.30, Z:0.31 [[ 9.99748534e-01 2.11702797e-02 7.39512377e-03 1.32944558e+02] [-2.11693075e-02 9.99775883e-01 -2.09732706e-04 1.30212306e+00] [-7.39790650e-03 5.31303164e-05 9.99972634e-01 3.07968860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:132.98, Y:1.30, Z:0.32 [[ 9.99691044e-01 2.37303536e-02 7.39508988e-03 1.32976517e+02] [-2.37294426e-02 9.99718395e-01 -2.10920991e-04 1.30065223e+00] [-7.39801261e-03 3.53744646e-05 9.99972634e-01 3.20994530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:133.01, Y:1.30, Z:0.32 [[ 9.99655279e-01 2.51924197e-02 7.39354746e-03 1.33006608e+02] [-2.51911483e-02 9.99682618e-01 -2.65052986e-04 1.29918956e+00] [-7.39787820e-03 7.87096669e-05 9.99972632e-01 3.21909626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:133.04, Y:1.30, Z:0.31 [[ 9.99650354e-01 2.53869702e-02 7.39397312e-03 1.33035852e+02] [-2.53858154e-02 9.99677697e-01 -2.50014365e-04 1.29800922e+00] [-7.39793712e-03 6.22249126e-05 9.99972633e-01 3.07366050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41864 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:133.07, Y:1.30, Z:0.32 [[ 9.99620162e-01 2.65489032e-02 7.39514636e-03 1.33067657e+02] [-2.65480881e-02 9.99647516e-01 -2.08376999e-04 1.29622684e+00] [-7.39807187e-03 1.19708527e-05 9.99972634e-01 3.21338348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:133.10, Y:1.29, Z:0.31 [[ 9.99634089e-01 2.60194788e-02 7.39421522e-03 1.33098349e+02] [-2.60184046e-02 9.99661435e-01 -2.41453458e-04 1.29409030e+00] [-7.39799429e-03 4.89794241e-05 9.99972633e-01 3.06610551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:133.13, Y:1.29, Z:0.31 [[ 9.99634668e-01 2.59969893e-02 7.39513603e-03 1.33131001e+02] [-2.59961557e-02 9.99662021e-01 -2.08848437e-04 1.29256590e+00] [-7.39806606e-03 1.65270299e-05 9.99972634e-01 3.05395058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:133.16, Y:1.29, Z:0.32 [[ 9.99604637e-01 2.71271649e-02 7.39510143e-03 1.33162734e+02] [-2.71263531e-02 9.99631991e-01 -2.10066632e-04 1.29120804e+00] [-7.39807848e-03 9.38144604e-06 9.99972634e-01 3.20829751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53864000000002 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:133.19, Y:1.29, Z:0.32 [[ 9.99621626e-01 2.64940647e-02 7.39383589e-03 1.33194766e+02] [-2.64929074e-02 9.99648969e-01 -2.54433209e-04 1.28928179e+00] [-7.39798139e-03 5.84527288e-05 9.99972633e-01 3.20756780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864000000002 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:133.22, Y:1.29, Z:0.30 [[ 9.99634701e-01 2.59961416e-02 7.39357030e-03 1.33224879e+02] [-2.59949012e-02 9.99662041e-01 -2.63823798e-04 1.28808540e+00] [-7.39792997e-03 7.15322938e-05 9.99972632e-01 3.03864615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59864000000002 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:133.26, Y:1.29, Z:0.32 [[ 9.99550344e-01 2.90589390e-02 7.39511949e-03 1.33257373e+02] [-2.90581879e-02 9.99577700e-01 -2.09011606e-04 1.28571306e+00] [-7.39807019e-03 -5.97114959e-06 9.99972634e-01 3.19965983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62864000000002 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:133.29, Y:1.29, Z:0.32 [[ 9.99507431e-01 3.04995612e-02 7.39402517e-03 1.33289277e+02] [-3.04985657e-02 9.99534780e-01 -2.47384849e-04 1.28526287e+00] [-7.39813045e-03 2.17558323e-05 9.99972633e-01 3.18544311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65864000000002 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:133.32, Y:1.29, Z:0.32 [[ 9.99399361e-01 3.38563113e-02 7.39368881e-03 1.33322031e+02] [-3.38553206e-02 9.99426711e-01 -2.59156760e-04 1.28531020e+00] [-7.39822418e-03 8.68539595e-06 9.99972633e-01 3.19385492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864000000002 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:133.35, Y:1.28, Z:0.32 [[ 9.99352254e-01 3.52194468e-02 7.39342505e-03 1.33354100e+02] [-3.52184243e-02 9.99379603e-01 -2.68479363e-04 1.28438661e+00] [-7.39829388e-03 7.92067627e-06 9.99972632e-01 3.17089967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71864000000002 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:133.39, Y:1.28, Z:0.32 [[ 9.99319755e-01 3.61298095e-02 7.39350146e-03 1.33386366e+02] [-3.61288320e-02 9.99347105e-01 -2.65778878e-04 1.28376986e+00] [-7.39827682e-03 -1.52048819e-06 9.99972632e-01 3.17311270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:133.42, Y:1.28, Z:0.32 [[ 9.99279172e-01 3.72352987e-02 7.39382064e-03 1.33418094e+02] [-3.72344358e-02 9.99306526e-01 -2.54368987e-04 1.28332399e+00] [-7.39816472e-03 -2.11191094e-05 9.99972633e-01 3.16134567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:133.45, Y:1.28, Z:0.32 [[ 9.99320568e-01 3.61072636e-02 7.39381631e-03 1.33449893e+02] [-3.61063687e-02 9.99347920e-01 -2.54524578e-04 1.28387526e+00] [-7.39818514e-03 -1.26122120e-05 9.99972633e-01 3.17306103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:133.48, Y:1.28, Z:0.32 [[ 9.99352391e-01 3.52154137e-02 7.39415800e-03 1.33482048e+02] [-3.52145860e-02 9.99379745e-01 -2.42147269e-04 1.28392608e+00] [-7.39809905e-03 -1.83917603e-05 9.99972634e-01 3.16055047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:133.51, Y:1.28, Z:0.30 [[ 9.99456476e-01 3.21259649e-02 7.39426624e-03 1.33512390e+02] [-3.21250816e-02 9.99483828e-01 -2.38234246e-04 1.28358828e+00] [-7.39810303e-03 5.63353606e-07 9.99972634e-01 3.01941882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:133.55, Y:1.28, Z:0.30 [[ 9.99452217e-01 3.22579797e-02 7.39523676e-03 1.33545048e+02] [-3.22573618e-02 9.99479575e-01 -2.02852846e-04 1.28269507e+00] [-7.39793172e-03 -3.58091007e-05 9.99972634e-01 3.01697930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:133.58, Y:1.28, Z:0.32 [[ 9.99468014e-01 3.17647532e-02 7.39520978e-03 1.33577173e+02] [-3.17641145e-02 9.99495372e-01 -2.03831620e-04 1.28088182e+00] [-7.39795262e-03 -3.11791060e-05 9.99972634e-01 3.16368313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:133.61, Y:1.28, Z:0.32 [[ 9.99528006e-01 2.98175453e-02 7.39458492e-03 1.33609113e+02] [-2.98166863e-02 9.99555358e-01 -2.26409049e-04 1.27844182e+00] [-7.39804794e-03 5.82016677e-06 9.99972634e-01 3.15196986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.64, Y:1.27, Z:0.31 [[ 9.99583488e-01 2.78956900e-02 7.39472285e-03 1.33639322e+02] [-2.78948151e-02 9.99610839e-01 -2.21447488e-04 1.27423028e+00] [-7.39802255e-03 1.50808249e-05 9.99972634e-01 3.14578088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:133.67, Y:1.27, Z:0.32 [[ 9.99603767e-01 2.71592718e-02 7.39484308e-03 1.33670542e+02] [-2.71584088e-02 9.99631119e-01 -2.17115132e-04 1.27268661e+00] [-7.39801195e-03 1.61969326e-05 9.99972634e-01 3.15145791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.70, Y:1.27, Z:0.31 [[ 9.99556711e-01 2.88390947e-02 7.39518626e-03 1.33702702e+02] [-2.88383695e-02 9.99584067e-01 -2.04700602e-04 1.27047971e+00] [-7.39801374e-03 -8.65525312e-06 9.99972634e-01 3.13006882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:1.27, Z:0.31 [[ 9.99549634e-01 2.90833748e-02 7.39504128e-03 1.33734614e+02] [-2.90826176e-02 9.99576989e-01 -2.09935157e-04 1.26837664e+00] [-7.39801872e-03 -5.22654858e-06 9.99972634e-01 3.13634635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:1.27, Z:0.30 [[ 9.99542803e-01 2.93171900e-02 7.39506287e-03 1.33766378e+02] [-2.93164449e-02 9.99570159e-01 -2.09159601e-04 1.26601739e+00] [-7.39801614e-03 -7.73297898e-06 9.99972634e-01 2.97571134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10864 meters Centerline goodness : 0.848521 Centerline is valid? [True, False] Translation: X:133.77, Y:1.26, Z:0.30 [[ 9.99889645e-01 1.31931912e-02 6.82917717e-03 1.33768689e+02] [-1.32252972e-02 9.99901601e-01 4.67768740e-03 1.25856301e+00] [-6.76679156e-03 -4.76748910e-03 9.99965740e-01 2.96680014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:133.77, Y:1.26, Z:0.30 [[ 9.99934751e-01 9.09307659e-03 6.91446161e-03 1.33768406e+02] [-9.09290683e-03 9.99958657e-01 -5.59880002e-05 1.26082325e+00] [-6.91468485e-03 -6.88820814e-06 9.99976093e-01 2.96779601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:133.80, Y:1.26, Z:0.30 [[ 9.99931033e-01 9.49311805e-03 6.91442367e-03 1.33800550e+02] [-9.49292536e-03 9.99954939e-01 -6.06881896e-05 1.25970493e+00] [-6.91468823e-03 -4.95410366e-06 9.99976093e-01 2.96942618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19864 meters Centerline goodness : 0.992380 Centerline is valid? [True, True] Translation: X:133.84, Y:1.29, Z:0.28 [[ 9.97365590e-01 7.22085125e-02 6.91445028e-03 1.33840444e+02] [-7.22098422e-02 9.97389460e-01 -5.74682875e-05 1.28698943e+00] [-6.90054953e-03 -4.41974471e-04 9.99976093e-01 2.80330521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.86, Y:1.26, Z:0.29 [[ 9.99958152e-01 5.99362577e-03 6.91159125e-03 1.33861911e+02] [-5.99105290e-03 9.99981976e-01 -3.92899760e-04 1.26062797e+00] [-6.91382157e-03 3.51475609e-04 9.99976037e-01 2.91742242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:1.26, Z:0.28 [[ 9.99959412e-01 5.77683645e-03 6.91389885e-03 1.33892612e+02] [-5.77659297e-03 9.99983314e-01 -5.51854771e-05 1.25993299e+00] [-6.91410228e-03 1.52444577e-05 9.99976097e-01 2.79912684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:133.92, Y:1.26, Z:0.30 [[ 9.99961914e-01 5.32614455e-03 6.91394707e-03 1.33923907e+02] [-5.32593804e-03 9.99985816e-01 -4.82800527e-05 1.25827501e+00] [-6.91410615e-03 1.14549602e-05 9.99976097e-01 2.96699408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:1.26, Z:0.28 [[ 9.99975989e-01 4.70134527e-04 6.91382349e-03 1.33954620e+02] [-4.69690840e-04 9.99999888e-01 -6.57974046e-05 1.25511758e+00] [-6.91385365e-03 6.25484652e-05 9.99976097e-01 2.80840254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:133.99, Y:1.25, Z:0.30 [[ 9.99976081e-01 1.86560722e-04 6.91393514e-03 1.33985442e+02] [-1.86215903e-04 9.99999981e-01 -5.05166848e-05 1.25370532e+00] [-6.91394444e-03 4.92279918e-05 9.99976097e-01 2.97947078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:1.25, Z:0.28 [[ 9.99972304e-01 -2.75473283e-03 6.91391801e-03 1.34016551e+02] [ 2.75516414e-03 9.99996203e-01 -5.28587115e-05 1.24769169e+00] [-6.91374615e-03 7.19062265e-05 9.99976097e-01 2.80479818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:134.05, Y:1.24, Z:0.30 [[ 9.99973782e-01 -2.15230867e-03 6.91392910e-03 1.34047862e+02] [ 2.15271526e-03 9.99997682e-01 -5.13655143e-05 1.24418521e+00] [-6.91380252e-03 6.62478883e-05 9.99976097e-01 2.96854322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:134.08, Y:1.24, Z:0.30 [[ 9.99975111e-01 -1.40497195e-03 6.91400852e-03 1.34080379e+02] [ 1.40528930e-03 9.99999012e-01 -4.10416040e-05 1.24197395e+00] [-6.91394402e-03 5.07567648e-05 9.99976097e-01 2.97622411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:134.11, Y:1.24, Z:0.30 [[ 9.99976098e-01 -3.43818603e-05 6.91389573e-03 1.34112616e+02] [ 3.47641791e-05 9.99999998e-01 -5.51769755e-05 1.23742843e+00] [-6.91389382e-03 5.54160126e-05 9.99976097e-01 2.95859093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:134.14, Y:1.23, Z:0.30 [[ 9.99975783e-01 7.95564853e-04 6.91385814e-03 1.34144949e+02] [-7.95170031e-04 9.99999682e-01 -5.98545907e-05 1.23382310e+00] [-6.91390356e-03 5.43554483e-05 9.99976097e-01 2.95506710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:134.18, Y:1.23, Z:0.30 [[ 9.99973173e-01 2.41926669e-03 6.91375535e-03 1.34175002e+02] [-2.41882518e-03 9.99997072e-01 -7.22203718e-05 1.22708804e+00] [-6.91390983e-03 5.54952688e-05 9.99976097e-01 2.98302753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:1.23, Z:0.29 [[ 9.99961346e-01 5.43165147e-03 6.91398460e-03 1.34206946e+02] [-5.43147504e-03 9.99985248e-01 -4.42945726e-05 1.22558188e+00] [-6.91412320e-03 6.73972569e-06 9.99976097e-01 2.92442815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:1.22, Z:0.29 [[ 9.99953463e-01 6.72847179e-03 6.91365862e-03 1.34238312e+02] [-6.72805972e-03 9.99977363e-01 -8.28591309e-05 1.22436697e+00] [-6.91405963e-03 3.63397668e-05 9.99976097e-01 2.92621076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:1.22, Z:0.28 [[ 9.99914976e-01 1.10563056e-02 6.91371090e-03 1.34268575e+02] [-1.10560395e-02 9.99938877e-01 -7.66980256e-05 1.22221731e+00] [-6.91413632e-03 2.53243284e-07 9.99976097e-01 2.78053683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:134.30, Y:1.22, Z:0.29 [[ 9.99835017e-01 1.67969192e-02 6.91386711e-03 1.34301476e+02] [-1.67969189e-02 9.99858920e-01 -5.81138695e-05 1.22313150e+00] [-6.91386784e-03 -5.80273837e-05 9.99976097e-01 2.90770468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:134.33, Y:1.22, Z:0.29 [[ 9.99816377e-01 1.78722569e-02 6.91342349e-03 1.34332439e+02] [-1.78719215e-02 9.99840278e-01 -1.10290158e-04 1.22330341e+00] [-6.91429041e-03 -1.32862560e-05 9.99976096e-01 2.90730257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:134.36, Y:1.22, Z:0.29 [[ 9.99805819e-01 1.84533930e-02 6.91346187e-03 1.34364819e+02] [-1.84531033e-02 9.99829721e-01 -1.05698870e-04 1.22345651e+00] [-6.91423516e-03 -2.18964802e-05 9.99976096e-01 2.89648055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:134.39, Y:1.22, Z:0.29 [[ 9.99828433e-01 1.71845761e-02 6.91342756e-03 1.34394342e+02] [-1.71842269e-02 9.99852334e-01 -1.09902203e-04 1.22330518e+00] [-6.91429530e-03 -8.91856097e-06 9.99976096e-01 2.88175935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:134.43, Y:1.23, Z:0.29 [[ 9.99823173e-01 1.74878084e-02 6.91374456e-03 1.34425806e+02] [-1.74877448e-02 9.99847075e-01 -6.96593963e-05 1.22516129e+00] [-6.91390547e-03 -5.12587219e-05 9.99976097e-01 2.88083045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:134.46, Y:1.23, Z:0.28 [[ 9.99737866e-01 2.18265698e-02 6.91370890e-03 1.34458703e+02] [-2.18265785e-02 9.99761769e-01 -7.42101752e-05 1.22822197e+00] [-6.91368160e-03 -7.67118876e-05 9.99976097e-01 2.81297204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:134.49, Y:1.23, Z:0.29 [[ 9.99828588e-01 1.71755803e-02 6.91335716e-03 1.34490307e+02] [-1.71751672e-02 9.99852489e-01 -1.19118569e-04 1.22848726e+00] [-6.91438329e-03 3.60085157e-07 9.99976095e-01 2.87703875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:134.52, Y:1.23, Z:0.29 [[ 9.99835765e-01 1.67524058e-02 6.91375376e-03 1.34522303e+02] [-1.67523328e-02 9.99859667e-01 -6.84829769e-05 1.22915352e+00] [-6.91393079e-03 -4.73497742e-05 9.99976097e-01 2.86131264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88864 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:134.55, Y:1.23, Z:0.29 [[ 9.99819018e-01 1.77237454e-02 6.91372078e-03 1.34554541e+02] [-1.77236665e-02 9.99842921e-01 -7.26878489e-05 1.23080130e+00] [-6.91392308e-03 -4.98617874e-05 9.99976097e-01 2.86251892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:134.59, Y:1.23, Z:0.28 [[ 9.99819448e-01 1.76994972e-02 6.91369569e-03 1.34587415e+02] [-1.76993955e-02 9.99843351e-01 -7.58973334e-05 1.23477890e+00] [-6.91395601e-03 -4.64846043e-05 9.99976097e-01 2.84403897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:134.62, Y:1.24, Z:0.27 [[ 9.99852604e-01 1.57153445e-02 6.91357678e-03 1.34617569e+02] [-1.57150929e-02 9.99876506e-01 -9.07224296e-05 1.23656208e+00] [-6.91414873e-03 -1.79384438e-05 9.99976097e-01 2.70992047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97864 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:134.65, Y:1.24, Z:0.29 [[ 9.99855518e-01 1.55287335e-02 6.91385708e-03 1.34649604e+02] [-1.55287154e-02 9.99879421e-01 -5.63036335e-05 1.23662682e+00] [-6.91389773e-03 -5.10678203e-05 9.99976097e-01 2.85858371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00864 meters Centerline goodness : 0.786749 Centerline is valid? [True, False] Translation: X:134.65, Y:1.23, Z:0.29 [[ 9.99991134e-01 -1.93775401e-04 4.20649515e-03 1.34653376e+02] [ 1.74941585e-04 9.99989962e-01 4.47722427e-03 1.23203256e+00] [-4.20732050e-03 -4.47644869e-03 9.99981130e-01 2.85599186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03864000000002 meters Centerline goodness : 0.758863 Centerline is valid? [False, False] Translation: X:134.65, Y:1.24, Z:0.29 [[ 9.99982221e-01 -4.32456253e-03 4.10567377e-03 1.34653660e+02] [ 4.32694303e-03 9.99990476e-01 -5.71102839e-04 1.23577026e+00] [-4.10316489e-03 5.88857701e-04 9.99991409e-01 2.85519967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864000000002 meters Centerline goodness : 0.997983 Centerline is valid? [False, True] Translation: X:134.66, Y:1.25, Z:0.29 [[ 9.99994176e-01 -2.25419273e-03 2.56263244e-03 1.34655934e+02] [ 2.30732647e-03 9.99778413e-01 -2.09237206e-02 1.25272873e+00] [-2.51489849e-03 2.09295116e-02 9.99777791e-01 2.85527466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09864000000002 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:134.69, Y:1.24, Z:0.29 [[ 9.99989423e-01 -3.84097157e-03 2.53002080e-03 1.34686980e+02] [ 3.84107781e-03 9.99992622e-01 -3.71328012e-05 1.23507252e+00] [-2.52985951e-03 4.68504152e-05 9.99996799e-01 2.85161726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864000000002 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:134.72, Y:1.24, Z:0.28 [[ 9.99979483e-01 -5.88503496e-03 2.52995877e-03 1.34718968e+02] [ 5.88503853e-03 9.99982683e-01 6.03202095e-06 1.23528414e+00] [-2.52995046e-03 8.85700765e-06 9.99996800e-01 2.83497459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15864000000002 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:134.75, Y:1.23, Z:0.28 [[ 9.99937822e-01 -1.08605696e-02 2.52995829e-03 1.34749329e+02] [ 1.08605881e-02 9.99941022e-01 6.42522961e-06 1.23483468e+00] [-2.52987886e-03 2.10520046e-05 9.99996800e-01 2.84442185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864000000002 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:134.78, Y:1.23, Z:0.28 [[ 9.99920871e-01 -1.23227914e-02 2.52994922e-03 1.34781278e+02] [ 1.23227920e-02 9.99924071e-01 1.53735589e-05 1.23357472e+00] [-2.52994657e-03 1.58036956e-05 9.99996800e-01 2.83741146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21864000000002 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:134.81, Y:1.23, Z:0.28 [[ 9.99902773e-01 -1.37129086e-02 2.52995043e-03 1.34813372e+02] [ 1.37129195e-02 9.99905973e-01 1.30226955e-05 1.23237242e+00] [-2.52989113e-03 2.16715774e-05 9.99996800e-01 2.83402980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:134.85, Y:1.23, Z:0.28 [[ 9.99867306e-01 -1.60925592e-02 2.52995062e-03 1.34846859e+02] [ 1.60925677e-02 9.99870506e-01 1.69864552e-05 1.23039467e+00] [-2.52989636e-03 2.37292005e-05 9.99996800e-01 2.83794085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27864 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:134.88, Y:1.23, Z:0.28 [[ 9.99873863e-01 -1.56798334e-02 2.52994385e-03 1.34878343e+02] [ 1.56798624e-02 9.99877063e-01 8.37937516e-06 1.22965998e+00] [-2.52976421e-03 3.12908533e-05 9.99996800e-01 2.83026418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:134.91, Y:1.23, Z:0.28 [[ 9.99803873e-01 -1.96421756e-02 2.52992326e-03 1.34906278e+02] [ 1.96422649e-02 9.99807072e-01 -1.04556408e-05 1.22590040e+00] [-2.52922980e-03 6.01470130e-05 9.99996800e-01 2.82692485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33864 meters Centerline goodness : 0.867457 Centerline is valid? [True, False] Translation: X:134.91, Y:1.23, Z:0.28 [[ 9.99961464e-01 -8.77748144e-03 1.64156162e-04 1.34909074e+02] [ 8.77865036e-03 9.99915690e-01 -9.56804580e-03 1.23443574e+00] [-8.01589780e-05 9.56911815e-03 9.99954212e-01 2.82039419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters Centerline goodness : 0.996453 Centerline is valid? [False, True] Translation: X:134.93, Y:1.24, Z:0.28 [[ 9.99992055e-01 -3.36749030e-03 -2.13305899e-03 1.34932995e+02] [ 3.33564867e-03 9.99885511e-01 -1.47593640e-02 1.23773645e+00] [ 2.18251679e-03 1.47521316e-02 9.99888799e-01 2.82588378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39864 meters Centerline goodness : 0.840030 Centerline is valid? [True, False] Translation: X:134.93, Y:1.23, Z:0.28 [[ 9.99997323e-01 7.37242595e-04 -2.19343878e-03 1.34933136e+02] [-7.58330763e-04 9.99953353e-01 -9.62895733e-03 1.23348573e+00] [ 2.18623758e-03 9.63059491e-03 9.99951235e-01 2.82518526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters Centerline goodness : 0.990065 Centerline is valid? [False, True] Translation: X:134.93, Y:1.23, Z:0.28 [[ 9.99996998e-01 7.23525782e-04 -2.34117734e-03 1.34933483e+02] [-7.44148682e-04 9.99960827e-01 -8.81992515e-03 1.23000675e+00] [ 2.33470419e-03 8.82164085e-03 9.99958363e-01 2.82184879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:134.94, Y:1.19, Z:0.28 [[ 9.97992102e-01 -6.32798117e-02 -2.72581556e-03 1.34938450e+02] [ 6.32832587e-02 9.97994887e-01 1.19739379e-03 1.19277012e+00] [ 2.64457914e-03 -1.36748804e-03 9.99995568e-01 2.79236149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:134.97, Y:1.19, Z:0.29 [[ 9.98107059e-01 -6.14424504e-02 -2.66917877e-03 1.34968297e+02] [ 6.14423620e-02 9.98110627e-01 -1.15178337e-04 1.19343869e+00] [ 2.67121253e-03 -4.90403373e-05 9.99996431e-01 2.94900312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:135.00, Y:1.19, Z:0.28 [[ 9.98110229e-01 -6.13909366e-02 -2.66883333e-03 1.34999918e+02] [ 6.13908267e-02 9.98113797e-01 -1.23165238e-04 1.19323393e+00] [ 2.67136060e-03 -4.09094007e-05 9.99996431e-01 2.80205915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:135.03, Y:1.19, Z:0.28 [[ 9.98174310e-01 -6.03400531e-02 -2.66918148e-03 1.35029272e+02] [ 6.03399610e-02 9.98177878e-01 -1.15091043e-04 1.19252637e+00] [ 2.67126251e-03 -4.61773839e-05 9.99996431e-01 2.80616492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57864 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:135.06, Y:1.19, Z:0.29 [[ 9.98440725e-01 -5.57583507e-02 -2.66917414e-03 1.35059533e+02] [ 5.57582417e-02 9.98444292e-01 -1.15260987e-04 1.19210992e+00] [ 2.67144845e-03 -3.37471935e-05 9.99996431e-01 2.93045792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60864 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:135.09, Y:1.19, Z:0.29 [[ 9.98539363e-01 -5.39630970e-02 -2.66910896e-03 1.35090077e+02] [ 5.39629776e-02 9.98542930e-01 -1.16772121e-04 1.19383186e+00] [ 2.67152126e-03 -2.74315077e-05 9.99996431e-01 2.93198343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63864 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:135.12, Y:1.19, Z:0.29 [[ 9.98505976e-01 -5.45773847e-02 -2.66937552e-03 1.35119773e+02] [ 5.45772841e-02 9.98509543e-01 -1.10580385e-04 1.19405209e+00] [ 2.67143212e-03 -3.52720905e-05 9.99996431e-01 2.88708919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66864 meters Centerline goodness : 0.948574 Centerline is valid? [True, False] Translation: X:135.12, Y:1.20, Z:0.29 [[ 9.99163737e-01 -4.06283352e-02 -4.60045177e-03 1.35122109e+02] [ 4.05997230e-02 9.99156559e-01 -6.15085013e-03 1.19991289e+00] [ 4.84647036e-03 5.95892934e-03 9.99970501e-01 2.88080697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69864 meters Centerline goodness : 0.995920 Centerline is valid? [False, True] Translation: X:135.13, Y:1.21, Z:0.29 [[ 9.99617400e-01 -2.67099559e-02 -7.18559783e-03 1.35125058e+02] [ 2.66215459e-02 9.99571984e-01 -1.21302534e-02 1.20591522e+00] [ 7.50652081e-03 1.19343206e-02 9.99900607e-01 2.87180051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72864 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:135.16, Y:1.20, Z:0.27 [[ 9.99590409e-01 -2.76499941e-02 -7.38185857e-03 1.35156609e+02] [ 2.76495880e-02 9.99617665e-01 -1.57070011e-04 1.19594367e+00] [ 7.38337921e-03 -4.70996723e-05 9.99972741e-01 2.74822589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75864 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:135.19, Y:1.20, Z:0.27 [[ 9.99595032e-01 -2.74821955e-02 -7.38246954e-03 1.35185822e+02] [ 2.74820642e-02 9.99622290e-01 -1.19245062e-04 1.19588012e+00] [ 7.38295822e-03 -8.36887300e-05 9.99972742e-01 2.73883811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864000000002 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:135.21, Y:1.20, Z:0.27 [[ 9.99588823e-01 -2.77071195e-02 -7.38245393e-03 1.35214206e+02] [ 2.77069873e-02 9.99616081e-01 -1.20203882e-04 1.19632677e+00] [ 7.38295017e-03 -8.43911006e-05 9.99972742e-01 2.74995047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81864000000002 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:135.24, Y:1.20, Z:0.28 [[ 9.99585224e-01 -2.78366502e-02 -7.38243831e-03 1.35243527e+02] [ 2.78365145e-02 9.99612482e-01 -1.21155792e-04 1.19677577e+00] [ 7.38295005e-03 -8.43958119e-05 9.99972742e-01 2.75211580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864000000002 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:135.28, Y:1.20, Z:0.29 [[ 9.99667409e-01 -2.47097325e-02 -7.38242249e-03 1.35275104e+02] [ 2.47095045e-02 9.99694666e-01 -1.22112411e-04 1.19747899e+00] [ 7.38318575e-03 -6.03442039e-05 9.99972742e-01 2.88657209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87864000000002 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:135.30, Y:1.20, Z:0.29 [[ 9.99708330e-01 -2.29943164e-02 -7.38355767e-03 1.35304524e+02] [ 2.29945524e-02 9.99735589e-01 -5.29461416e-05 1.19919378e+00] [ 7.38282283e-03 -1.16850905e-04 9.99972740e-01 2.86693601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864000000002 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:135.33, Y:1.20, Z:0.29 [[ 9.99731492e-01 -2.19642282e-02 -7.38350937e-03 1.35333046e+02] [ 2.19644147e-02 9.99758752e-01 -5.58406636e-05 1.20090785e+00] [ 7.38295460e-03 -1.06348792e-04 9.99972740e-01 2.89022227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93864000000002 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:135.36, Y:1.20, Z:0.29 [[ 9.99720936e-01 -2.24394717e-02 -7.38382873e-03 1.35361058e+02] [ 2.24398090e-02 9.99748195e-01 -3.71815949e-05 1.20316999e+00] [ 7.38280378e-03 -1.28520487e-04 9.99972738e-01 2.87973003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864000000002 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:135.39, Y:1.21, Z:0.29 [[ 9.99738768e-01 -2.16304922e-02 -7.38358501e-03 1.35390239e+02] [ 2.16307047e-02 9.99766028e-01 -5.10787766e-05 1.20662158e+00] [ 7.38296232e-03 -1.08646714e-04 9.99972740e-01 2.89010169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:135.42, Y:1.21, Z:0.29 [[ 9.99736569e-01 -2.17319163e-02 -7.38352888e-03 1.35418835e+02] [ 2.17321086e-02 9.99763828e-01 -5.41976137e-05 1.20693931e+00] [ 7.38296292e-03 -1.06276315e-04 9.99972740e-01 2.87481809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:135.45, Y:1.21, Z:0.29 [[ 9.99683103e-01 -2.40660644e-02 -7.38369035e-03 1.35446405e+02] [ 2.40663852e-02 9.99710362e-01 -4.54105664e-05 1.20844252e+00] [ 7.38264460e-03 -1.32302560e-04 9.99972739e-01 2.90622549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05864 meters Centerline goodness : 0.904308 Centerline is valid? [True, False] Translation: X:135.45, Y:1.22, Z:0.29 [[ 9.99854336e-01 -1.50085992e-02 -8.12706672e-03 1.35447895e+02] [ 1.49091977e-02 9.99814952e-01 -1.21564014e-02 1.22046872e+00] [ 8.30801338e-03 1.20334626e-02 9.99893081e-01 2.89915754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters Centerline goodness : 0.998623 Centerline is valid? [False, True] Translation: X:135.45, Y:1.22, Z:0.29 [[ 9.99943560e-01 -6.62563186e-03 -8.30534674e-03 1.35448105e+02] [ 6.60441615e-03 9.99974864e-01 -2.57929381e-03 1.21523209e+00] [ 8.32222743e-03 2.52429626e-03 9.99962184e-01 2.89786859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11864 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:135.48, Y:1.21, Z:0.29 [[ 9.99919968e-01 -9.54665109e-03 -8.30172562e-03 1.35478082e+02] [ 9.54771243e-03 9.99954416e-01 8.82220336e-05 1.21334685e+00] [ 8.30050497e-03 -1.67477462e-04 9.99965536e-01 2.91246383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:135.51, Y:1.21, Z:0.28 [[ 9.99896353e-01 -1.17627848e-02 -8.30176095e-03 1.35506619e+02] [ 1.17636041e-02 9.99930805e-01 4.98632402e-05 1.21467462e+00] [ 8.30059998e-03 -1.47516701e-04 9.99965539e-01 2.78037970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:135.54, Y:1.22, Z:0.28 [[ 9.99894273e-01 -1.19382820e-02 -8.30178776e-03 1.35535365e+02] [ 1.19387345e-02 9.99928731e-01 4.95451861e-06 1.21589631e+00] [ 8.30113695e-03 -1.04066835e-04 9.99965540e-01 2.77653907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:135.56, Y:1.22, Z:0.28 [[ 9.99895973e-01 -1.17950650e-02 -8.30178826e-03 1.35564135e+02] [ 1.17955038e-02 9.99930431e-01 3.88506661e-06 1.21799456e+00] [ 8.30116488e-03 -1.01808437e-04 9.99965540e-01 2.76628721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23864 meters Centerline goodness : 0.921593 Centerline is valid? [True, False] Translation: X:135.56, Y:1.23, Z:0.28 [[ 9.99995496e-01 -2.63133764e-03 -1.44350010e-03 1.35558532e+02] [ 2.61568497e-03 9.99938900e-01 -1.07403330e-02 1.22947473e+00] [ 1.47167335e-03 1.07365089e-02 9.99941279e-01 2.78062039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:135.56, Y:1.23, Z:0.28 [[ 9.99995629e-01 -2.59735002e-03 -1.41291734e-03 1.35558445e+02] [ 2.58141865e-03 9.99934362e-01 -1.11628382e-02 1.23131689e+00] [ 1.44181839e-03 1.11591420e-02 9.99936695e-01 2.78183923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:135.59, Y:1.22, Z:0.28 [[ 9.99997811e-01 -1.62032348e-03 -1.32366882e-03 1.35588201e+02] [ 1.62033891e-03 9.99998687e-01 1.05826923e-05 1.22497358e+00] [ 1.32364993e-03 -1.27274612e-05 9.99999124e-01 2.77163818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.62, Y:1.23, Z:0.28 [[ 9.99997323e-01 -1.89772177e-03 -1.32366949e-03 1.35617624e+02] [ 1.89773732e-03 9.99998199e-01 1.04972170e-05 1.22570339e+00] [ 1.32364719e-03 -1.30091659e-05 9.99999124e-01 2.76047786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:135.65, Y:1.23, Z:0.29 [[ 9.99997524e-01 -1.78866493e-03 -1.32367017e-03 1.35647226e+02] [ 1.78868028e-03 9.99998400e-01 1.04117574e-05 1.22715677e+00] [ 1.32364943e-03 -1.27793543e-05 9.99999124e-01 2.92782527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:135.68, Y:1.23, Z:0.29 [[ 9.99994801e-01 -2.94038406e-03 -1.32366703e-03 1.35676530e+02] [ 2.94040096e-03 9.99995677e-01 1.08171074e-05 1.22798215e+00] [ 1.32362950e-03 -1.47091630e-05 9.99999124e-01 2.93715199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.71, Y:1.23, Z:0.28 [[ 9.99983670e-01 -5.55940565e-03 -1.32366358e-03 1.35706611e+02] [ 5.55942544e-03 9.99984546e-01 1.12719562e-05 1.22925175e+00] [ 1.32358046e-03 -1.86305811e-05 9.99999124e-01 2.78046462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44864 meters Centerline goodness : 0.807741 Centerline is valid? [True, False] Translation: X:135.73, Y:1.24, Z:0.28 [[ 9.99943334e-01 -7.44341791e-03 -7.61081498e-03 1.35730513e+02] [ 7.34353189e-03 9.99887631e-01 -1.30689992e-02 1.24209172e+00] [ 7.70723778e-03 1.30123684e-02 9.99885632e-01 2.81688522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47864 meters Centerline goodness : 0.998819 Centerline is valid? [False, True] Translation: X:135.73, Y:1.24, Z:0.28 [[ 9.99965057e-01 -3.31247654e-03 -7.67540099e-03 1.35730655e+02] [ 3.24504090e-03 9.99956174e-01 -8.78180251e-03 1.24143392e+00] [ 7.70415412e-03 8.75658866e-03 9.99931982e-01 2.81527266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50864 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:135.76, Y:1.24, Z:0.28 [[ 9.99964457e-01 -3.67200224e-03 -7.58951945e-03 1.35759011e+02] [ 3.67241546e-03 9.99993256e-01 4.05100319e-05 1.23755633e+00] [ 7.58931951e-03 -6.83804606e-05 9.99971198e-01 2.81671366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53864000000002 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:135.79, Y:1.24, Z:0.28 [[ 9.99970079e-01 -1.49762748e-03 -7.58937637e-03 1.35789742e+02] [ 1.49809389e-03 9.99998876e-01 5.57711708e-05 1.23808530e+00] [ 7.58928432e-03 -6.71391004e-05 9.99971199e-01 2.83969133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864000000002 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:135.82, Y:1.24, Z:0.28 [[ 9.99966432e-01 -3.08922841e-03 -7.58895978e-03 1.35818931e+02] [ 3.09007524e-03 9.99995221e-01 9.98642228e-05 1.23801161e+00] [ 7.58861501e-03 -1.23311327e-04 9.99971198e-01 2.82936611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59864000000002 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:135.85, Y:1.24, Z:0.28 [[ 9.99960120e-01 -4.70760386e-03 -7.58926115e-03 1.35847668e+02] [ 4.70824973e-03 9.99988914e-01 6.72383117e-05 1.24120063e+00] [ 7.58886048e-03 -1.02967767e-04 9.99971199e-01 2.82831814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864000000002 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:135.88, Y:1.24, Z:0.28 [[ 9.99957346e-01 -5.26361080e-03 -7.58950357e-03 1.35876300e+02] [ 5.26407354e-03 9.99986144e-01 4.09954133e-05 1.24287117e+00] [ 7.58918263e-03 -8.09453696e-05 9.99971198e-01 2.82568049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65864000000002 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:135.91, Y:1.25, Z:0.28 [[ 9.99955892e-01 -5.53295045e-03 -7.58947679e-03 1.35905139e+02] [ 5.53344310e-03 9.99984689e-01 4.39162973e-05 1.24539536e+00] [ 7.58911761e-03 -8.59102982e-05 9.99971199e-01 2.83991928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:135.94, Y:1.25, Z:0.27 [[ 9.99939685e-01 -7.93885097e-03 -7.58950377e-03 1.35936067e+02] [ 7.93939059e-03 9.99968482e-01 4.09742185e-05 1.24726614e+00] [ 7.58893928e-03 -1.01227782e-04 9.99971198e-01 2.67071249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71864000000002 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:135.96, Y:1.25, Z:0.28 [[ 9.99938767e-01 -8.05389486e-03 -7.58924303e-03 1.35964476e+02] [ 8.05465396e-03 9.99967558e-01 6.94625466e-05 1.24936462e+00] [ 7.58843738e-03 -1.30587020e-04 9.99971199e-01 2.83624744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:135.99, Y:1.25, Z:0.28 [[ 9.99938980e-01 -8.02706544e-03 -7.58962833e-03 1.35994047e+02] [ 8.02750214e-03 9.99967779e-01 2.70776280e-05 1.25122867e+00] [ 7.58916643e-03 -8.80017334e-05 9.99971198e-01 2.83730146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:136.02, Y:1.25, Z:0.28 [[ 9.99903858e-01 -1.16048899e-02 -7.58957983e-03 1.36022948e+02] [ 1.16054703e-02 9.99932654e-01 3.24369566e-05 1.25249796e+00] [ 7.58869228e-03 -1.20514482e-04 9.99971198e-01 2.83827833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:136.05, Y:1.25, Z:0.27 [[ 9.99886984e-01 -1.29775308e-02 -7.58963012e-03 1.36054846e+02] [ 1.29781089e-02 9.99915780e-01 2.69302108e-05 1.25306606e+00] [ 7.58864143e-03 -1.25426214e-04 9.99971198e-01 2.68277342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83864 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:136.08, Y:1.25, Z:0.29 [[ 9.99809972e-01 -1.79561702e-02 -7.58922145e-03 1.36081815e+02] [ 1.79572242e-02 9.99838754e-01 7.07613216e-05 1.25429743e+00] [ 7.58672711e-03 -2.07029226e-04 9.99971199e-01 2.88345865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:136.11, Y:1.26, Z:0.29 [[ 9.99756632e-01 -2.07140149e-02 -7.58985439e-03 1.36112133e+02] [ 2.07146232e-02 9.99785429e-01 1.52928007e-06 1.25538185e+00] [ 7.58819415e-03 -1.58749882e-04 9.99971197e-01 2.86148440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:136.14, Y:1.25, Z:0.27 [[ 9.99731477e-01 -2.18945045e-02 -7.58976956e-03 1.36143732e+02] [ 2.18952170e-02 9.99760271e-01 1.07801124e-05 1.25476140e+00] [ 7.58771405e-03 -1.76956869e-04 9.99971197e-01 2.69778261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:136.17, Y:1.25, Z:0.27 [[ 9.99688512e-01 -2.37756938e-02 -7.58919146e-03 1.36172385e+02] [ 2.37769236e-02 9.99717286e-01 7.18467208e-05 1.25341834e+00] [ 7.58533769e-03 -2.52271967e-04 9.99971199e-01 2.70505340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:136.20, Y:1.25, Z:0.29 [[ 9.99606858e-01 -2.69913456e-02 -7.58920009e-03 1.36199638e+02] [ 2.69926609e-02 9.99635629e-01 7.09235825e-05 1.25341723e+00] [ 7.58452048e-03 -2.75748404e-04 9.99971199e-01 2.86381377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:136.23, Y:1.25, Z:0.29 [[ 9.99661318e-01 -2.48926350e-02 -7.58989264e-03 1.36230968e+02] [ 2.48933127e-02 9.99690113e-01 -5.18518983e-06 1.25449798e+00] [ 7.58766971e-03 -1.83754137e-04 9.99971196e-01 2.88302368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:136.26, Y:1.25, Z:0.27 [[ 9.99672373e-01 -2.44447515e-02 -7.58953331e-03 1.36262775e+02] [ 2.44457041e-02 9.99701159e-01 3.27564702e-05 1.25362987e+00] [ 7.58646452e-03 -2.18277224e-04 9.99971199e-01 2.71577232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:136.29, Y:1.25, Z:0.27 [[ 9.99684760e-01 -2.39329550e-02 -7.58913879e-03 1.36291472e+02] [ 2.39342018e-02 9.99713533e-01 7.34952527e-05 1.25202305e+00] [ 7.58520579e-03 -2.55112063e-04 9.99971199e-01 2.70975907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:136.32, Y:1.25, Z:0.29 [[ 9.99669958e-01 -2.45434127e-02 -7.58914760e-03 1.36317992e+02] [ 2.45446700e-02 9.99698732e-01 7.25734422e-05 1.25031174e+00] [ 7.58508003e-03 -2.58822614e-04 9.99971199e-01 2.88813214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:136.35, Y:1.25, Z:0.27 [[ 9.99705608e-01 -2.30453238e-02 -7.59012753e-03 1.36351699e+02] [ 2.30457369e-02 9.99734411e-01 -3.30341114e-05 1.25059097e+00] [ 7.58887296e-03 -1.41895696e-04 9.99971194e-01 2.73402666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:136.38, Y:1.25, Z:0.29 [[ 9.99696234e-01 -2.34487980e-02 -7.58908736e-03 1.36380016e+02] [ 2.34500336e-02 9.99725007e-01 7.38549172e-05 1.24903530e+00] [ 7.58526861e-03 -2.51796836e-04 9.99971200e-01 2.88061468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:136.41, Y:1.25, Z:0.29 [[ 9.99741462e-01 -2.14337175e-02 -7.58973901e-03 1.36408669e+02] [ 2.14343778e-02 9.99770257e-01 5.66801778e-06 1.24802867e+00] [ 7.58787383e-03 -1.68347886e-04 9.99971198e-01 2.89544691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:136.44, Y:1.25, Z:0.29 [[ 9.99820307e-01 -1.73709507e-02 -7.58968158e-03 1.36441794e+02] [ 1.73715397e-02 9.99849103e-01 1.16885492e-05 1.24741671e+00] [ 7.58833328e-03 -1.43530904e-04 9.99971198e-01 2.88535088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:136.47, Y:1.25, Z:0.29 [[ 9.99830615e-01 -1.67677793e-02 -7.58837423e-03 1.36468599e+02] [ 1.67693490e-02 9.99859374e-01 1.43271590e-04 1.24669558e+00] [ 7.58490477e-03 -2.70499418e-04 9.99971198e-01 2.90128084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:1.25, Z:0.27 [[ 9.99855796e-01 -1.51917634e-02 -7.58930928e-03 1.36500166e+02] [ 1.51925568e-02 9.99884585e-01 4.68964595e-05 1.24675712e+00] [ 7.58772092e-03 -1.62190709e-04 9.99971200e-01 2.73235139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:1.25, Z:0.27 [[ 9.99888899e-01 -1.28295186e-02 -7.58904663e-03 1.36528535e+02] [ 1.28304487e-02 9.99917684e-01 7.38772818e-05 1.24613261e+00] [ 7.58747412e-03 -1.71239947e-04 9.99971200e-01 2.74352041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:1.25, Z:0.27 [[ 9.99897885e-01 -1.21089325e-02 -7.58905567e-03 1.36557753e+02] [ 1.21098346e-02 9.99926671e-01 7.29373655e-05 1.24549967e+00] [ 7.58761597e-03 -1.64832127e-04 9.99971200e-01 2.73552842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:1.25, Z:0.27 [[ 9.99906183e-01 -1.14030993e-02 -7.58906469e-03 1.36587051e+02] [ 1.14039739e-02 9.99934970e-01 7.19861982e-05 1.24512519e+00] [ 7.58775031e-03 -1.58524941e-04 9.99971200e-01 2.74091408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:136.62, Y:1.25, Z:0.29 [[ 9.99902075e-01 -1.17577923e-02 -7.58907347e-03 1.36615823e+02] [ 1.17586701e-02 9.99930862e-01 7.10478147e-05 1.24505760e+00] [ 7.58771341e-03 -1.60278269e-04 9.99971200e-01 2.92016637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:136.65, Y:1.25, Z:0.29 [[ 9.99938315e-01 -8.10956157e-03 -7.58959464e-03 1.36646664e+02] [ 8.10990505e-03 9.99967114e-01 1.44823254e-05 1.24667559e+00] [ 7.58922761e-03 -7.60323240e-05 9.99971199e-01 2.89119892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:1.25, Z:0.27 [[ 9.99941611e-01 -7.69277220e-03 -7.58915868e-03 1.36677764e+02] [ 7.69345573e-03 9.99970403e-01 6.08768346e-05 1.24842507e+00] [ 7.58846575e-03 -1.19260136e-04 9.99971200e-01 2.74675307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:1.25, Z:0.28 [[ 9.99962572e-01 -4.15464198e-03 -7.58907036e-03 1.36706551e+02] [ 4.15529588e-03 9.99991364e-01 7.03978448e-05 1.25277968e+00] [ 7.58871235e-03 -1.01930043e-04 9.99971200e-01 2.75094222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:1.25, Z:0.27 [[ 9.99967791e-01 -2.61210958e-03 -7.58907901e-03 1.36735872e+02] [ 2.61271189e-03 9.99996584e-01 6.94525978e-05 1.25460603e+00] [ 7.58887168e-03 -8.92784378e-05 9.99971200e-01 2.74910300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:1.26, Z:0.28 [[ 9.99970381e-01 -1.28136928e-03 -7.58909547e-03 1.36764344e+02] [ 1.28191925e-03 9.99999176e-01 6.76049104e-05 1.25687753e+00] [ 7.58900259e-03 -7.73315157e-05 9.99971200e-01 2.75045433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:1.26, Z:0.28 [[ 9.99969861e-01 -1.63813163e-03 -7.58910815e-03 1.36792889e+02] [ 1.63868084e-03 9.99998655e-01 6.61501821e-05 1.26371773e+00] [ 7.58898958e-03 -7.85843145e-05 9.99971200e-01 2.76191589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.82, Y:1.27, Z:0.29 [[ 9.99970364e-01 -1.29439138e-03 -7.58911643e-03 1.36822655e+02] [ 1.29492337e-03 9.99999159e-01 6.51860449e-05 1.26681816e+00] [ 7.58902568e-03 -7.50114373e-05 9.99971200e-01 2.89002879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:1.27, Z:0.28 [[ 9.99957231e-01 -5.28613032e-03 -7.58906834e-03 1.36853023e+02] [ 5.28682044e-03 9.99986022e-01 7.08763829e-05 1.27077536e+00] [ 7.58858760e-03 -1.10995393e-04 9.99971200e-01 2.75529953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:1.27, Z:0.28 [[ 9.99938304e-01 -8.11135335e-03 -7.58912107e-03 1.36882232e+02] [ 8.11207787e-03 9.99967094e-01 6.46901304e-05 1.27301447e+00] [ 7.58834662e-03 -1.26249680e-04 9.99971200e-01 2.76278225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:1.27, Z:0.28 [[ 9.99936768e-01 -8.29846272e-03 -7.58912904e-03 1.36910701e+02] [ 8.29918542e-03 9.99965559e-01 6.37405270e-05 1.27272509e+00] [ 7.58833872e-03 -1.26720086e-04 9.99971200e-01 2.76494389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:1.27, Z:0.28 [[ 9.99902021e-01 -1.17623557e-02 -7.58914071e-03 1.36939258e+02] [ 1.17631673e-02 9.99930810e-01 6.23204527e-05 1.27492084e+00] [ 7.58788257e-03 -1.51586679e-04 9.99971200e-01 2.76670998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:136.97, Y:1.28, Z:0.29 [[ 9.99782965e-01 -1.94017514e-02 -7.58914832e-03 1.36968378e+02] [ 1.94027759e-02 9.99811747e-01 6.13789851e-05 1.27725167e+00] [ 7.58652878e-03 -2.08616208e-04 9.99971200e-01 2.91608317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.00, Y:1.28, Z:0.29 [[ 9.99699335e-01 -2.33160884e-02 -7.58943341e-03 1.36996168e+02] [ 2.33169526e-02 9.99728123e-01 2.53974633e-05 1.27730897e+00] [ 7.58677785e-03 -2.02352286e-04 9.99971200e-01 2.94458065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:137.01, Y:1.27, Z:0.30 [[ 9.99135412e-01 -4.08756894e-02 -7.58991608e-03 1.37014938e+02] [ 4.08766070e-02 9.99164202e-01 -3.42610337e-05 1.26854986e+00] [ 7.58497288e-03 -2.76018604e-04 9.99971196e-01 2.96101892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:1.28, Z:0.28 [[ 9.99534184e-01 -2.95594438e-02 -7.59310035e-03 1.37060306e+02] [ 2.95567373e-02 9.99562994e-01 -4.68432994e-04 1.27647362e+00] [ 7.60362874e-03 2.43787518e-04 9.99971062e-01 2.78303813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:137.09, Y:1.27, Z:0.29 [[ 9.99469677e-01 -3.16668951e-02 -7.58766530e-03 1.37089886e+02] [ 3.16683814e-02 9.99498428e-01 7.57918432e-05 1.27292779e+00] [ 7.58145945e-03 -3.16040728e-04 9.99971210e-01 2.94133232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:137.12, Y:1.26, Z:0.29 [[ 9.99252533e-01 -3.79051623e-02 -7.58773152e-03 1.37118990e+02] [ 3.79067781e-02 9.99281277e-01 6.91979128e-05 1.26488669e+00] [ 7.57965509e-03 -3.56772645e-04 9.99971210e-01 2.94088470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:1.26, Z:0.28 [[ 9.99105384e-01 -4.16035232e-02 -7.58803679e-03 1.37150332e+02] [ 4.16050162e-02 9.99134136e-01 3.89419722e-05 1.26101173e+00] [ 7.57984646e-03 -3.54607527e-04 9.99971210e-01 2.79225790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:137.18, Y:1.26, Z:0.29 [[ 9.99107331e-01 -4.15568041e-02 -7.58763501e-03 1.37180042e+02] [ 4.15585918e-02 9.99136065e-01 7.80178678e-05 1.25735823e+00] [ 7.57783762e-03 -3.93279650e-04 9.99971210e-01 2.93960692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:137.21, Y:1.25, Z:0.29 [[ 9.99063352e-01 -4.26009848e-02 -7.58779863e-03 1.37208425e+02] [ 4.26026810e-02 9.99092092e-01 6.19770521e-05 1.24671209e+00] [ 7.57826932e-03 -3.85179566e-04 9.99971210e-01 2.94542576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:137.24, Y:1.24, Z:0.29 [[ 9.99088240e-01 -4.20132672e-02 -7.58782076e-03 1.37237847e+02] [ 4.20149300e-02 9.99116981e-01 5.97973137e-05 1.24059440e+00] [ 7.57860829e-03 -3.78544551e-04 9.99971210e-01 2.93263553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:1.23, Z:0.28 [[ 9.99049938e-01 -4.29144166e-02 -7.58775616e-03 1.37267929e+02] [ 4.29161540e-02 9.99078675e-01 6.62189539e-05 1.22993730e+00] [ 7.57792362e-03 -3.91793353e-04 9.99971210e-01 2.80418101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:1.22, Z:0.28 [[ 9.99076684e-01 -4.22871922e-02 -7.58764106e-03 1.37296730e+02] [ 4.22889968e-02 9.99105417e-01 7.74896574e-05 1.22461535e+00] [ 7.57757646e-03 -3.98291839e-04 9.99971210e-01 2.81029562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:1.22, Z:0.28 [[ 9.99124227e-01 -4.11485972e-02 -7.58764997e-03 1.37326022e+02] [ 4.11503624e-02 9.99152962e-01 7.66070836e-05 1.21892013e+00] [ 7.57807067e-03 -3.88774539e-04 9.99971210e-01 2.80833210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.36, Y:1.21, Z:0.29 [[ 9.99228455e-01 -3.85346880e-02 -7.58765661e-03 1.37355865e+02] [ 3.85363730e-02 9.99257195e-01 7.59437110e-05 1.21350418e+00] [ 7.57909399e-03 -3.68285882e-04 9.99971210e-01 2.91927869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.39, Y:1.21, Z:0.28 [[ 9.99347736e-01 -3.53062705e-02 -7.58752107e-03 1.37385714e+02] [ 3.53079658e-02 9.99376475e-01 8.95626114e-05 1.20545533e+00] [ 7.57962794e-03 -3.57404128e-04 9.99971210e-01 2.82797960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:137.42, Y:1.20, Z:0.29 [[ 9.99584061e-01 -2.78232288e-02 -7.58765240e-03 1.37417863e+02] [ 2.78246103e-02 9.99612818e-01 7.65443936e-05 1.20220547e+00] [ 7.58258488e-03 -2.87636027e-04 9.99971210e-01 2.94215138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:137.44, Y:1.19, Z:0.30 [[ 9.99696386e-01 -2.34431212e-02 -7.58649821e-03 1.37443833e+02] [ 2.34452351e-02 9.99725105e-01 1.89818786e-04 1.19379421e+00] [ 7.57996277e-03 -3.67628388e-04 9.99971204e-01 2.97048008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:1.19, Z:0.29 [[ 9.99746286e-01 -2.12083788e-02 -7.58743658e-03 1.37473397e+02] [ 2.12096930e-02 9.99775045e-01 9.27781444e-05 1.19100891e+00] [ 7.58376207e-03 -2.53681806e-04 9.99971211e-01 2.85031091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27864 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:137.50, Y:1.19, Z:0.30 [[ 9.99846923e-01 -1.57657658e-02 -7.58763169e-03 1.37503038e+02] [ 1.57667682e-02 9.99875694e-01 7.23025187e-05 1.18972342e+00] [ 7.58554860e-03 -1.91923881e-04 9.99971211e-01 2.97920790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.53, Y:1.19, Z:0.30 [[ 9.99946802e-01 -6.98709299e-03 -7.58769376e-03 1.37534416e+02] [ 6.98779270e-03 9.99975583e-01 6.57090679e-05 1.18884974e+00] [ 7.58704937e-03 -1.18726803e-04 9.99971211e-01 2.97296487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:137.56, Y:1.19, Z:0.30 [[ 9.99963035e-01 -4.04551282e-03 -7.58703874e-03 1.37563054e+02] [ 4.04666254e-03 9.99991803e-01 1.36192376e-04 1.18737805e+00] [ 7.58642558e-03 -1.66889527e-04 9.99971209e-01 2.97953514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:1.19, Z:0.29 [[ 9.99967683e-01 -2.65777984e-03 -7.58741603e-03 1.37592491e+02] [ 2.65856874e-03 9.99996462e-01 9.38910930e-05 1.18629239e+00] [ 7.58713964e-03 -1.14059726e-04 9.99971211e-01 2.87089418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.62, Y:1.19, Z:0.30 [[ 9.99955470e-01 5.61113633e-03 -7.58765370e-03 1.37624070e+02] [-5.61078978e-03 9.99984257e-01 6.69590703e-05 1.18728757e+00] [ 7.58790996e-03 -2.43833588e-05 9.99971211e-01 2.98707404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:1.19, Z:0.29 [[ 9.99956917e-01 5.34826033e-03 -7.58680882e-03 1.37651235e+02] [-5.34718035e-03 9.99985691e-01 1.62626706e-04 1.18737487e+00] [ 7.58757003e-03 -1.22051665e-04 9.99971207e-01 2.87124679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45864 meters Centerline goodness : 0.854344 Centerline is valid? [True, False] Translation: X:137.65, Y:1.18, Z:0.29 [[ 9.99997915e-01 -2.03533579e-03 1.64496097e-04 1.37647492e+02] [ 2.03327071e-03 9.99929411e-01 1.17063428e-02 1.17636058e+00] [-1.88310823e-04 -1.17059839e-02 9.99931465e-01 2.86486685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:137.65, Y:1.19, Z:0.29 [[ 9.99990767e-01 4.15541951e-03 -1.09513576e-03 1.37649336e+02] [-4.15953563e-03 9.99984192e-01 -3.78345691e-03 1.19025597e+00] [ 1.07939659e-03 3.78797723e-03 9.99992243e-01 2.85881205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.68, Y:1.19, Z:0.28 [[ 9.99992935e-01 3.59940854e-03 -1.08328417e-03 1.37677963e+02] [-3.59932991e-03 9.99993520e-01 7.45341452e-05 1.18918261e+00] [ 1.08354543e-03 -7.06345215e-05 9.99999410e-01 2.79405130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:1.19, Z:0.28 [[ 9.99988663e-01 4.63673736e-03 -1.08346391e-03 1.37707570e+02] [-4.63673715e-03 9.99989250e-01 2.71126619e-06 1.18965139e+00] [ 1.08346483e-03 2.31250190e-06 9.99999413e-01 2.79474000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57864 meters Centerline goodness : 0.892991 Centerline is valid? [True, False] Translation: X:137.71, Y:1.19, Z:0.28 [[ 9.99961577e-01 8.66850450e-03 -1.30438415e-03 1.37708269e+02] [-8.66223704e-03 9.99951266e-01 4.73621157e-03 1.18750496e+00] [ 1.34537645e-03 -4.72473070e-03 9.99987933e-01 2.79266094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:137.71, Y:1.20, Z:0.28 [[ 9.99999203e-01 4.91302665e-04 -1.16323083e-03 1.37707919e+02] [-4.97613065e-04 9.99985129e-01 -5.43083011e-03 1.19534558e+00] [ 1.16054535e-03 5.43140462e-03 9.99984576e-01 2.78894107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63864 meters Centerline goodness : 0.928258 Centerline is valid? [True, False] Translation: X:137.69, Y:1.20, Z:0.28 [[ 9.99981909e-01 2.05487093e-03 5.65320158e-03 1.37685625e+02] [-1.97864682e-03 9.99907505e-01 -1.34560634e-02 1.20459343e+00] [-5.68032916e-03 1.34446343e-02 9.99893482e-01 2.75378832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:137.69, Y:1.21, Z:0.28 [[ 9.99983142e-01 -1.91465163e-03 5.48174311e-03 1.37686056e+02] [ 2.01711078e-03 9.99822227e-01 -1.87468693e-02 1.20992069e+00] [-5.44487488e-03 1.87576105e-02 9.99809234e-01 2.75410525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:137.72, Y:1.20, Z:0.26 [[ 9.99985377e-01 -1.46846795e-03 5.20481003e-03 1.37716344e+02] [ 1.46750787e-03 9.99998905e-01 1.88275784e-04 1.19517087e+00] [-5.20508081e-03 -1.80634931e-04 9.99986437e-01 2.63918164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:137.75, Y:1.20, Z:0.27 [[ 9.99985468e-01 -1.39901659e-03 5.20645161e-03 1.37748638e+02] [ 1.39863786e-03 9.99999019e-01 7.63819467e-05 1.19754499e+00] [-5.20655337e-03 -6.90988963e-05 9.99986443e-01 2.73717442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:137.78, Y:1.20, Z:0.28 [[ 9.99982717e-01 -2.73023316e-03 5.20686151e-03 1.37778806e+02] [ 2.73001982e-03 9.99996272e-01 4.80803038e-05 1.20201527e+00] [-5.20697337e-03 -3.38646377e-05 9.99986443e-01 2.76381833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:137.81, Y:1.20, Z:0.28 [[ 9.99983383e-01 -2.47483980e-03 5.20654442e-03 1.37811006e+02] [ 2.47450927e-03 9.99996936e-01 6.99245244e-05 1.20359482e+00] [-5.20670152e-03 -5.70397200e-05 9.99986443e-01 2.76411309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:1.21, Z:0.26 [[ 9.99982495e-01 -2.81077859e-03 5.20662364e-03 1.37841566e+02] [ 2.81048179e-03 9.99996049e-01 6.43203585e-05 1.20561812e+00] [-5.20678386e-03 -4.96861116e-05 9.99986443e-01 2.64496333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:1.21, Z:0.26 [[ 9.99983874e-01 -2.26782443e-03 5.20650832e-03 1.37873764e+02] [ 2.26747721e-03 9.99997427e-01 7.25914592e-05 1.20819636e+00] [-5.20665955e-03 -6.07846497e-05 9.99986443e-01 2.64403500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.91, Y:1.21, Z:0.28 [[ 9.99985254e-01 -1.54374709e-03 5.20654080e-03 1.37905129e+02] [ 1.54340260e-03 9.99998806e-01 7.01817643e-05 1.21106298e+00] [-5.20664293e-03 -6.21449408e-05 9.99986443e-01 2.75834909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.94, Y:1.21, Z:0.28 [[ 9.99981934e-01 -3.00375197e-03 5.20656636e-03 1.37935942e+02] [ 3.00343717e-03 9.99995487e-01 6.82804078e-05 1.21388854e+00] [-5.20674796e-03 -5.26415793e-05 9.99986443e-01 2.75333208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.97, Y:1.21, Z:0.28 [[ 9.99982332e-01 -2.86885433e-03 5.20629717e-03 1.37966647e+02] [ 2.86843155e-03 9.99995882e-01 8.86703286e-05 1.21467491e+00] [-5.20653011e-03 -7.37348548e-05 9.99986443e-01 2.76399216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:138.00, Y:1.22, Z:0.28 [[ 9.99969908e-01 -5.75129455e-03 5.20634296e-03 1.37998377e+02] [ 5.75092968e-03 9.99983460e-01 8.50508955e-05 1.21509422e+00] [-5.20674600e-03 -5.51070239e-05 9.99986443e-01 2.75697090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:1.22, Z:0.26 [[ 9.99969730e-01 -5.78217416e-03 5.20625292e-03 1.38030813e+02] [ 5.78177169e-03 9.99983281e-01 9.23525849e-05 1.21550458e+00] [-5.20669988e-03 -6.22484236e-05 9.99986443e-01 2.62828721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.06, Y:1.22, Z:0.26 [[ 9.99955039e-01 -7.92540675e-03 5.20661127e-03 1.38063475e+02] [ 7.92518875e-03 9.99968593e-01 6.25008376e-05 1.21573173e+00] [-5.20694309e-03 -2.12346504e-05 9.99986444e-01 2.62414001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.10, Y:1.21, Z:0.26 [[ 9.99934100e-01 -1.02316308e-02 5.20662149e-03 1.38096807e+02] [ 1.02314486e-02 9.99947655e-01 6.16373076e-05 1.21415824e+00] [-5.20697961e-03 -8.36196552e-06 9.99986444e-01 2.63798991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:1.21, Z:0.26 [[ 9.99924248e-01 -1.11530108e-02 5.20665254e-03 1.38128574e+02] [ 1.11528553e-02 9.99937803e-01 5.88925586e-05 1.21415051e+00] [-5.20698553e-03 -8.19054923e-07 9.99986444e-01 2.62707787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:1.21, Z:0.26 [[ 9.99919719e-01 -1.15518988e-02 5.20667857e-03 1.38161634e+02] [ 1.15517612e-02 9.99933275e-01 5.64939131e-05 1.21323425e+00] [-5.20698376e-03 3.65692969e-06 9.99986444e-01 2.62156824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:1.21, Z:0.26 [[ 9.99932957e-01 -1.03427517e-02 5.20670692e-03 1.38194009e+02] [ 1.03426120e-02 9.99946512e-01 5.37472714e-05 1.21254363e+00] [-5.20698432e-03 1.07281488e-07 9.99986444e-01 2.60806953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:138.22, Y:1.21, Z:0.27 [[ 9.99925188e-01 -1.10683418e-02 5.20673057e-03 1.38223026e+02] [ 1.10682245e-02 9.99938744e-01 5.13495999e-05 1.21125256e+00] [-5.20697998e-03 6.28350453e-06 9.99986444e-01 2.74685705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.26, Y:1.21, Z:0.28 [[ 9.99956404e-01 -7.75143528e-03 5.20628506e-03 1.38255116e+02] [ 7.75104001e-03 9.99969956e-01 9.60954425e-05 1.21000584e+00] [-5.20687352e-03 -5.57371293e-05 9.99986443e-01 2.75811157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:1.21, Z:0.26 [[ 9.99966806e-01 -6.26716601e-03 5.20659144e-03 1.38287215e+02] [ 6.26691598e-03 9.99980361e-01 6.43359768e-05 1.20960944e+00] [-5.20689239e-03 -3.17045702e-05 9.99986444e-01 2.61588809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:1.21, Z:0.26 [[ 9.99979852e-01 -3.63113344e-03 5.20673517e-03 1.38319743e+02] [ 3.63092705e-03 9.99993407e-01 4.90916319e-05 1.20773138e+00] [-5.20687910e-03 -3.01853673e-05 9.99986444e-01 2.61930885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.35, Y:1.21, Z:0.28 [[ 9.99983888e-01 -2.26120458e-03 5.20674311e-03 1.38349510e+02] [ 2.26098408e-03 9.99997443e-01 4.82345972e-05 1.20688837e+00] [-5.20683886e-03 -3.64614568e-05 9.99986444e-01 2.75924484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.38, Y:1.21, Z:0.28 [[ 9.99986126e-01 7.99455466e-04 5.20658472e-03 1.38383011e+02] [-7.99806286e-04 9.99999678e-01 6.52982876e-05 1.20710720e+00] [-5.20653084e-03 -6.94616408e-05 9.99986444e-01 2.77192086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:138.42, Y:1.21, Z:0.28 [[ 9.99972104e-01 5.35543800e-03 5.20674764e-03 1.38415649e+02] [-5.35575667e-03 9.99985657e-01 4.72620877e-05 1.20970771e+00] [-5.20641985e-03 -7.51468427e-05 9.99986444e-01 2.78608761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:1.21, Z:0.26 [[ 9.99955276e-01 7.89524579e-03 5.20685530e-03 1.38446912e+02] [-7.89553506e-03 9.99968829e-01 3.50020427e-05 1.21156338e+00] [-5.20641665e-03 -7.61113859e-05 9.99986444e-01 2.62886642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:1.22, Z:0.26 [[ 9.99904307e-01 1.28166547e-02 5.20675499e-03 1.38479031e+02] [-1.28170694e-02 9.99917857e-01 4.62858041e-05 1.21602166e+00] [-5.20573407e-03 -1.13016715e-04 9.99986444e-01 2.63709021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:1.22, Z:0.26 [[ 9.99877192e-01 1.47813969e-02 5.20676100e-03 1.38510795e+02] [-1.47818347e-02 9.99890742e-01 4.55994810e-05 1.21888175e+00] [-5.20551810e-03 -1.22559361e-04 9.99986444e-01 2.62060229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:1.22, Z:0.26 [[ 9.99837016e-01 1.72867046e-02 5.20676692e-03 1.38542911e+02] [-1.72871728e-02 9.99850565e-01 4.49131570e-05 1.22369109e+00] [-5.20521245e-03 -1.34916116e-04 9.99986444e-01 2.62241587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:138.58, Y:1.23, Z:0.28 [[ 9.99834762e-01 1.74165997e-02 5.20677270e-03 1.38575572e+02] [-1.74170661e-02 9.99848310e-01 4.42338166e-05 1.22631512e+00] [-5.20521248e-03 -1.34913212e-04 9.99986444e-01 2.79403731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:1.23, Z:0.26 [[ 9.99844894e-01 1.68248283e-02 5.20703120e-03 1.38605733e+02] [-1.68251257e-02 9.99858447e-01 1.33276358e-05 1.22868243e+00] [-5.20606989e-03 -1.00934523e-04 9.99986443e-01 2.63398636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.64, Y:1.24, Z:0.28 [[ 9.99867949e-01 1.53939411e-02 5.20676860e-03 1.38638410e+02] [-1.53943800e-02 9.99881499e-01 4.42359936e-05 1.23536153e+00] [-5.20547063e-03 -1.24385127e-04 9.99986444e-01 2.77062962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.67, Y:1.24, Z:0.26 [[ 9.99885270e-01 1.42243974e-02 5.20707324e-03 1.38668676e+02] [-1.42246327e-02 9.99898825e-01 8.15998622e-06 1.23860150e+00] [-5.20643034e-03 -8.22277543e-05 9.99986443e-01 2.62071141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:1.24, Z:0.26 [[ 9.99883399e-01 1.43554197e-02 5.20676934e-03 1.38701341e+02] [-1.43558437e-02 9.99896949e-01 4.40671332e-05 1.23887524e+00] [-5.20560018e-03 -1.18809562e-04 9.99986444e-01 2.61898954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:1.24, Z:0.26 [[ 9.99897252e-01 1.33557199e-02 5.20677504e-03 1.38733604e+02] [-1.33561268e-02 9.99910802e-01 4.33838678e-05 1.24488102e+00] [-5.20573118e-03 -1.12921758e-04 9.99986444e-01 2.61732799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:1.25, Z:0.26 [[ 9.99904243e-01 1.28215986e-02 5.20678065e-03 1.38765359e+02] [-1.28219947e-02 9.99917794e-01 4.26994097e-05 1.24686546e+00] [-5.20580515e-03 -1.09456635e-04 9.99986444e-01 2.60692742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.80, Y:1.25, Z:0.28 [[ 9.99907988e-01 1.25261508e-02 5.20678618e-03 1.38797600e+02] [-1.25265393e-02 9.99921539e-01 4.20137550e-05 1.24820816e+00] [-5.20585138e-03 -1.07232901e-04 9.99986444e-01 2.76112781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:1.25, Z:0.26 [[ 9.99937499e-01 9.89362461e-03 5.20712603e-03 1.38827027e+02] [-9.89376373e-03 9.99951056e-01 9.57022352e-07 1.24929324e+00] [-5.20686170e-03 -5.24750372e-05 9.99986443e-01 2.59140257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:1.25, Z:0.26 [[ 9.99943942e-01 9.21963184e-03 5.20676379e-03 1.38858869e+02] [-9.21998543e-03 9.99957494e-01 4.39106308e-05 1.24994298e+00] [-5.20613763e-03 -9.19144556e-05 9.99986444e-01 2.59030129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.89, Y:1.25, Z:0.27 [[ 9.99955935e-01 7.81132033e-03 5.20677091e-03 1.38890761e+02] [-7.81165035e-03 9.99969488e-01 4.30501029e-05 1.25073583e+00] [-5.20627576e-03 -8.37216797e-05 9.99986444e-01 2.74417419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:138.92, Y:1.25, Z:0.27 [[ 9.99964463e-01 6.63023066e-03 5.20703381e-03 1.38920536e+02] [-6.63037925e-03 9.99978019e-01 1.12749978e-05 1.25119604e+00] [-5.20684460e-03 -4.57992060e-05 9.99986443e-01 2.72363214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:138.95, Y:1.25, Z:0.27 [[ 9.99951665e-01 8.34010211e-03 5.20680428e-03 1.38952743e+02] [-8.34041323e-03 9.99965217e-01 3.80412723e-05 1.25216234e+00] [-5.20630591e-03 -8.14663329e-05 9.99986444e-01 2.74929592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:138.98, Y:1.25, Z:0.27 [[ 9.99949648e-01 8.57838585e-03 5.20706383e-03 1.38984624e+02] [-8.57854276e-03 9.99963204e-01 7.79981960e-06 1.25383796e+00] [-5.20680532e-03 -5.24684466e-05 9.99986443e-01 2.74463025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:139.02, Y:1.25, Z:0.27 [[ 9.99942189e-01 9.40769534e-03 5.20704264e-03 1.39017182e+02] [-9.40787636e-03 9.99955745e-01 1.02704919e-05 1.25412709e+00] [-5.20671558e-03 -5.92571115e-05 9.99986443e-01 2.74225223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:139.05, Y:1.26, Z:0.27 [[ 9.99924815e-01 1.11018700e-02 5.20700090e-03 1.39049759e+02] [-1.11020992e-02 9.99938370e-01 1.51248015e-05 1.25543970e+00] [-5.20651208e-03 -7.29323050e-05 9.99986443e-01 2.73422514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:139.08, Y:1.26, Z:0.27 [[ 9.99911237e-01 1.22640049e-02 5.20696585e-03 1.39081841e+02] [-1.22642713e-02 9.99924791e-01 1.92283373e-05 1.25738919e+00] [-5.20633842e-03 -8.30862724e-05 9.99986443e-01 2.73247219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:139.11, Y:1.26, Z:0.27 [[ 9.99902142e-01 1.29843693e-02 5.20698026e-03 1.39114446e+02] [-1.29846367e-02 9.99915696e-01 1.75613526e-05 1.25861071e+00] [-5.20631327e-03 -8.51703811e-05 9.99986443e-01 2.73113538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.14, Y:1.26, Z:0.26 [[ 9.99925856e-01 1.10076665e-02 5.20709677e-03 1.39143721e+02] [-1.10078369e-02 9.99939412e-01 4.06818579e-06 1.25921629e+00] [-5.20673651e-03 -6.13867562e-05 9.99986443e-01 2.56776201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:139.18, Y:1.26, Z:0.27 [[ 9.99940268e-01 9.60992639e-03 5.20671632e-03 1.39175641e+02] [-9.61029921e-03 9.99953819e-01 4.65882712e-05 1.25942740e+00] [-5.20602816e-03 -9.66235901e-05 9.99986444e-01 2.73418463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:139.21, Y:1.26, Z:0.27 [[ 9.99941518e-01 9.47881966e-03 5.20693047e-03 1.39207831e+02] [-9.47906756e-03 9.99955072e-01 2.29332742e-05 1.26087498e+00] [-5.20647915e-03 -7.22887787e-05 9.99986444e-01 2.73407834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:1.26, Z:0.26 [[ 9.99943319e-01 9.28691977e-03 5.20695832e-03 1.39237753e+02] [-9.28714926e-03 9.99956873e-01 1.98953028e-05 1.26441989e+00] [-5.20654900e-03 -6.82519742e-05 9.99986444e-01 2.56282119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:139.27, Y:1.27, Z:0.27 [[ 9.99946046e-01 8.98864148e-03 5.20668691e-03 1.39269488e+02] [-8.98901757e-03 9.99959597e-01 4.88335790e-05 1.26514302e+00] [-5.20603760e-03 -9.56339443e-05 9.99986444e-01 2.71119433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:139.30, Y:1.27, Z:0.27 [[ 9.99945421e-01 9.05775489e-03 5.20683823e-03 1.39301916e+02] [-9.05804772e-03 9.99958975e-01 3.26600600e-05 1.26660724e+00] [-5.20632879e-03 -7.98220666e-05 9.99986444e-01 2.70244017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:1.27, Z:0.25 [[ 9.99941776e-01 9.45163988e-03 5.20685623e-03 1.39332218e+02] [-9.45192805e-03 9.99955329e-01 3.07378388e-05 1.26823185e+00] [-5.20633311e-03 -7.99508796e-05 9.99986444e-01 2.54779638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.36, Y:1.27, Z:0.26 [[ 9.99962369e-01 6.93914324e-03 5.20668857e-03 1.39364288e+02] [-6.93949071e-03 9.99975920e-01 4.86729874e-05 1.26878247e+00] [-5.20622545e-03 -8.48029228e-05 9.99986444e-01 2.55250667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:139.39, Y:1.27, Z:0.28 [[ 9.99983959e-01 2.23003741e-03 5.20669491e-03 1.39392869e+02] [-2.23031748e-03 9.99997512e-01 4.79845565e-05 1.26842921e+00] [-5.20657495e-03 -5.95963694e-05 9.99986444e-01 2.76480300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31864000000002 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:139.43, Y:1.27, Z:0.27 [[ 9.99983683e-01 2.35147523e-03 5.20619859e-03 1.39425895e+02] [-2.35204125e-03 9.99997229e-01 1.02600713e-04 1.26854586e+00] [-5.20594290e-03 -1.14844233e-04 9.99986442e-01 2.71446285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.46, Y:1.27, Z:0.25 [[ 9.99986363e-01 -4.07222763e-04 5.20659380e-03 1.39457875e+02] [ 4.06931774e-04 9.99999916e-01 5.69477330e-05 1.26827249e+00] [-5.20661655e-03 -5.48282279e-05 9.99986444e-01 2.53199175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:139.49, Y:1.27, Z:0.27 [[ 9.99979275e-01 -3.78673515e-03 5.20670362e-03 1.39487631e+02] [ 3.78655774e-03 9.99992830e-01 4.39322215e-05 1.26697049e+00] [-5.20683265e-03 -2.42158271e-05 9.99986444e-01 2.69793404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:1.27, Z:0.25 [[ 9.99979131e-01 -3.82501719e-03 5.20645464e-03 1.39520058e+02] [ 3.82468477e-03 9.99992683e-01 7.38034212e-05 1.26563577e+00] [-5.20669884e-03 -5.38888332e-05 9.99986444e-01 2.51929047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:139.55, Y:1.27, Z:0.27 [[ 9.99971987e-01 -5.37727665e-03 5.20671408e-03 1.39549891e+02] [ 5.37714021e-03 9.99985542e-01 4.02034216e-05 1.26587511e+00] [-5.20685499e-03 -1.22050638e-05 9.99986444e-01 2.68079388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:139.58, Y:1.27, Z:0.27 [[ 9.99979500e-01 -3.72730946e-03 5.20642483e-03 1.39581888e+02] [ 3.72694564e-03 9.99993052e-01 7.95793019e-05 1.26682342e+00] [-5.20668527e-03 -6.01736082e-05 9.99986443e-01 2.67201731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:139.62, Y:1.27, Z:0.27 [[ 9.99985868e-01 -1.07540105e-03 5.20640147e-03 1.39615271e+02] [ 1.07498366e-03 9.99999419e-01 8.29662105e-05 1.26799254e+00] [-5.20648766e-03 -7.73682415e-05 9.99986443e-01 2.67439879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:139.65, Y:1.27, Z:0.27 [[ 9.99985991e-01 9.53626706e-04 5.20649479e-03 1.39648048e+02] [-9.53995801e-04 9.99999543e-01 6.84082303e-05 1.26905577e+00] [-5.20642718e-03 -7.33742462e-05 9.99986444e-01 2.67419206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:139.68, Y:1.27, Z:0.27 [[ 9.99978898e-01 3.88531722e-03 5.20657027e-03 1.39680019e+02] [-3.88565946e-03 9.99992449e-01 5.56175890e-05 1.27297539e+00] [-5.20631487e-03 -7.58473744e-05 9.99986444e-01 2.67183381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:139.71, Y:1.27, Z:0.27 [[ 9.99977861e-01 4.14353961e-03 5.20656746e-03 1.39712501e+02] [-4.14388797e-03 9.99991412e-01 5.61217170e-05 1.27419373e+00] [-5.20629021e-03 -7.76959067e-05 9.99986444e-01 2.65939025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:139.75, Y:1.28, Z:0.26 [[ 9.99968839e-01 5.93401663e-03 5.20650521e-03 1.39745421e+02] [-5.93444975e-03 9.99982389e-01 6.77429382e-05 1.27510657e+00] [-5.20601153e-03 -9.86385709e-05 9.99986444e-01 2.64890420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:139.78, Y:1.28, Z:0.26 [[ 9.99966157e-01 6.36998216e-03 5.20657223e-03 1.39778015e+02] [-6.37034894e-03 9.99979708e-01 5.38648694e-05 1.27728952e+00] [-5.20612346e-03 -8.70307283e-05 9.99986444e-01 2.64495641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:139.81, Y:1.28, Z:0.27 [[ 9.99950689e-01 8.45652606e-03 5.20650812e-03 1.39810183e+02] [-8.45699771e-03 9.99964237e-01 6.85775290e-05 1.28392706e+00] [-5.20574199e-03 -1.12605575e-04 9.99986444e-01 2.65085999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:139.84, Y:1.29, Z:0.26 [[ 9.99945063e-01 9.09740380e-03 5.20657818e-03 1.39842035e+02] [-9.09779379e-03 9.99958613e-01 5.12230273e-05 1.28650187e+00] [-5.20589670e-03 -9.85885879e-05 9.99986444e-01 2.64206799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:139.87, Y:1.29, Z:0.26 [[ 9.99939680e-01 9.67100791e-03 5.20659665e-03 1.39872872e+02] [-9.67138055e-03 9.99953230e-01 4.63968884e-05 1.28882587e+00] [-5.20590443e-03 -9.67490673e-05 9.99986445e-01 2.63384603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:139.90, Y:1.29, Z:0.26 [[ 9.99938987e-01 9.74237337e-03 5.20662338e-03 1.39904044e+02] [-9.74271002e-03 9.99952538e-01 3.92971130e-05 1.29361166e+00] [-5.20599342e-03 -9.00213371e-05 9.99986445e-01 2.63682829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79864 meters Centerline goodness : 0.902886 Centerline is valid? [True, False] Translation: X:139.93, Y:1.29, Z:0.27 [[ 9.99997475e-01 2.23859127e-03 -1.98843881e-04 1.39926888e+02] [-2.23827408e-03 9.99996245e-01 1.58133381e-03 1.29313002e+00] [ 2.02383095e-04 -1.58088475e-03 9.99998730e-01 2.66572398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:139.93, Y:1.30, Z:0.27 [[ 9.99981990e-01 -6.00164931e-03 -2.61590262e-05 1.39926509e+02] [ 6.00115822e-03 9.99940073e-01 -9.15619220e-03 1.30348854e+00] [ 8.11097132e-05 9.15587031e-03 9.99958081e-01 2.67640342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.96, Y:1.30, Z:0.27 [[ 9.99963877e-01 -8.49798277e-03 -1.67949159e-04 1.39958284e+02] [ 8.49797990e-03 9.99963891e-01 -1.78276938e-05 1.29721603e+00] [ 1.68094594e-04 1.63998213e-05 9.99999986e-01 2.66127768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:139.99, Y:1.30, Z:0.27 [[ 9.99923576e-01 -1.23617553e-02 -1.68180000e-04 1.39988645e+02] [ 1.23617550e-02 9.99923591e-01 -2.84584927e-06 1.29836331e+00] [ 1.68202330e-04 7.66631821e-07 9.99999986e-01 2.68092545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:140.02, Y:1.30, Z:0.27 [[ 9.99882658e-01 -1.53180563e-02 -1.68175829e-04 1.40020372e+02] [ 1.53180560e-02 9.99882672e-01 -3.11909492e-06 1.29963521e+00] [ 1.68203875e-04 5.42602160e-07 9.99999986e-01 2.65867122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:140.05, Y:1.30, Z:0.27 [[ 9.99775727e-01 -2.11770483e-02 -1.68179037e-04 1.40050979e+02] [ 2.11770481e-02 9.99775741e-01 -2.90574775e-06 1.30106185e+00] [ 1.68202856e-04 -6.56439482e-07 9.99999986e-01 2.67130003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:140.08, Y:1.30, Z:0.27 [[ 9.99649073e-01 -2.64896753e-02 -1.68175575e-04 1.40081515e+02] [ 2.64896751e-02 9.99649087e-01 -3.13994542e-06 1.30013633e+00] [ 1.68199736e-04 -1.31607280e-06 9.99999986e-01 2.65661674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:140.11, Y:1.30, Z:0.27 [[ 9.99593859e-01 -2.84971629e-02 -1.68167695e-04 1.40113595e+02] [ 2.84971627e-02 9.99593873e-01 -3.68120591e-06 1.29973506e+00] [ 1.68204301e-04 -1.11259133e-06 9.99999986e-01 2.65769743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.15, Y:1.30, Z:0.27 [[ 9.99525654e-01 -3.07967166e-02 -1.68174776e-04 1.40145220e+02] [ 3.07967165e-02 9.99525669e-01 -3.18394736e-06 1.29842993e+00] [ 1.68193060e-04 -1.99679381e-06 9.99999986e-01 2.66716562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.18, Y:1.30, Z:0.25 [[ 9.99454633e-01 -3.30213171e-02 -1.68172809e-04 1.40177812e+02] [ 3.30213170e-02 9.99454648e-01 -3.32623308e-06 1.29738381e+00] [ 1.68190932e-04 -2.22886857e-06 9.99999986e-01 2.48364829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:140.21, Y:1.29, Z:0.26 [[ 9.99326164e-01 -3.67040796e-02 -1.68187308e-04 1.40207207e+02] [ 3.67040797e-02 9.99326178e-01 -2.23525920e-06 1.29293214e+00] [ 1.68156023e-04 -3.93940736e-06 9.99999986e-01 2.63848589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.24, Y:1.29, Z:0.26 [[ 9.99341880e-01 -3.62736494e-02 -1.68168253e-04 1.40238509e+02] [ 3.62736493e-02 9.99341895e-01 -3.67396189e-06 1.29178746e+00] [ 1.68190848e-04 -2.42853225e-06 9.99999986e-01 2.64674371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:140.27, Y:1.29, Z:0.27 [[ 9.99425870e-01 -3.38807028e-02 -1.68160229e-04 1.40269314e+02] [ 3.38807025e-02 9.99425884e-01 -4.30828167e-06 1.29276379e+00] [ 1.68209653e-04 -1.39157853e-06 9.99999986e-01 2.66416615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:1.29, Z:0.25 [[ 9.99593478e-01 -2.85105428e-02 -1.68165594e-04 1.40302601e+02] [ 2.85105426e-02 9.99593492e-01 -3.87722772e-06 1.29407269e+00] [ 1.68207775e-04 -9.18840788e-07 9.99999986e-01 2.49274979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.33, Y:1.30, Z:0.26 [[ 9.99734648e-01 -2.30348672e-02 -1.68187909e-04 1.40331408e+02] [ 2.30348672e-02 9.99734662e-01 -2.01011883e-06 1.29642221e+00] [ 1.68189585e-04 -1.86460071e-06 9.99999986e-01 2.63426601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.36, Y:1.30, Z:0.26 [[ 9.99817066e-01 -1.91260874e-02 -1.68171018e-04 1.40363054e+02] [ 1.91260871e-02 9.99817080e-01 -3.41782980e-06 1.29834210e+00] [ 1.68205625e-04 2.00751023e-07 9.99999986e-01 2.62001960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:1.30, Z:0.25 [[ 9.99941340e-01 -1.08299967e-02 -1.68170726e-04 1.40395477e+02] [ 1.08299962e-02 9.99941354e-01 -3.44284788e-06 1.30284322e+00] [ 1.68198149e-04 1.62135760e-06 9.99999986e-01 2.47894434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.43, Y:1.31, Z:0.26 [[ 9.99953859e-01 -9.60478046e-03 -1.68188167e-04 1.40425547e+02] [ 9.60478027e-03 9.99953873e-01 -1.89419895e-06 1.30508716e+00] [ 1.68198603e-04 2.78701157e-07 9.99999986e-01 2.62034657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:1.31, Z:0.26 [[ 9.99960052e-01 -8.93675633e-03 -1.68182890e-04 1.40457302e+02] [ 8.93675606e-03 9.99960066e-01 -2.36091610e-06 1.30787003e+00] [ 1.68197273e-04 8.57812330e-07 9.99999986e-01 2.63440032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:1.31, Z:0.25 [[ 9.99981880e-01 -6.01754315e-03 -1.68181457e-04 1.40489048e+02] [ 6.01754281e-03 9.99981894e-01 -2.49105444e-06 1.31366344e+00] [ 1.68193402e-04 1.47897019e-06 9.99999986e-01 2.48816399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39864 meters Centerline goodness : 0.883608 Centerline is valid? [True, False] Translation: X:140.49, Y:1.33, Z:0.25 [[ 9.99991098e-01 4.72510702e-04 -4.19282637e-03 1.40490319e+02] [-5.36352104e-04 9.99883746e-01 -1.52383030e-02 1.32958850e+00] [ 4.18513867e-03 1.52404162e-02 9.99875099e-01 2.51406022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:140.51, Y:1.35, Z:0.25 [[ 9.99984676e-01 1.34675257e-03 -5.36973906e-03 1.40511499e+02] [-1.49569063e-03 9.99611560e-01 -2.78297074e-02 1.34617306e+00] [ 5.33017351e-03 2.78373124e-02 9.99598256e-01 2.54642826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:1.33, Z:0.24 [[ 9.99974098e-01 4.54453639e-03 -5.58126769e-03 1.40541889e+02] [-4.54505302e-03 9.99989668e-01 -7.98849448e-05 1.32650969e+00] [ 5.58084698e-03 1.05250033e-04 9.99984421e-01 2.36947685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:1.33, Z:0.24 [[ 9.99976310e-01 4.02805371e-03 -5.58155195e-03 1.40570299e+02] [-4.02835595e-03 9.99991885e-01 -4.29081158e-05 1.32639779e+00] [ 5.58133382e-03 6.53915773e-05 9.99984422e-01 2.37101398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:1.33, Z:0.25 [[ 9.99972405e-01 4.90262567e-03 -5.58152829e-03 1.40598976e+02] [-4.90295763e-03 9.99987979e-01 -4.57921470e-05 1.32913794e+00] [ 5.58123669e-03 7.31568800e-05 9.99984422e-01 2.51292122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:1.34, Z:0.25 [[ 9.99942748e-01 9.12953194e-03 -5.58147127e-03 1.40628571e+02] [-9.12996699e-03 9.99958320e-01 -5.24707838e-05 1.33635730e+00] [ 5.58075959e-03 1.03426428e-04 9.99984422e-01 2.49916661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.66, Y:1.34, Z:0.25 [[ 9.99929098e-01 1.05188007e-02 -5.58152059e-03 1.40657005e+02] [-1.05192259e-02 9.99944670e-01 -4.68187175e-05 1.34040048e+00] [ 5.58071929e-03 1.05528674e-04 9.99984422e-01 2.50102019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.69, Y:1.35, Z:0.25 [[ 9.99936306e-01 9.80968893e-03 -5.58153484e-03 1.40685644e+02] [-9.81009412e-03 9.99951879e-01 -4.52210607e-05 1.34600448e+00] [ 5.58082265e-03 9.99735626e-05 9.99984422e-01 2.49625908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:1.35, Z:0.24 [[ 9.99937316e-01 9.70628509e-03 -5.58148687e-03 1.40714497e+02] [-9.70671734e-03 9.99952887e-01 -5.03598086e-05 1.34878963e+00] [ 5.58073510e-03 1.04534567e-04 9.99984422e-01 2.37117463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.74, Y:1.35, Z:0.25 [[ 9.99978517e-01 3.43692027e-03 -5.58144775e-03 1.40743150e+02] [-3.43727730e-03 9.99994091e-01 -5.43754449e-05 1.35328560e+00] [ 5.58122788e-03 7.35592604e-05 9.99984422e-01 2.51565752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:1.36, Z:0.24 [[ 9.99982558e-01 1.93200430e-03 -5.58127960e-03 1.40773517e+02] [-1.93243300e-03 9.99998130e-01 -7.14188719e-05 1.35519452e+00] [ 5.58113118e-03 8.22030751e-05 9.99984422e-01 2.37917984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.80, Y:1.36, Z:0.25 [[ 9.99980711e-01 -2.72485241e-03 -5.58144144e-03 1.40802691e+02] [ 2.72458790e-03 9.99996287e-01 -5.49932478e-05 1.35624362e+00] [ 5.58157056e-03 3.97850592e-05 9.99984422e-01 2.52544956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:140.83, Y:1.36, Z:0.25 [[ 9.99956187e-01 -7.51490927e-03 -5.58122610e-03 1.40834035e+02] [ 7.51459596e-03 9.99971762e-01 -7.71045383e-05 1.35781936e+00] [ 5.58164793e-03 3.51605010e-05 9.99984422e-01 2.52303885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:1.36, Z:0.25 [[ 9.99928275e-01 -1.05968465e-02 -5.58144084e-03 1.40862812e+02] [ 1.05967059e-02 9.99943852e-01 -5.47527869e-05 1.35841705e+00] [ 5.58170766e-03 -4.39602743e-06 9.99984422e-01 2.52986464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:140.89, Y:1.36, Z:0.25 [[ 9.99858988e-01 -1.58383289e-02 -5.58137977e-03 1.40891505e+02] [ 1.58382344e-02 9.99874565e-01 -6.11414024e-05 1.35974334e+00] [ 5.58164805e-03 -2.72664201e-05 9.99984422e-01 2.54148961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:1.36, Z:0.24 [[ 9.99879002e-01 -1.45200874e-02 -5.58106046e-03 1.40923684e+02] [ 1.45197862e-02 9.99894578e-01 -9.44754143e-05 1.36048780e+00] [ 5.58184389e-03 1.34281781e-05 9.99984421e-01 2.36973928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:140.95, Y:1.36, Z:0.25 [[ 9.99880978e-01 -1.43832319e-02 -5.58145631e-03 1.40952776e+02] [ 1.43831661e-02 9.99896556e-01 -5.19310135e-05 1.36030673e+00] [ 5.58162587e-03 -2.83541807e-05 9.99984422e-01 2.52788710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.98, Y:1.36, Z:0.24 [[ 9.99897236e-01 -1.32048471e-02 -5.58125389e-03 1.40984074e+02] [ 1.32046412e-02 9.99912812e-01 -7.37391283e-05 1.36080248e+00] [ 5.58174099e-03 3.30953216e-08 9.99984422e-01 2.37322822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:141.01, Y:1.36, Z:0.25 [[ 9.99915000e-01 -1.17830586e-02 -5.58145789e-03 1.41013551e+02] [ 1.17829535e-02 9.99930577e-01 -5.17265457e-05 1.36114825e+00] [ 5.58167991e-03 -1.40439096e-05 9.99984422e-01 2.52647370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864000000002 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:141.07, Y:1.38, Z:0.25 [[ 9.99515858e-01 3.06087772e-02 -5.58138292e-03 1.41071335e+02] [-3.06095882e-02 9.99531415e-01 -5.99039049e-05 1.38041605e+00] [ 5.57693398e-03 2.30718735e-04 9.99984422e-01 2.51059233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:1.36, Z:0.24 [[ 9.99936701e-01 -9.76656970e-03 -5.58647107e-03 1.41070793e+02] [ 9.77078352e-03 9.99952000e-01 7.27496501e-04 1.36263692e+00] [ 5.57909778e-03 -7.82034651e-04 9.99984131e-01 2.38968441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:141.10, Y:1.37, Z:0.24 [[ 9.99945430e-01 -8.83367042e-03 -5.57701060e-03 1.41099463e+02] [ 8.83343711e-03 9.99960982e-01 -6.64653671e-05 1.36537258e+00] [ 5.57738013e-03 1.71975677e-05 9.99984446e-01 2.38694058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:141.13, Y:1.37, Z:0.25 [[ 9.99953115e-01 -7.91612068e-03 -5.57700198e-03 1.41130295e+02] [ 7.91586911e-03 9.99968667e-01 -6.71809465e-05 1.36569733e+00] [ 5.57735904e-03 2.30309790e-05 9.99984446e-01 2.54642699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:141.16, Y:1.37, Z:0.25 [[ 9.99946914e-01 -8.66403419e-03 -5.57713434e-03 1.41160605e+02] [ 8.66385618e-03 9.99962467e-01 -5.60769919e-05 1.36590425e+00] [ 5.57741086e-03 7.75452515e-06 9.99984446e-01 2.54338254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.19, Y:1.37, Z:0.24 [[ 9.99918479e-01 -1.14861347e-02 -5.57710969e-03 1.41190669e+02] [ 1.14859890e-02 9.99934032e-01 -5.81406412e-05 1.37020302e+00] [ 5.57740959e-03 -5.92271930e-06 9.99984446e-01 2.40499149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:141.22, Y:1.37, Z:0.26 [[ 9.99917760e-01 -1.15485615e-02 -5.57701659e-03 1.41220023e+02] [ 1.15483730e-02 9.99933313e-01 -6.60064844e-05 1.37242135e+00] [ 5.57740696e-03 1.59558828e-06 9.99984446e-01 2.55986697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:1.37, Z:0.24 [[ 9.99915054e-01 -1.17806153e-02 -5.57698612e-03 1.41250754e+02] [ 1.17804160e-02 9.99930606e-01 -6.85868175e-05 1.37358012e+00] [ 5.57740710e-03 2.88177483e-06 9.99984446e-01 2.42219843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:141.28, Y:1.37, Z:0.24 [[ 9.99928464e-01 -1.05812544e-02 -5.57701569e-03 1.41279335e+02] [ 1.05810504e-02 9.99944017e-01 -6.60912956e-05 1.37409083e+00] [ 5.57740280e-03 7.07588389e-06 9.99984446e-01 2.42052438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:141.31, Y:1.38, Z:0.26 [[ 9.99961128e-01 -6.82936144e-03 -5.57700689e-03 1.41309879e+02] [ 6.82909495e-03 9.99976679e-01 -6.68261289e-05 1.37919942e+00] [ 5.57733321e-03 2.87376217e-05 9.99984446e-01 2.57551099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:1.38, Z:0.24 [[ 9.99968257e-01 -5.69032000e-03 -5.57717290e-03 1.41339798e+02] [ 5.69011371e-03 9.99983810e-01 -5.28558291e-05 1.38250679e+00] [ 5.57738337e-03 2.11194034e-05 9.99984446e-01 2.41179803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:141.37, Y:1.39, Z:0.25 [[ 9.99981487e-01 -2.43346782e-03 -5.57699988e-03 1.41368801e+02] [ 2.43313081e-03 9.99997038e-01 -6.72125780e-05 1.38660827e+00] [ 5.57714691e-03 5.36417635e-05 9.99984446e-01 2.54824101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.40, Y:1.39, Z:0.24 [[ 9.99984255e-01 6.21177445e-04 -5.57704477e-03 1.41398350e+02] [-6.21541417e-04 9.99999805e-01 -6.35296864e-05 1.38974730e+00] [ 5.57700422e-03 6.69950505e-05 9.99984446e-01 2.41834836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:141.43, Y:1.39, Z:0.26 [[ 9.99980377e-01 2.85342785e-03 -5.57699082e-03 1.41428120e+02] [-2.85385122e-03 9.99995925e-01 -6.79572585e-05 1.39322161e+00] [ 5.57677418e-03 8.38718271e-05 9.99984446e-01 2.56671153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38864 meters Centerline goodness : 0.834110 Centerline is valid? [True, False] Translation: X:141.43, Y:1.40, Z:0.26 [[ 9.99984717e-01 -1.17309874e-03 -5.40280046e-03 1.41427776e+02] [ 1.13788896e-03 9.99978127e-01 -6.51541962e-03 1.40349796e+00] [ 5.41032552e-03 6.50917225e-03 9.99964179e-01 2.57583418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:141.43, Y:1.41, Z:0.26 [[ 9.99984630e-01 -1.18938565e-03 -5.41534847e-03 1.41427718e+02] [ 1.15024940e-03 9.99973243e-01 -7.22430112e-03 1.40648366e+00] [ 5.42379606e-03 7.21796107e-03 9.99959241e-01 2.57962879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:141.46, Y:1.41, Z:0.25 [[ 9.99981729e-01 -2.39262542e-03 -5.55121812e-03 1.41457439e+02] [ 2.39208686e-03 9.99997134e-01 -1.03653582e-04 1.40552253e+00] [ 5.55145021e-03 9.03726922e-05 9.99984586e-01 2.54146439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:141.49, Y:1.41, Z:0.26 [[ 9.99971915e-01 -5.03508624e-03 -5.55125503e-03 1.41485480e+02] [ 5.03459905e-03 9.99987321e-01 -1.01731680e-04 1.40905059e+00] [ 5.55169688e-03 7.37804793e-05 9.99984586e-01 2.55462743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:141.52, Y:1.41, Z:0.26 [[ 9.99967939e-01 -5.77135767e-03 -5.55087458e-03 1.41515034e+02] [ 5.77077249e-03 9.99983342e-01 -1.21432361e-04 1.41298711e+00] [ 5.55148294e-03 8.93956332e-05 9.99984586e-01 2.55176291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:141.54, Y:1.42, Z:0.26 [[ 9.99952843e-01 -7.96862395e-03 -5.55085606e-03 1.41544946e+02] [ 7.96806727e-03 9.99968247e-01 -1.22395362e-04 1.41961690e+00] [ 5.55165513e-03 7.81599955e-05 9.99984586e-01 2.56337261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:141.57, Y:1.42, Z:0.26 [[ 9.99950332e-01 -8.27781199e-03 -5.55073434e-03 1.41574911e+02] [ 8.27722439e-03 9.99965735e-01 -1.28825344e-04 1.42410987e+00] [ 5.55161053e-03 8.28742723e-05 9.99984586e-01 2.55030031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59864000000002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:141.60, Y:1.43, Z:0.26 [[ 9.99935283e-01 -9.93058898e-03 -5.55096844e-03 1.41604491e+02] [ 9.93009594e-03 9.99950689e-01 -1.16375578e-04 1.43103760e+00] [ 5.55185039e-03 6.12463973e-05 9.99984586e-01 2.56454807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:141.63, Y:1.43, Z:0.26 [[ 9.99913220e-01 -1.19472661e-02 -5.55116125e-03 1.41633246e+02] [ 1.19468614e-02 9.99928628e-01 -1.06054057e-04 1.43303341e+00] [ 5.55203211e-03 3.97258993e-05 9.99984587e-01 2.57512131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:141.66, Y:1.44, Z:0.26 [[ 9.99921691e-01 -1.12161028e-02 -5.55071456e-03 1.41662812e+02] [ 1.12155524e-02 9.99937095e-01 -1.30273658e-04 1.43503727e+00] [ 5.55182656e-03 6.80091262e-05 9.99984586e-01 2.55481217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:141.69, Y:1.44, Z:0.26 [[ 9.99888757e-01 -1.38442436e-02 -5.55068799e-03 1.41692662e+02] [ 1.38437255e-02 9.99904162e-01 -1.31734916e-04 1.44071166e+00] [ 5.55197980e-03 5.48780605e-05 9.99984586e-01 2.57109616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:1.44, Z:0.24 [[ 9.99912731e-01 -1.19883763e-02 -5.55063837e-03 1.41724252e+02] [ 1.19878145e-02 9.99928135e-01 -1.34458316e-04 1.44420882e+00] [ 5.55185141e-03 6.79065587e-05 9.99984586e-01 2.39424240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:1.45, Z:0.24 [[ 9.99888799e-01 -1.38409703e-02 -5.55125568e-03 1.41752596e+02] [ 1.38406268e-02 9.99904209e-01 -1.00288625e-04 1.44778462e+00] [ 5.55211202e-03 2.34446142e-05 9.99984587e-01 2.39402753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.78, Y:1.45, Z:0.26 [[ 9.99822800e-01 -1.79875567e-02 -5.55124286e-03 1.41780967e+02] [ 1.79872732e-02 9.99838211e-01 -1.00993330e-04 1.44954463e+00] [ 5.55216136e-03 1.12371133e-06 9.99984587e-01 2.55132553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:1.45, Z:0.26 [[ 9.99796329e-01 -1.94034640e-02 -5.55041141e-03 1.41809757e+02] [ 1.94029511e-02 9.99811734e-01 -1.46251374e-04 1.45248273e+00] [ 5.55220424e-03 3.85272253e-05 9.99984586e-01 2.57191970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:1.46, Z:0.24 [[ 9.99894519e-01 -1.34220947e-02 -5.54958797e-03 1.41843414e+02] [ 1.34212339e-02 9.99909913e-01 -1.92332588e-04 1.45685585e+00] [ 5.55166952e-03 1.17829983e-04 9.99984582e-01 2.39159717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:1.46, Z:0.26 [[ 9.99860490e-01 -1.57538521e-02 -5.55125391e-03 1.41871301e+02] [ 1.57535618e-02 9.99875900e-01 -9.60092629e-05 1.45863333e+00] [ 5.55207752e-03 8.54384685e-06 9.99984587e-01 2.55549082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:1.46, Z:0.26 [[ 9.99912163e-01 -1.20358280e-02 -5.55025934e-03 1.41901162e+02] [ 1.20351581e-02 9.99927563e-01 -1.54087712e-04 1.46326981e+00] [ 5.55171187e-03 8.72759291e-05 9.99984585e-01 2.56428060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.93, Y:1.47, Z:0.26 [[ 9.99928997e-01 -1.05449320e-02 -5.55029932e-03 1.41930873e+02] [ 1.05442522e-02 9.99944396e-01 -1.51728065e-04 1.46681992e+00] [ 5.55159066e-03 9.31935364e-05 9.99984585e-01 2.58816513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:1.47, Z:0.24 [[ 9.99972498e-01 -4.91916917e-03 -5.55018846e-03 1.41963432e+02] [ 4.91836526e-03 9.99987892e-01 -1.58483159e-04 1.47015473e+00] [ 5.55090087e-03 1.31180946e-04 9.99984585e-01 2.42763982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:142.00, Y:1.50, Z:0.25 [[ 9.99139084e-01 4.11129508e-02 -5.55130024e-03 1.42000337e+02] [-4.11140812e-02 9.99154455e-01 -8.96079808e-05 1.49713430e+00] [ 5.54292232e-03 3.17767445e-04 9.99984587e-01 2.50101319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:1.48, Z:0.26 [[ 9.99978286e-01 -3.54637073e-03 -5.55429274e-03 1.42021461e+02] [ 3.54701065e-03 9.99993704e-01 1.05366446e-04 1.47864615e+00] [ 5.55388410e-03 -1.25065294e-04 9.99984569e-01 2.56841109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:1.48, Z:0.24 [[ 9.99976630e-01 -3.99109517e-03 -5.55069081e-03 1.42052510e+02] [ 3.99053977e-03 9.99992032e-01 -1.11131351e-04 1.48276411e+00] [ 5.55109011e-03 8.89785013e-05 9.99984589e-01 2.43743070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.08, Y:1.48, Z:0.24 [[ 9.99967749e-01 -5.80409649e-03 -5.55100371e-03 1.42081028e+02] [ 5.80367344e-03 9.99983154e-01 -9.23168203e-05 1.48427265e+00] [ 5.55144601e-03 6.00976302e-05 9.99984589e-01 2.42784810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:1.49, Z:0.26 [[ 9.99946542e-01 -8.72345597e-03 -5.55099202e-03 1.42109573e+02] [ 8.72307403e-03 9.99961949e-01 -9.30142080e-05 1.48649874e+00] [ 5.55159220e-03 4.45875214e-05 9.99984589e-01 2.58500266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:1.49, Z:0.24 [[ 9.99920564e-01 -1.13161810e-02 -5.55072439e-03 1.42140842e+02] [ 1.13157506e-02 9.99935969e-01 -1.08947824e-04 1.49214010e+00] [ 5.55160184e-03 4.61285569e-05 9.99984589e-01 2.44297902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:1.49, Z:0.24 [[ 9.99915835e-01 -1.17264642e-02 -5.55099495e-03 1.42169118e+02] [ 1.17261300e-02 9.99931242e-01 -9.27557824e-05 1.49470468e+00] [ 5.55170098e-03 2.76562872e-05 9.99984589e-01 2.44511002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:1.50, Z:0.25 [[ 9.99904027e-01 -1.26934748e-02 -5.55098332e-03 1.42199085e+02] [ 1.26931516e-02 9.99919434e-01 -9.34465391e-05 1.49858813e+00] [ 5.55172227e-03 2.29780977e-05 9.99984589e-01 2.45963351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.23, Y:1.50, Z:0.26 [[ 9.99845681e-01 -1.66673385e-02 -5.55097748e-03 1.42227336e+02] [ 1.66670746e-02 9.99861090e-01 -9.37927140e-05 1.50062535e+00] [ 5.55176967e-03 1.25968432e-06 9.99984589e-01 2.58963024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.26, Y:1.51, Z:0.24 [[ 9.99866744e-01 -1.53523229e-02 -5.54984307e-03 1.42259866e+02] [ 1.53516613e-02 9.99882143e-01 -1.61800127e-04 1.50574647e+00] [ 5.55167299e-03 7.65792550e-05 9.99984586e-01 2.43766524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.29, Y:1.51, Z:0.24 [[ 9.99828963e-01 -1.76417403e-02 -5.55100924e-03 1.42290239e+02] [ 1.76415161e-02 9.99844372e-01 -8.93552723e-05 1.50800447e+00] [ 5.55172173e-03 -8.58822950e-06 9.99984589e-01 2.44046331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.32, Y:1.51, Z:0.26 [[ 9.99732268e-01 -2.24628418e-02 -5.55100924e-03 1.42318250e+02] [ 2.24626919e-02 9.99747678e-01 -8.93552723e-05 1.51024820e+00] [ 5.55161577e-03 -3.53592611e-05 9.99984589e-01 2.61193118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:1.52, Z:0.24 [[ 9.99801003e-01 -1.91613367e-02 -5.54963696e-03 1.42351666e+02] [ 1.91606561e-02 9.99816402e-01 -1.75786119e-04 1.51520505e+00] [ 5.55198636e-03 6.94164529e-05 9.99984585e-01 2.44951682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.38, Y:1.52, Z:0.24 [[ 9.99786394e-01 -1.99085936e-02 -5.55102699e-03 1.42382895e+02] [ 1.99084293e-02 9.99801804e-01 -8.48559933e-05 1.51749685e+00] [ 5.55161617e-03 -2.56743610e-05 9.99984589e-01 2.44975421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.41, Y:1.52, Z:0.25 [[ 9.99749188e-01 -2.16967161e-02 -5.55103216e-03 1.42414065e+02] [ 2.16965812e-02 9.99764598e-01 -8.45167408e-05 1.52167097e+00] [ 5.55155917e-03 -3.59428772e-05 9.99984589e-01 2.46021500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.45, Y:1.52, Z:0.25 [[ 9.99758303e-01 -2.12725774e-02 -5.55103728e-03 1.42446860e+02] [ 2.12724379e-02 9.99773713e-01 -8.41790646e-05 1.52247025e+00] [ 5.55157185e-03 -3.39253770e-05 9.99984589e-01 2.46203509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.48, Y:1.52, Z:0.26 [[ 9.99702535e-01 -2.37492687e-02 -5.55107199e-03 1.42476435e+02] [ 2.37491804e-02 9.99717945e-01 -8.18240344e-05 1.52418155e+00] [ 5.55144955e-03 -5.00337158e-05 9.99984589e-01 2.61466260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.51, Y:1.53, Z:0.26 [[ 9.99672545e-01 -2.49798344e-02 -5.55075097e-03 1.42509889e+02] [ 2.49796445e-02 9.99687955e-01 -1.03540360e-04 1.52561340e+00] [ 5.55160531e-03 -3.51493303e-05 9.99984589e-01 2.60407990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.54, Y:1.53, Z:0.26 [[ 9.99517088e-01 -3.05741495e-02 -5.55094063e-03 1.42540170e+02] [ 3.05741189e-02 9.99532498e-01 -9.03836684e-05 1.52674494e+00] [ 5.55110895e-03 -7.93750978e-05 9.99984589e-01 2.60538911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.57, Y:1.53, Z:0.26 [[ 9.99433379e-01 -3.31980992e-02 -5.55047782e-03 1.42571462e+02] [ 3.31979274e-02 9.99448789e-01 -1.23113240e-04 1.52764718e+00] [ 5.55150546e-03 -6.12208785e-05 9.99984588e-01 2.60405487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:1.53, Z:0.25 [[ 9.99343282e-01 -3.58078249e-02 -5.55021578e-03 1.42606401e+02] [ 3.58075875e-02 9.99358693e-01 -1.42170926e-04 1.52828896e+00] [ 5.55174722e-03 -5.66622778e-05 9.99984587e-01 2.45089608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:1.53, Z:0.25 [[ 9.99299095e-01 -3.70203177e-02 -5.55112569e-03 1.42639564e+02] [ 3.70204855e-02 9.99314504e-01 -7.25626620e-05 1.52856607e+00] [ 5.55000671e-03 -1.32993566e-04 9.99984590e-01 2.45009714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:1.53, Z:0.26 [[ 9.99201979e-01 -3.95549002e-02 -5.55115865e-03 1.42667815e+02] [ 3.95551216e-02 9.99217387e-01 -6.99469447e-05 1.52874882e+00] [ 5.54958099e-03 -1.49685630e-04 9.99984590e-01 2.61899635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.70, Y:1.53, Z:0.26 [[ 9.99214044e-01 -3.92490646e-02 -5.55017307e-03 1.42701226e+02] [ 3.92488469e-02 9.99229456e-01 -1.48180530e-04 1.52923825e+00] [ 5.55171236e-03 -6.97738263e-05 9.99984587e-01 2.61595827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:1.53, Z:0.26 [[ 9.99124901e-01 -4.14563137e-02 -5.55033883e-03 1.42731022e+02] [ 4.14562070e-02 9.99140313e-01 -1.34322262e-04 1.52851388e+00] [ 5.55113578e-03 -9.58912792e-05 9.99984588e-01 2.59968883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:1.53, Z:0.24 [[ 9.99226877e-01 -3.89209979e-02 -5.55019380e-03 1.42765719e+02] [ 3.89207836e-02 9.99242288e-01 -1.46654467e-04 1.52620319e+00] [ 5.55169630e-03 -6.94768065e-05 9.99984587e-01 2.43493051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.79, Y:1.52, Z:0.26 [[ 9.99015879e-01 -4.40052191e-02 -5.55113738e-03 1.42791737e+02] [ 4.40055557e-02 9.99031284e-01 -6.15351093e-05 1.52489409e+00] [ 5.54846778e-03 -1.82806334e-04 9.99984590e-01 2.61371062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:1.53, Z:0.24 [[ 9.99212841e-01 -3.92797416e-02 -5.54982304e-03 1.42829191e+02] [ 3.92793463e-02 9.99228252e-01 -1.80243743e-04 1.52512821e+00] [ 5.55261991e-03 -3.78915584e-05 9.99984583e-01 2.42982291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.85, Y:1.52, Z:0.26 [[ 9.98944301e-01 -4.56011928e-02 -5.55107244e-03 1.42854508e+02] [ 4.56015866e-02 9.98959705e-01 -5.56736398e-05 1.52054371e+00] [ 5.54783647e-03 -1.97522845e-04 9.99984591e-01 2.60815214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.89, Y:1.52, Z:0.26 [[ 9.99105854e-01 -4.19129265e-02 -5.54975697e-03 1.42890199e+02] [ 4.19125593e-02 9.99121266e-01 -1.82502439e-04 1.51978989e+00] [ 5.55252942e-03 -5.02652626e-05 9.99984583e-01 2.59897812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:1.52, Z:0.24 [[ 9.99156660e-01 -4.06837005e-02 -5.55032498e-03 1.42924603e+02] [ 4.06836479e-02 9.99172070e-01 -1.22429250e-04 1.51722139e+00] [ 5.55071058e-03 -1.03481467e-04 9.99984589e-01 2.42673527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.95, Y:1.51, Z:0.26 [[ 9.98980110e-01 -4.48099037e-02 -5.55097432e-03 1.42951953e+02] [ 4.48103208e-02 9.98995512e-01 -4.92627170e-05 1.51450423e+00] [ 5.54760589e-03 -1.99528466e-04 9.99984592e-01 2.60865977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.98, Y:1.51, Z:0.26 [[ 9.98954380e-01 -4.53799793e-02 -5.55014780e-03 1.42984292e+02] [ 4.53798919e-02 9.98969792e-01 -1.41730211e-04 1.51180776e+00] [ 5.55086171e-03 -1.10283092e-04 9.99984588e-01 2.60143939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:143.02, Y:1.50, Z:0.26 [[ 9.98830401e-01 -4.80314954e-02 -5.55025114e-03 1.43015129e+02] [ 4.80315187e-02 9.98845812e-01 -1.29165062e-04 1.50320637e+00] [ 5.55004910e-03 -1.37573001e-04 9.99984589e-01 2.62022083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:143.05, Y:1.50, Z:0.26 [[ 9.99006696e-01 -4.42133516e-02 -5.54983922e-03 1.43049440e+02] [ 4.42130094e-02 9.99022110e-01 -1.84388497e-04 1.50132720e+00] [ 5.55256452e-03 -6.11697504e-05 9.99984583e-01 2.62776095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:143.08, Y:1.49, Z:0.26 [[ 9.98949985e-01 -4.54766139e-02 -5.55026147e-03 1.43080374e+02] [ 4.54766585e-02 9.98965395e-01 -1.18229644e-04 1.49477221e+00] [ 5.54989582e-03 -1.34301845e-04 9.99984590e-01 2.62261248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.12, Y:1.49, Z:0.25 [[ 9.99150237e-01 -4.08411730e-02 -5.55008342e-03 1.43117686e+02] [ 4.08409769e-02 9.99165648e-01 -1.48722184e-04 1.49177433e+00] [ 5.55152669e-03 -7.80750233e-05 9.99984587e-01 2.45309151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.15, Y:1.49, Z:0.26 [[ 9.99056996e-01 -4.30616778e-02 -5.55066527e-03 1.43145752e+02] [ 4.30621948e-02 9.99072393e-01 -2.64012796e-05 1.48757912e+00] [ 5.54665332e-03 -2.12647446e-04 9.99984595e-01 2.61474018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.18, Y:1.48, Z:0.26 [[ 9.99183273e-01 -4.00247557e-02 -5.55031177e-03 1.43176982e+02] [ 4.00248064e-02 9.99198681e-01 -1.01978199e-04 1.48176070e+00] [ 5.54994586e-03 -1.20255244e-04 9.99984592e-01 2.62828894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.21, Y:1.48, Z:0.25 [[ 9.99469989e-01 -3.20770404e-02 -5.55021347e-03 1.43213047e+02] [ 3.20768359e-02 9.99485398e-01 -1.25884383e-04 1.47986450e+00] [ 5.55139532e-03 -5.22156239e-05 9.99984590e-01 2.45191678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.24, Y:1.47, Z:0.26 [[ 9.99479497e-01 -3.17793443e-02 -5.55055202e-03 1.43240680e+02] [ 3.17797378e-02 9.99494896e-01 -1.73047931e-05 1.47362713e+00] [ 5.54829835e-03 -1.59099302e-04 9.99984595e-01 2.61754481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:143.27, Y:1.47, Z:0.26 [[ 9.99619529e-01 -2.70183474e-02 -5.55027421e-03 1.43273191e+02] [ 2.70181355e-02 9.99634937e-01 -1.13174673e-04 1.47162285e+00] [ 5.55130580e-03 -3.68264476e-05 9.99984591e-01 2.61517953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:1.47, Z:0.25 [[ 9.99751566e-01 -2.15870259e-02 -5.55033830e-03 1.43306723e+02] [ 2.15868765e-02 9.99766972e-01 -8.68262820e-05 1.47047710e+00] [ 5.55091924e-03 -3.30097560e-05 9.99984593e-01 2.45204085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:143.34, Y:1.47, Z:0.25 [[ 9.99824805e-01 -1.78760151e-02 -5.55048780e-03 1.43337607e+02] [ 1.78762298e-02 9.99840207e-01 -1.09328107e-05 1.46681280e+00] [ 5.54979631e-03 -8.82909001e-05 9.99984596e-01 2.46160181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.37, Y:1.46, Z:0.25 [[ 9.99847981e-01 -1.65289579e-02 -5.55048780e-03 1.43367659e+02] [ 1.65291519e-02 9.99863384e-01 -1.09328107e-05 1.46407253e+00] [ 5.54991023e-03 -8.08137071e-05 9.99984596e-01 2.46041886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:143.40, Y:1.46, Z:0.26 [[ 9.99839073e-01 -1.70593321e-02 -5.55048712e-03 1.43395484e+02] [ 1.70595323e-02 9.99854476e-01 -1.12672502e-05 1.46036145e+00] [ 5.54987161e-03 -8.34232776e-05 9.99984596e-01 2.63804094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:143.43, Y:1.46, Z:0.25 [[ 9.99907104e-01 -1.24489815e-02 -5.55033669e-03 1.43428581e+02] [ 1.24487388e-02 9.99922508e-01 -7.82871664e-05 1.45963318e+00] [ 5.55088118e-03 9.18520242e-06 9.99984594e-01 2.46655318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:143.46, Y:1.46, Z:0.26 [[ 9.99879533e-01 -1.44952562e-02 -5.55045138e-03 1.43456405e+02] [ 1.44954283e-02 9.99894936e-01 -9.21534073e-06 1.45830564e+00] [ 5.55000181e-03 -7.12419397e-05 9.99984596e-01 2.63753122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.49, Y:1.46, Z:0.25 [[ 9.99951036e-01 -8.19269386e-03 -5.55030174e-03 1.43488955e+02] [ 8.19234461e-03 9.99966439e-01 -8.56567450e-05 1.45656433e+00] [ 5.55081723e-03 4.01825663e-05 9.99984593e-01 2.45824524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:143.52, Y:1.46, Z:0.25 [[ 9.99957085e-01 -7.41762933e-03 -5.55042051e-03 1.43517724e+02] [ 7.41769615e-03 9.99972488e-01 -8.54810569e-06 1.45534655e+00] [ 5.55033122e-03 -3.26235940e-05 9.99984596e-01 2.46784252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:143.55, Y:1.45, Z:0.25 [[ 9.99965682e-01 -6.15034135e-03 -5.55041938e-03 1.43546148e+02] [ 6.15038488e-03 9.99981086e-01 -9.22748913e-06 1.45333040e+00] [ 5.55037116e-03 -2.49100430e-05 9.99984596e-01 2.47056165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:143.58, Y:1.45, Z:0.25 [[ 9.99964437e-01 -6.34960837e-03 -5.55041735e-03 1.43575218e+02] [ 6.34964889e-03 9.99979841e-01 -1.03214863e-05 1.45243964e+00] [ 5.55037100e-03 -2.49220821e-05 9.99984596e-01 2.46067900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:143.60, Y:1.45, Z:0.25 [[ 9.99965799e-01 -6.13141979e-03 -5.55041597e-03 1.43604057e+02] [ 6.13145308e-03 9.99981202e-01 -1.10176465e-05 1.45133534e+00] [ 5.55037919e-03 -2.30148454e-05 9.99984596e-01 2.45147728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:143.63, Y:1.45, Z:0.27 [[ 9.99930878e-01 -1.03649878e-02 -5.55041451e-03 1.43630672e+02] [ 1.03650825e-02 9.99946281e-01 -1.17088391e-05 1.44869013e+00] [ 5.55023771e-03 -4.58224743e-05 9.99984596e-01 2.65794519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:143.66, Y:1.45, Z:0.26 [[ 9.99948648e-01 -8.47923959e-03 -5.55018669e-03 1.43660979e+02] [ 8.47879356e-03 9.99964049e-01 -1.03888114e-04 1.44838229e+00] [ 5.55086805e-03 5.68238915e-05 9.99984592e-01 2.63459054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.69, Y:1.45, Z:0.25 [[ 9.99979576e-01 -3.16895534e-03 -5.55025588e-03 1.43693189e+02] [ 3.16865092e-03 9.99994978e-01 -6.36399453e-05 1.44675538e+00] [ 5.55042968e-03 4.60518221e-05 9.99984595e-01 2.45269636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:143.72, Y:1.45, Z:0.26 [[ 9.99965228e-01 -6.22388566e-03 -5.55033990e-03 1.43719977e+02] [ 6.22393463e-03 9.99980631e-01 -8.44821277e-06 1.44604739e+00] [ 5.55028497e-03 -2.60970337e-05 9.99984597e-01 2.64256909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:143.75, Y:1.45, Z:0.27 [[ 9.99972621e-01 -4.89410316e-03 -5.55020990e-03 1.43749646e+02] [ 4.89373786e-03 9.99988022e-01 -7.93960910e-05 1.44703311e+00] [ 5.55053200e-03 5.22326448e-05 9.99984594e-01 2.66435383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.78, Y:1.45, Z:0.26 [[ 9.99983248e-01 -1.64274448e-03 -5.55020587e-03 1.43780912e+02] [ 1.64231310e-03 9.99998648e-01 -8.22807293e-05 1.44712652e+00] [ 5.55033353e-03 7.31641752e-05 9.99984594e-01 2.64290415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:143.81, Y:1.45, Z:0.26 [[ 9.99984262e-01 -8.18948453e-04 -5.55023438e-03 1.43810925e+02] [ 8.18639365e-04 9.99999663e-01 -5.79608046e-05 1.44731720e+00] [ 5.55027998e-03 5.34162520e-05 9.99984596e-01 2.62896628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864000000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:143.84, Y:1.45, Z:0.27 [[ 9.99984125e-01 -9.71788241e-04 -5.55024971e-03 1.43840885e+02] [ 9.71548753e-04 9.99999527e-01 -4.58450194e-05 1.44854796e+00] [ 5.55029164e-03 4.04519534e-05 9.99984596e-01 2.65303153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:143.87, Y:1.45, Z:0.25 [[ 9.99984502e-01 4.36961149e-04 -5.55024295e-03 1.43872695e+02] [-4.37253966e-04 9.99999903e-01 -5.15440527e-05 1.44850764e+00] [ 5.55021989e-03 5.39701196e-05 9.99984596e-01 2.47180241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:143.90, Y:1.45, Z:0.26 [[ 9.99983649e-01 -1.37719898e-03 -5.55029588e-03 1.43901269e+02] [ 1.37718398e-03 9.99999052e-01 -6.52413796e-06 1.44793701e+00] [ 5.55029960e-03 -1.11974731e-06 9.99984597e-01 2.64862920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:143.93, Y:1.45, Z:0.25 [[ 9.99983923e-01 -1.16158133e-03 -5.55025715e-03 1.43932814e+02] [ 1.16140314e-03 9.99999325e-01 -3.53272423e-05 1.44766590e+00] [ 5.55029444e-03 2.88805882e-05 9.99984597e-01 2.47012847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.96, Y:1.45, Z:0.25 [[ 9.99983259e-01 -1.63572616e-03 -5.55028963e-03 1.43961440e+02] [ 1.63571703e-03 9.99998662e-01 -6.18489827e-06 1.44751473e+00] [ 5.55029232e-03 -2.89390852e-06 9.99984597e-01 2.48199604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.99, Y:1.45, Z:0.25 [[ 9.99982995e-01 -1.79017283e-03 -5.55028876e-03 1.43990174e+02] [ 1.79016221e-03 9.99998398e-01 -6.88104251e-06 1.44666076e+00] [ 5.55029219e-03 -3.05499170e-06 9.99984597e-01 2.47821389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:144.02, Y:1.44, Z:0.26 [[ 9.99965948e-01 -6.10711216e-03 -5.55028780e-03 1.44019203e+02] [ 6.10716413e-03 9.99981351e-01 -7.58509947e-06 1.44231500e+00] [ 5.55023062e-03 -2.63116774e-05 9.99984597e-01 2.64983704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:144.05, Y:1.44, Z:0.26 [[ 9.99931583e-01 -1.02967560e-02 -5.55026246e-03 1.44048621e+02] [ 1.02967743e-02 9.99946986e-01 -2.52800015e-05 1.43733748e+00] [ 5.55022852e-03 -3.18715278e-05 9.99984597e-01 2.62549870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:144.08, Y:1.44, Z:0.25 [[ 9.99939444e-01 -9.50283488e-03 -5.55023878e-03 1.44080490e+02] [ 9.50272894e-03 9.99954847e-01 -4.54597717e-05 1.43598363e+00] [ 5.55042017e-03 -7.28539591e-06 9.99984596e-01 2.48069088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:144.11, Y:1.43, Z:0.27 [[ 9.99908216e-01 -1.23594000e-02 -5.55027137e-03 1.44108584e+02] [ 1.23595659e-02 9.99923618e-01 -4.40504423e-06 1.43429379e+00] [ 5.54990187e-03 -6.41943051e-05 9.99984597e-01 2.65560115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.14, Y:1.43, Z:0.25 [[ 9.99935381e-01 -9.92114129e-03 -5.55021614e-03 1.44140763e+02] [ 9.92095943e-03 9.99950784e-01 -6.02979693e-05 1.43342064e+00] [ 5.55054120e-03 5.23060377e-06 9.99984596e-01 2.49287618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:144.17, Y:1.43, Z:0.25 [[ 9.99941834e-01 -9.24787219e-03 -5.55024530e-03 1.44169438e+02] [ 9.24799901e-03 9.99957236e-01 -2.81502773e-06 1.42987825e+00] [ 5.55003399e-03 -4.85137990e-05 9.99984597e-01 2.48476692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:144.20, Y:1.43, Z:0.26 [[ 9.99905652e-01 -1.25651166e-02 -5.55024487e-03 1.44196699e+02] [ 1.25652907e-02 9.99921054e-01 -3.50292689e-06 1.42887699e+00] [ 5.54985071e-03 -6.62378437e-05 9.99984597e-01 2.64402001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:144.23, Y:1.43, Z:0.25 [[ 9.99951704e-01 -8.11076501e-03 -5.55017278e-03 1.44229916e+02] [ 8.11042184e-03 9.99967106e-01 -8.43357905e-05 1.42925398e+00] [ 5.55067424e-03 3.93174749e-05 9.99984594e-01 2.48671027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:144.26, Y:1.43, Z:0.25 [[ 9.99944711e-01 -8.93146834e-03 -5.55020725e-03 1.44258709e+02] [ 8.93159297e-03 9.99960113e-01 -2.33166940e-06 1.42811582e+00] [ 5.55000669e-03 -4.72406515e-05 9.99984597e-01 2.48177265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:1.43, Z:0.25 [[ 9.99944815e-01 -8.91973782e-03 -5.55020687e-03 1.44287978e+02] [ 8.91985844e-03 9.99960217e-01 -3.02018804e-06 1.42665595e+00] [ 5.55001301e-03 -4.64870382e-05 9.99984597e-01 2.47675670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.32, Y:1.43, Z:0.25 [[ 9.99922561e-01 -1.11385855e-02 -5.55020641e-03 1.44317083e+02] [ 1.11387365e-02 9.99937962e-01 -3.70595830e-06 1.42535997e+00] [ 5.54990337e-03 -5.81166152e-05 9.99984597e-01 2.49719045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:1.43, Z:0.25 [[ 9.99904898e-01 -1.26249586e-02 -5.55020587e-03 1.44345913e+02] [ 1.26251287e-02 9.99920300e-01 -4.38949733e-06 1.42530023e+00] [ 5.54981894e-03 -6.56829836e-05 9.99984597e-01 2.50218557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:1.43, Z:0.25 [[ 9.99903347e-01 -1.27472415e-02 -5.55020524e-03 1.44375212e+02] [ 1.27474096e-02 9.99918748e-01 -5.07688964e-06 1.42529114e+00] [ 5.54981900e-03 -6.56743408e-05 9.99984597e-01 2.50381303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:1.42, Z:0.27 [[ 9.99782762e-01 -2.00904192e-02 -5.55020454e-03 1.44400254e+02] [ 2.00906967e-02 9.99798162e-01 -5.75563878e-06 1.42310440e+00] [ 5.54919993e-03 -1.05753087e-04 9.99984597e-01 2.69056022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.43, Y:1.42, Z:0.27 [[ 9.99846066e-01 -1.66445497e-02 -5.55002327e-03 1.44433086e+02] [ 1.66440646e-02 9.99861469e-01 -1.33573995e-04 1.42230695e+00] [ 5.55147770e-03 4.11784870e-05 9.99984590e-01 2.69350933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.46, Y:1.42, Z:0.27 [[ 9.99857496e-01 -1.59431897e-02 -5.55006666e-03 1.44463820e+02] [ 1.59430435e-02 9.99872899e-01 -7.05783897e-05 1.42130425e+00] [ 5.55048649e-03 -1.79166222e-05 9.99984596e-01 2.66329058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:1.42, Z:0.25 [[ 9.99883983e-01 -1.41851049e-02 -5.55007283e-03 1.44496274e+02] [ 1.41850144e-02 9.99899386e-01 -5.56736294e-05 1.41796120e+00] [ 5.55030416e-03 -2.30606925e-05 9.99984597e-01 2.51911474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:1.42, Z:0.25 [[ 9.99879264e-01 -1.45139389e-02 -5.55008369e-03 1.44525234e+02] [ 1.45141563e-02 9.99894664e-01 -1.10328550e-06 1.41563144e+00] [ 5.54951508e-03 -7.94516297e-05 9.99984598e-01 2.51474286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.55, Y:1.41, Z:0.27 [[ 9.99796566e-01 -1.93913231e-02 -5.55008347e-03 1.44551809e+02] [ 1.93916118e-02 9.99811965e-01 -1.78471231e-06 1.40968350e+00] [ 5.54907447e-03 -1.05840715e-04 9.99984598e-01 2.70606840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.59, Y:1.41, Z:0.25 [[ 9.99878407e-01 -1.45728735e-02 -5.55006379e-03 1.44586483e+02] [ 1.45725208e-02 9.99893810e-01 -1.03985544e-04 1.40755615e+00] [ 5.55098980e-03 2.30944800e-05 9.99984593e-01 2.53049677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:1.40, Z:0.25 [[ 9.99900395e-01 -1.29768184e-02 -5.55001214e-03 1.44615288e+02] [ 1.29770332e-02 9.99915795e-01 2.68915921e-06 1.40284869e+00] [ 5.54950990e-03 -7.47115829e-05 9.99984599e-01 2.52785225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:144.64, Y:1.40, Z:0.27 [[ 9.99855029e-01 -1.60971237e-02 -5.55001238e-03 1.44642043e+02] [ 1.60973828e-02 9.99870429e-01 2.01141006e-06 1.40086760e+00] [ 5.54926088e-03 -9.13517922e-05 9.99984599e-01 2.71138303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:1.40, Z:0.25 [[ 9.99940690e-01 -9.37086899e-03 -5.55003785e-03 1.44676127e+02] [ 9.37047333e-03 9.99956091e-01 -9.72897750e-05 1.39974039e+00] [ 5.55070585e-03 4.52775231e-05 9.99984594e-01 2.53278985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:144.70, Y:1.40, Z:0.27 [[ 9.99926910e-01 -1.07412099e-02 -5.54995135e-03 1.44703523e+02] [ 1.07414015e-02 9.99942309e-01 4.70865447e-06 1.39739286e+00] [ 5.54958059e-03 -6.43225659e-05 9.99984599e-01 2.68756970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:1.40, Z:0.25 [[ 9.99984389e-01 -6.47986306e-04 -5.55000672e-03 1.44736990e+02] [ 6.47584083e-04 9.99999788e-01 -7.42691551e-05 1.39568218e+00] [ 5.55005367e-03 7.06738996e-05 9.99984596e-01 2.54288675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:1.40, Z:0.25 [[ 9.99979097e-01 3.31715937e-03 -5.54990999e-03 1.44765187e+02] [-3.31717362e-03 9.99994498e-01 6.63646160e-06 1.39592692e+00] [ 5.54990147e-03 1.17736922e-05 9.99984599e-01 2.54501354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:1.40, Z:0.26 [[ 9.99974642e-01 4.46245471e-03 -5.54991194e-03 1.44792990e+02] [-4.46250251e-03 9.99990043e-01 3.77195917e-06 1.39518066e+00] [ 5.54987351e-03 2.09946324e-05 9.99984599e-01 2.55495804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:1.39, Z:0.25 [[ 9.99973358e-01 4.74157013e-03 -5.54991240e-03 1.44822251e+02] [-4.74163823e-03 9.99988758e-01 8.86120766e-07 1.39357899e+00] [ 5.54985421e-03 2.54295797e-05 9.99984599e-01 2.54883583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.85, Y:1.39, Z:0.27 [[ 9.99979972e-01 3.04190299e-03 -5.54991177e-03 1.44850520e+02] [-3.04195807e-03 9.99995373e-01 -1.48193072e-06 1.39257777e+00] [ 5.54988158e-03 1.83644999e-05 9.99984599e-01 2.70592080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.88, Y:1.39, Z:0.27 [[ 9.99979944e-01 3.05115049e-03 -5.54989784e-03 1.44878993e+02] [-3.05138541e-03 9.99995344e-01 -3.38612511e-05 1.39374000e+00] [ 5.54976868e-03 5.07954492e-05 9.99984599e-01 2.71844865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.91, Y:1.39, Z:0.27 [[ 9.99978290e-01 3.55219844e-03 -5.54990140e-03 1.44909618e+02] [-3.55240419e-03 9.99993690e-01 -2.72163781e-05 1.39470738e+00] [ 5.54976970e-03 4.69312803e-05 9.99984599e-01 2.69599492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:1.40, Z:0.26 [[ 9.99978346e-01 3.53639469e-03 -5.54991121e-03 1.44940559e+02] [-3.53652582e-03 9.99993746e-01 -1.38137181e-05 1.39519824e+00] [ 5.54982766e-03 3.34408233e-05 9.99984599e-01 2.55674735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:144.97, Y:1.40, Z:0.27 [[ 9.99981822e-01 -2.35663063e-03 -5.54991896e-03 1.44966544e+02] [ 2.35664063e-03 9.99997223e-01 -4.73864098e-06 1.39525949e+00] [ 5.54991472e-03 -8.34060966e-06 9.99984599e-01 2.72474160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.00, Y:1.40, Z:0.27 [[ 9.99984564e-01 2.66687011e-04 -5.54980706e-03 1.44999428e+02] [-2.67272480e-04 9.99999959e-01 -1.04752191e-04 1.39580751e+00] [ 5.54977890e-03 1.06233885e-04 9.99984594e-01 2.71645420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:145.03, Y:1.40, Z:0.27 [[ 9.99982848e-01 -1.87157733e-03 -5.54985768e-03 1.45029408e+02] [ 1.87149055e-03 9.99998249e-01 -2.08288998e-05 1.39609343e+00] [ 5.54988694e-03 1.04420363e-05 9.99984599e-01 2.70900926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:1.40, Z:0.26 [[ 9.99982368e-01 -2.11231973e-03 -5.54986072e-03 1.45060249e+02] [ 2.11226195e-03 9.99997769e-01 -1.62728112e-05 1.39502779e+00] [ 5.54988271e-03 4.54976473e-06 9.99984599e-01 2.57416156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:145.09, Y:1.39, Z:0.27 [[ 9.99968020e-01 -5.75826200e-03 -5.54986880e-03 1.45089556e+02] [ 5.75833116e-03 9.99983421e-01 -3.51698345e-06 1.39225868e+00] [ 5.54979704e-03 -2.84411115e-05 9.99984599e-01 2.74635668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:1.39, Z:0.26 [[ 9.99963950e-01 -6.42639028e-03 -5.54985143e-03 1.45121025e+02] [ 6.42633600e-03 9.99979351e-01 -2.76127821e-05 1.39168012e+00] [ 5.54991428e-03 -8.05342343e-06 9.99984599e-01 2.56495862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:1.39, Z:0.27 [[ 9.99941816e-01 -9.25002280e-03 -5.54986220e-03 1.45150053e+02] [ 9.25015212e-03 9.99957216e-01 -2.36782817e-06 1.38832281e+00] [ 5.54964666e-03 -4.89693792e-05 9.99984599e-01 2.70398845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:1.39, Z:0.26 [[ 9.99930019e-01 -1.04477789e-02 -5.54985542e-03 1.45180624e+02] [ 1.04478671e-02 9.99945419e-01 -1.31048037e-05 1.38539496e+00] [ 5.54968942e-03 -4.48802652e-05 9.99984599e-01 2.56776530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:1.38, Z:0.26 [[ 9.99901640e-01 -1.28806173e-02 -5.54986032e-03 1.45209881e+02] [ 1.28808014e-02 9.99917039e-01 -2.58378575e-06 1.38188289e+00] [ 5.54943318e-03 -6.89031167e-05 9.99984599e-01 2.57624174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:1.38, Z:0.26 [[ 9.99859462e-01 -1.58194589e-02 -5.54985991e-03 1.45238333e+02] [ 1.58196843e-02 9.99874861e-01 -3.27553938e-06 1.37614477e+00] [ 5.54921722e-03 -8.45219527e-05 9.99984599e-01 2.57905724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:145.27, Y:1.37, Z:0.27 [[ 9.99817746e-01 -1.82667550e-02 -5.54985942e-03 1.45266702e+02] [ 1.82670144e-02 9.99833144e-01 -3.96226642e-06 1.37328705e+00] [ 5.54900577e-03 -9.74178174e-05 9.99984599e-01 2.73954898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:1.37, Z:0.26 [[ 9.99826001e-01 -1.78091929e-02 -5.54983149e-03 1.45298147e+02] [ 1.78092324e-02 9.99841402e-01 -4.22896332e-05 1.36672648e+00] [ 5.54970444e-03 -5.65559641e-05 9.99984599e-01 2.57740023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864000000002 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:145.33, Y:1.36, Z:0.27 [[ 9.99778308e-01 -2.03109238e-02 -5.54984578e-03 1.45325857e+02] [ 2.03112257e-02 9.99793706e-01 -1.96732820e-06 1.36274218e+00] [ 5.54874084e-03 -1.10757278e-04 9.99984599e-01 2.74006934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:145.36, Y:1.36, Z:0.27 [[ 9.99780086e-01 -2.02232351e-02 -5.54982331e-03 1.45355441e+02] [ 2.02232759e-02 9.99795487e-01 -4.87771466e-05 1.35930149e+00] [ 5.54967473e-03 -6.34691880e-05 9.99984598e-01 2.73860335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.39, Y:1.36, Z:0.26 [[ 9.99843936e-01 -1.67721163e-02 -5.54982116e-03 1.45388410e+02] [ 1.67720009e-02 9.99859338e-01 -6.73380796e-05 1.35652764e+00] [ 5.55016991e-03 -2.57540352e-05 9.99984597e-01 2.59592477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.42, Y:1.35, Z:0.26 [[ 9.99870805e-01 -1.50855499e-02 -5.54980626e-03 1.45416774e+02] [ 1.50857889e-02 9.99886203e-01 1.20743045e-06 1.35113563e+00] [ 5.54915649e-03 -8.49304800e-05 9.99984600e-01 2.60103760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:1.35, Z:0.26 [[ 9.99912179e-01 -1.20346614e-02 -5.54980632e-03 1.45445182e+02] [ 1.20348496e-02 9.99927579e-01 5.07476099e-07 1.34545259e+00] [ 5.54939829e-03 -6.72985157e-05 9.99984600e-01 2.60943736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43864000000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:145.47, Y:1.34, Z:0.27 [[ 9.99907241e-01 -1.24382273e-02 -5.54980632e-03 1.45473014e+02] [ 1.24384188e-02 9.99922640e-01 -1.70722184e-08 1.34296974e+00] [ 5.54937720e-03 -6.90137446e-05 9.99984600e-01 2.74476786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:145.50, Y:1.34, Z:0.28 [[ 9.99930178e-01 -1.04325915e-02 -5.54980623e-03 1.45501412e+02] [ 1.04324842e-02 9.99945579e-01 -4.82714608e-05 1.34240338e+00] [ 5.55000780e-03 -9.63017553e-06 9.99984599e-01 2.75377726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:145.53, Y:1.34, Z:0.28 [[ 9.99946596e-01 -8.71809060e-03 -5.54980684e-03 1.45528995e+02] [ 8.71794286e-03 9.99961997e-01 -5.08133709e-05 1.34255990e+00] [ 5.55003893e-03 2.42775836e-06 9.99984598e-01 2.75755142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:145.56, Y:1.34, Z:0.28 [[ 9.99974425e-01 -4.51104797e-03 -5.54981231e-03 1.45558349e+02] [ 4.51075394e-03 9.99989824e-01 -6.54960508e-05 1.34112720e+00] [ 5.55005129e-03 4.04605380e-05 9.99984598e-01 2.76130793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:145.59, Y:1.34, Z:0.28 [[ 9.99983196e-01 -1.67554591e-03 -5.54980318e-03 1.45586894e+02] [ 1.67532490e-03 9.99998596e-01 -4.44704970e-05 1.34048667e+00] [ 5.54986990e-03 3.51720263e-05 9.99984599e-01 2.76327853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:1.34, Z:0.26 [[ 9.99971516e-01 5.11526442e-03 -5.54980186e-03 1.45619012e+02] [-5.11557636e-03 9.99986914e-01 -4.20139087e-05 1.34186677e+00] [ 5.54951433e-03 7.04031473e-05 9.99984599e-01 2.63106660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:145.65, Y:1.34, Z:0.28 [[ 9.99977245e-01 3.83537854e-03 -5.54977771e-03 1.45645946e+02] [-3.83542107e-03 9.99992645e-01 2.97933401e-06 1.34290817e+00] [ 5.54974832e-03 1.83064681e-05 9.99984600e-01 2.78059683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:145.68, Y:1.34, Z:0.28 [[ 9.99954303e-01 7.78405310e-03 -5.54979253e-03 1.45675874e+02] [-7.78442413e-03 9.99969700e-01 -4.52563766e-05 1.34452708e+00] [ 5.54927209e-03 8.84562474e-05 9.99984599e-01 2.77198889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:1.35, Z:0.26 [[ 9.99917434e-01 1.15898428e-02 -5.54979028e-03 1.45707077e+02] [-1.15902191e-02 9.99932831e-01 -3.56428667e-05 1.34514663e+00] [ 5.54900441e-03 9.99632089e-05 9.99984599e-01 2.64367414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:145.73, Y:1.35, Z:0.28 [[ 9.99927879e-01 1.06506234e-02 -5.54977908e-03 1.45733965e+02] [-1.06507782e-02 9.99943279e-01 1.66571225e-06 1.34639640e+00] [ 5.54948204e-03 5.74438740e-05 9.99984600e-01 2.79032163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:145.76, Y:1.35, Z:0.28 [[ 9.99885172e-01 1.41011309e-02 -5.54978263e-03 1.45763065e+02] [-1.41016145e-02 9.99900566e-01 -4.80084956e-05 1.34962059e+00] [ 5.54855382e-03 1.26263878e-04 9.99984599e-01 2.80363442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:145.79, Y:1.35, Z:0.28 [[ 9.99867214e-01 1.53216866e-02 -5.54978223e-03 1.45790849e+02] [-1.53221707e-02 9.99882608e-01 -4.47154134e-05 1.35130969e+00] [ 5.54844561e-03 1.29744187e-04 9.99984599e-01 2.80895904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:145.82, Y:1.35, Z:0.28 [[ 9.99864704e-01 1.54846370e-02 -5.54978138e-03 1.45820053e+02] [-1.54851477e-02 9.99880097e-01 -4.90670762e-05 1.35346418e+00] [ 5.54835616e-03 1.34999622e-04 9.99984599e-01 2.81203965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:145.85, Y:1.35, Z:0.28 [[ 9.99852918e-01 1.62278303e-02 -5.54978023e-03 1.45849523e+02] [-1.62283838e-02 9.99868310e-01 -5.47064221e-05 1.35487619e+00] [ 5.54816161e-03 1.44762339e-04 9.99984598e-01 2.80599642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.88, Y:1.36, Z:0.27 [[ 9.99802687e-01 1.90731849e-02 -5.54978220e-03 1.45880587e+02] [-1.90737349e-02 9.99818079e-01 -4.61729383e-05 1.35606173e+00] [ 5.54789191e-03 1.52018902e-04 9.99984599e-01 2.66363451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:145.91, Y:1.36, Z:0.27 [[ 9.99803644e-01 1.90229693e-02 -5.54979465e-03 1.45908222e+02] [-1.90232709e-02 9.99819041e-01 -1.54798267e-06 1.35926462e+00] [ 5.54876092e-03 1.07122926e-04 9.99984600e-01 2.66782631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:145.94, Y:1.36, Z:0.28 [[ 9.99838557e-01 1.70897743e-02 -5.54979235e-03 1.45935612e+02] [-1.70900620e-02 9.99853954e-01 -4.42852980e-06 1.36208751e+00] [ 5.54890615e-03 9.92741104e-05 9.99984600e-01 2.80198652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:145.97, Y:1.37, Z:0.28 [[ 9.99777828e-01 2.03346033e-02 -5.54972383e-03 1.45966839e+02] [-2.03352676e-02 9.99793215e-01 -6.32837698e-05 1.36807179e+00] [ 5.54728938e-03 1.76124829e-04 9.99984598e-01 2.82592874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:145.99, Y:1.37, Z:0.28 [[ 9.99775044e-01 2.04710000e-02 -5.54973601e-03 1.45994851e+02] [-2.04715743e-02 9.99790434e-01 -4.66884812e-05 1.37090725e+00] [ 5.54761722e-03 1.60289812e-04 9.99984599e-01 2.81428119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:146.02, Y:1.37, Z:0.28 [[ 9.99763265e-01 2.10383966e-02 -5.54972618e-03 1.46024482e+02] [-2.10390430e-02 9.99778653e-01 -5.81266129e-05 1.37374665e+00] [ 5.54727488e-03 1.74873780e-04 9.99984598e-01 2.80633817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:146.05, Y:1.38, Z:0.28 [[ 9.99792727e-01 1.95883532e-02 -5.54973716e-03 1.46053690e+02] [-1.95888833e-02 9.99808119e-01 -4.11741185e-05 1.37908770e+00] [ 5.54786573e-03 1.49878738e-04 9.99984599e-01 2.80364880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:146.08, Y:1.38, Z:0.28 [[ 9.99838833e-01 1.70736033e-02 -5.54974078e-03 1.46082319e+02] [-1.70740619e-02 9.99854227e-01 -3.52702644e-05 1.38126156e+00] [ 5.54832959e-03 1.30021198e-04 9.99984599e-01 2.82115022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:146.11, Y:1.39, Z:0.28 [[ 9.99887836e-01 1.39110332e-02 -5.54972804e-03 1.46114141e+02] [-1.39116128e-02 9.99903227e-01 -6.58573118e-05 1.38686547e+00] [ 5.54827483e-03 1.43055593e-04 9.99984598e-01 2.81402242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:146.14, Y:1.39, Z:0.28 [[ 9.99926714e-01 1.07595344e-02 -5.54972862e-03 1.46141801e+02] [-1.07598846e-02 9.99942110e-01 -3.32493010e-05 1.38956902e+00] [ 5.54904960e-03 9.29613036e-05 9.99984600e-01 2.82186154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:146.17, Y:1.39, Z:0.28 [[ 9.99949149e-01 8.42023240e-03 -5.54972726e-03 1.46170584e+02] [-8.42060103e-03 9.99964545e-01 -4.30591117e-05 1.39097175e+00] [ 5.54916793e-03 8.97889612e-05 9.99984599e-01 2.83152721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:146.20, Y:1.39, Z:0.28 [[ 9.99975070e-01 4.36568279e-03 -5.54972727e-03 1.46200965e+02] [-4.36598888e-03 9.99990468e-01 -4.30387818e-05 1.39292444e+00] [ 5.54948648e-03 6.72677564e-05 9.99984599e-01 2.79407018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:146.23, Y:1.39, Z:0.28 [[ 9.99983575e-01 1.43191602e-03 -5.54973328e-03 1.46230338e+02] [-1.43207276e-03 9.99998974e-01 -2.42688828e-05 1.39399407e+00] [ 5.54969284e-03 3.22161061e-05 9.99984600e-01 2.83043053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:146.26, Y:1.39, Z:0.28 [[ 9.99983512e-01 1.47505592e-03 -5.54973329e-03 1.46258672e+02] [-1.47529252e-03 9.99998911e-01 -3.85389265e-05 1.39403377e+00] [ 5.54967040e-03 4.67257711e-05 9.99984599e-01 2.83202565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:146.29, Y:1.40, Z:0.28 [[ 9.99984577e-01 -2.15072151e-04 -5.54973325e-03 1.46289179e+02] [ 2.14864278e-04 9.99999976e-01 -3.80525488e-05 1.39619538e+00] [ 5.54974131e-03 3.68595224e-05 9.99984599e-01 2.82396324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.32, Y:1.40, Z:0.28 [[ 9.99983522e-01 -1.46820036e-03 -5.54973003e-03 1.46318189e+02] [ 1.46814269e-03 9.99998922e-01 -1.44662554e-05 1.39630575e+00] [ 5.54974529e-03 6.31822148e-06 9.99984600e-01 2.81909375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:146.35, Y:1.40, Z:0.28 [[ 9.99983843e-01 -1.23021271e-03 -5.54973065e-03 1.46348728e+02] [ 1.23013162e-03 9.99999243e-01 -1.80245856e-05 1.39666332e+00] [ 5.54974862e-03 1.11973952e-05 9.99984600e-01 2.83392617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:146.38, Y:1.40, Z:0.28 [[ 9.99983650e-01 -1.37882642e-03 -5.54973030e-03 1.46378158e+02] [ 1.37882145e-03 9.99999049e-01 -4.72117489e-06 1.39930067e+00] [ 5.54973153e-03 -2.93098949e-06 9.99984600e-01 2.82686003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:146.41, Y:1.40, Z:0.28 [[ 9.99984589e-01 1.48187808e-04 -5.54973112e-03 1.46408986e+02] [-1.48247895e-04 9.99999989e-01 -1.04157375e-05 1.40043321e+00] [ 5.54972952e-03 1.12383130e-05 9.99984600e-01 2.82911883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:146.44, Y:1.40, Z:0.28 [[ 9.99973790e-01 -4.64968645e-03 -5.54973233e-03 1.46437089e+02] [ 4.64995664e-03 9.99989188e-01 3.57827579e-05 1.39887796e+00] [ 5.54950595e-03 -6.15878348e-05 9.99984599e-01 2.82963879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:146.47, Y:1.40, Z:0.28 [[ 9.99965146e-01 -6.23760450e-03 -5.54972138e-03 1.46467066e+02] [ 6.23769024e-03 9.99980545e-01 -1.85951017e-06 1.39813266e+00] [ 5.54962501e-03 -3.27579975e-05 9.99984600e-01 2.82433584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:146.50, Y:1.40, Z:0.28 [[ 9.99956842e-01 -7.45084923e-03 -5.54972415e-03 1.46495836e+02] [ 7.45098566e-03 9.99972241e-01 3.90866353e-06 1.39836996e+00] [ 5.54954097e-03 -4.52594099e-05 9.99984600e-01 2.83703203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:146.52, Y:1.40, Z:0.28 [[ 9.99919916e-01 -1.13737671e-02 -5.54972825e-03 1.46524351e+02] [ 1.13740094e-02 9.99935314e-01 1.21123420e-05 1.39714968e+00] [ 5.54923150e-03 -7.52340335e-05 9.99984600e-01 2.84551728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:146.55, Y:1.40, Z:0.28 [[ 9.99912908e-01 -1.19739743e-02 -5.54971754e-03 1.46552760e+02] [ 1.19741467e-02 9.99928307e-01 -2.15089779e-06 1.39579745e+00] [ 5.54934542e-03 -6.43024218e-05 9.99984600e-01 2.83564398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.58, Y:1.40, Z:0.27 [[ 9.99884103e-01 -1.41768012e-02 -5.54972735e-03 1.46581875e+02] [ 1.41770721e-02 9.99899500e-01 9.47296849e-06 1.39533351e+00] [ 5.54903531e-03 -8.81507553e-05 9.99984600e-01 2.68144449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:146.61, Y:1.40, Z:0.28 [[ 9.99907369e-01 -1.24279904e-02 -5.54971200e-03 1.46613391e+02] [ 1.24281505e-02 9.99922768e-01 -5.63830769e-06 1.39543671e+00] [ 5.54935345e-03 -6.33348705e-05 9.99984600e-01 2.82321272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:146.64, Y:1.39, Z:0.28 [[ 9.99892545e-01 -1.35682990e-02 -5.54974176e-03 1.46642818e+02] [ 1.35686246e-02 9.99907942e-01 2.10217690e-05 1.39377560e+00] [ 5.54894563e-03 -9.63218724e-05 9.99984600e-01 2.84080587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:1.39, Z:0.27 [[ 9.99875884e-01 -1.47450452e-02 -5.54971736e-03 1.46673146e+02] [ 1.47452823e-02 9.99891282e-01 1.82265262e-06 1.38995159e+00] [ 5.54908713e-03 -8.36545758e-05 9.99984600e-01 2.69048774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:146.70, Y:1.39, Z:0.28 [[ 9.99889211e-01 -1.38117889e-02 -5.54970786e-03 1.46703467e+02] [ 1.38119661e-02 9.99904610e-01 -6.40579653e-06 1.38746069e+00] [ 5.54926695e-03 -7.02472899e-05 9.99984600e-01 2.84929443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:146.73, Y:1.38, Z:0.28 [[ 9.99876208e-01 -1.47230959e-02 -5.54971714e-03 1.46732037e+02] [ 1.47233367e-02 9.99891606e-01 2.53475697e-06 1.38353771e+00] [ 5.54907826e-03 -8.42447972e-05 9.99984600e-01 2.84788321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.76, Y:1.38, Z:0.27 [[ 9.99867538e-01 -1.53005835e-02 -5.54970789e-03 1.46762422e+02] [ 1.53007830e-02 9.99882936e-01 -6.51461366e-06 1.38213985e+00] [ 5.54915790e-03 -7.84011254e-05 9.99984600e-01 2.71257421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:1.38, Z:0.27 [[ 9.99875579e-01 -1.47657238e-02 -5.54970866e-03 1.46791633e+02] [ 1.47659191e-02 9.99890978e-01 -5.77336476e-06 1.38028455e+00] [ 5.54918887e-03 -7.61739028e-05 9.99984600e-01 2.70714744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:1.38, Z:0.27 [[ 9.99900328e-01 -1.29820661e-02 -5.54970786e-03 1.46820501e+02] [ 1.29822302e-02 9.99915727e-01 -6.46333432e-06 1.37892963e+00] [ 5.54932407e-03 -6.55848948e-05 9.99984600e-01 2.71247690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864000000002 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:146.85, Y:1.38, Z:0.29 [[ 9.99931681e-01 -1.02875566e-02 -5.54970696e-03 1.46850642e+02] [ 1.02876753e-02 9.99947080e-01 -7.15620923e-06 1.37877684e+00] [ 5.54948689e-03 -4.99378629e-05 9.99984600e-01 2.86540211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:146.88, Y:1.38, Z:0.29 [[ 9.99939918e-01 -9.45311684e-03 -5.54974033e-03 1.46879920e+02] [ 9.45335163e-03 9.99955316e-01 1.60754278e-05 1.37913349e+00] [ 5.54934038e-03 -6.85381087e-05 9.99984600e-01 2.85137054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:146.91, Y:1.38, Z:0.28 [[ 9.99963893e-01 -6.43537162e-03 -5.54974430e-03 1.46909435e+02] [ 6.43557169e-03 9.99979291e-01 1.81915949e-05 1.38038522e+00] [ 5.54951231e-03 -5.39067154e-05 9.99984600e-01 2.84173218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.94, Y:1.38, Z:0.27 [[ 9.99947761e-01 -8.58340509e-03 -5.54976367e-03 1.46937530e+02] [ 8.58369505e-03 9.99963159e-01 2.84309369e-05 1.38067157e+00] [ 5.54931518e-03 -7.60669307e-05 9.99984600e-01 2.71930088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.97, Y:1.38, Z:0.27 [[ 9.99948945e-01 -8.44447044e-03 -5.54968182e-03 1.46966786e+02] [ 8.44453720e-03 9.99964344e-01 -1.14042423e-05 1.38200362e+00] [ 5.54958024e-03 -3.54608344e-05 9.99984600e-01 2.72722152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:147.00, Y:1.38, Z:0.29 [[ 9.99960123e-01 -6.99669246e-03 -5.54968070e-03 1.46996533e+02] [ 6.99673402e-03 9.99975522e-01 -1.19261730e-05 1.38344183e+00] [ 5.54962830e-03 -2.69039423e-05 9.99984600e-01 2.88604853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:147.03, Y:1.39, Z:0.29 [[ 9.99965619e-01 -6.16132565e-03 -5.54973997e-03 1.47025640e+02] [ 6.16150915e-03 9.99981018e-01 1.59684377e-05 1.38549463e+00] [ 5.54953623e-03 -5.01626622e-05 9.99984600e-01 2.88951067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:147.05, Y:1.39, Z:0.29 [[ 9.99966497e-01 -6.01714516e-03 -5.54975882e-03 1.47054903e+02] [ 6.01737336e-03 9.99981895e-01 2.44220003e-05 1.38692021e+00] [ 5.54951139e-03 -5.78161529e-05 9.99984600e-01 2.90527878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:147.09, Y:1.39, Z:0.29 [[ 9.99961557e-01 -6.78852656e-03 -5.54972534e-03 1.47085385e+02] [ 6.78869221e-03 9.99976957e-01 1.10112976e-05 1.38675322e+00] [ 5.54952270e-03 -4.86862514e-05 9.99984600e-01 2.87069766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.11, Y:1.39, Z:0.29 [[ 9.99939365e-01 -9.51141167e-03 -5.54973193e-03 1.47113636e+02] [ 9.51163256e-03 9.99954763e-01 1.34091059e-05 1.38734728e+00] [ 5.54935333e-03 -6.61953037e-05 9.99984600e-01 2.88090845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:147.14, Y:1.39, Z:0.29 [[ 9.99919853e-01 -1.13793153e-02 -5.54968081e-03 1.47142257e+02] [ 1.13794711e-02 9.99935252e-01 -3.51519311e-06 1.38757990e+00] [ 5.54936147e-03 -5.96375208e-05 9.99984600e-01 2.89282099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.17, Y:1.39, Z:0.29 [[ 9.99875046e-01 -1.48017788e-02 -5.54966468e-03 1.47170802e+02] [ 1.48019588e-02 9.99890445e-01 -8.64332842e-06 1.38643601e+00] [ 5.54918462e-03 -7.35036596e-05 9.99984600e-01 2.87670633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:147.20, Y:1.38, Z:0.29 [[ 9.99821666e-01 -1.80509823e-02 -5.54956362e-03 1.47200011e+02] [ 1.80510405e-02 9.99837066e-01 -3.95969388e-05 1.38340222e+00] [ 5.54937417e-03 -6.05855204e-05 9.99984600e-01 2.87591297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:147.23, Y:1.38, Z:0.29 [[ 9.99660997e-01 -2.54380188e-02 -5.54955125e-03 1.47226499e+02] [ 2.54381693e-02 9.99676396e-01 -4.34835067e-05 1.38221148e+00] [ 5.54886153e-03 -9.77016583e-05 9.99984600e-01 2.90512244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26864 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:147.26, Y:1.38, Z:0.29 [[ 9.99650397e-01 -2.58512983e-02 -5.54919054e-03 1.47258198e+02] [ 2.58508104e-02 9.99665799e-01 -1.59639742e-04 1.37941493e+00] [ 5.55146289e-03 1.61328588e-05 9.99984590e-01 2.90984528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:1.38, Z:0.27 [[ 9.99750517e-01 -2.16358333e-02 -5.54927597e-03 1.47292570e+02] [ 2.16355094e-02 9.99765918e-01 -1.18398292e-04 1.37805897e+00] [ 5.55053863e-03 -1.69265918e-06 9.99984596e-01 2.71783108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:1.38, Z:0.27 [[ 9.99739066e-01 -2.21586232e-02 -5.54942579e-03 1.47321239e+02] [ 2.21589228e-02 9.99754461e-01 -7.49520594e-06 1.37581553e+00] [ 5.54822927e-03 -1.15476048e-04 9.99984602e-01 2.71193315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:1.37, Z:0.27 [[ 9.99758556e-01 -2.12610637e-02 -5.54942478e-03 1.47349599e+02] [ 2.12613457e-02 9.99773952e-01 -8.18149953e-06 1.37348757e+00] [ 5.54834429e-03 -1.09808714e-04 9.99984602e-01 2.72223651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:147.38, Y:1.37, Z:0.29 [[ 9.99802771e-01 -1.90689115e-02 -5.54942370e-03 1.47380616e+02] [ 1.90691560e-02 9.99818167e-01 -8.85978230e-06 1.37259670e+00] [ 5.54858357e-03 -9.69647914e-05 9.99984602e-01 2.88360539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:1.37, Z:0.27 [[ 9.99798198e-01 -1.93071830e-02 -5.54945261e-03 1.47410224e+02] [ 1.93075350e-02 9.99813592e-01 9.86083918e-06 1.37179283e+00] [ 5.54822776e-03 -1.17005100e-04 9.99984602e-01 2.72854760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:147.44, Y:1.37, Z:0.29 [[ 9.99851332e-01 -1.63253886e-02 -5.54942241e-03 1.47439826e+02] [ 1.63255905e-02 9.99866729e-01 -8.92262652e-06 1.36953928e+00] [ 5.54882849e-03 -8.16762975e-05 9.99984602e-01 2.90223476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.47, Y:1.37, Z:0.27 [[ 9.99850300e-01 -1.63884462e-02 -5.54942034e-03 1.47470025e+02] [ 1.63886418e-02 9.99865697e-01 -1.02231016e-05 1.36837665e+00] [ 5.54884258e-03 -8.07258912e-05 9.99984602e-01 2.72249171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:147.50, Y:1.36, Z:0.29 [[ 9.99894289e-01 -1.34392792e-02 -5.54942229e-03 1.47499833e+02] [ 1.34394360e-02 9.99909687e-01 -9.02958122e-06 1.36470019e+00] [ 5.54904245e-03 -6.55524792e-05 9.99984602e-01 2.91282205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:147.53, Y:1.36, Z:0.29 [[ 9.99905877e-01 -1.25475781e-02 -5.54941705e-03 1.47529480e+02] [ 1.25477032e-02 9.99921274e-01 -1.22753665e-05 1.36361356e+00] [ 5.54913420e-03 -5.73582269e-05 9.99984602e-01 2.88799697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:147.56, Y:1.36, Z:0.29 [[ 9.99895773e-01 -1.33284377e-02 -5.54941064e-03 1.47557606e+02] [ 1.33285516e-02 9.99911171e-01 -1.64627862e-05 1.36349874e+00] [ 5.54913711e-03 -5.75045356e-05 9.99984602e-01 2.89265451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:147.59, Y:1.36, Z:0.29 [[ 9.99947670e-01 -8.59428902e-03 -5.54933374e-03 1.47590221e+02] [ 8.59406470e-03 9.99963068e-01 -6.42685604e-05 1.35993699e+00] [ 5.54968114e-03 1.65738641e-05 9.99984600e-01 2.87675347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:147.62, Y:1.36, Z:0.29 [[ 9.99951002e-01 -8.19747110e-03 -5.54941435e-03 1.47618891e+02] [ 8.19759433e-03 9.99966399e-01 -5.39594296e-07 1.35693986e+00] [ 5.54923231e-03 -4.49522798e-05 9.99984602e-01 2.87713712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:147.65, Y:1.35, Z:0.29 [[ 9.99952480e-01 -8.01508955e-03 -5.54940852e-03 1.47647829e+02] [ 8.01518586e-03 9.99967878e-01 -4.88416383e-06 1.35358615e+00] [ 5.54926941e-03 -3.95956090e-05 9.99984602e-01 2.89493117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:1.35, Z:0.27 [[ 9.99954060e-01 -7.81553222e-03 -5.54940131e-03 1.47678053e+02] [ 7.81559678e-03 9.99969458e-01 -1.00537691e-05 1.35321271e+00] [ 5.54931039e-03 -3.33185757e-05 9.99984602e-01 2.71198263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:147.71, Y:1.35, Z:0.29 [[ 9.99978782e-01 -3.41175284e-03 -5.54940417e-03 1.47707870e+02] [ 3.41176050e-03 9.99994180e-01 -8.08682027e-06 1.35084278e+00] [ 5.54939946e-03 -1.08465893e-05 9.99984602e-01 2.88705913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:147.74, Y:1.35, Z:0.29 [[ 9.99983753e-01 -1.30297283e-03 -5.54941117e-03 1.47736452e+02] [ 1.30297211e-03 9.99999151e-01 -3.74433665e-06 1.35009558e+00] [ 5.54941134e-03 -3.48645218e-06 9.99984602e-01 2.88365113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:147.76, Y:1.35, Z:0.29 [[ 9.99984571e-01 2.48983747e-04 -5.54942109e-03 1.47764939e+02] [-2.48978419e-04 9.99999969e-01 1.65081758e-06 1.34986016e+00] [ 5.54942133e-03 -2.69106017e-07 9.99984602e-01 2.89310657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:147.79, Y:1.35, Z:0.29 [[ 9.99982175e-01 2.20308708e-03 -5.54944307e-03 1.47792562e+02] [-2.20305893e-03 9.99997573e-01 1.11851864e-05 1.34964142e+00] [ 5.54945425e-03 1.04076305e-06 9.99984602e-01 2.88709510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:147.82, Y:1.35, Z:0.29 [[ 9.99981243e-01 2.59174728e-03 -5.54941302e-03 1.47820032e+02] [-2.59178569e-03 9.99996641e-01 2.69631969e-07 1.34838336e+00] [ 5.54939508e-03 1.41132624e-05 9.99984602e-01 2.88705953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:147.85, Y:1.35, Z:0.29 [[ 9.99982760e-01 1.91962708e-03 -5.54938739e-03 1.47848486e+02] [-1.91969849e-03 9.99998157e-01 -7.54066026e-06 1.34659701e+00] [ 5.54936269e-03 1.81936808e-05 9.99984602e-01 2.89741513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:147.88, Y:1.35, Z:0.29 [[ 9.99983114e-01 1.72509675e-03 -5.54934088e-03 1.47877994e+02] [-1.72523763e-03 9.99998512e-01 -2.06000585e-05 1.34633684e+00] [ 5.54929708e-03 3.01736423e-05 9.99984602e-01 2.89649996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:147.91, Y:1.35, Z:0.29 [[ 9.99984303e-01 7.73287263e-04 -5.54937000e-03 1.47907031e+02] [-7.73371144e-04 9.99999701e-01 -1.29694908e-05 1.34616560e+00] [ 5.54935831e-03 1.72610098e-05 9.99984602e-01 2.89041471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:147.94, Y:1.34, Z:0.29 [[ 9.99984536e-01 -3.63385248e-04 -5.54936881e-03 1.47935410e+02] [ 3.63317224e-04 9.99999934e-01 -1.32660423e-05 1.34450634e+00] [ 5.54937326e-03 1.12496559e-05 9.99984602e-01 2.90117144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98864 meters Centerline goodness : 0.801858 Centerline is valid? [True, False] Translation: X:147.96, Y:1.35, Z:0.29 [[ 9.99961568e-01 -1.07309175e-03 -8.70120680e-03 1.47956852e+02] [ 9.71988894e-04 9.99932067e-01 -1.16153217e-02 1.35228818e+00] [ 8.71308001e-03 1.16064178e-02 9.99894681e-01 2.94550550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01864 meters Centerline goodness : 0.998625 Centerline is valid? [False, True] Translation: X:147.96, Y:1.35, Z:0.29 [[ 9.99961674e-01 -1.10627823e-03 -8.68482563e-03 1.47956813e+02] [ 1.00644140e-03 9.99933464e-01 -1.14915130e-02 1.35145379e+00] [ 8.69696058e-03 1.14823318e-02 9.99896254e-01 2.94667105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:147.98, Y:1.34, Z:0.29 [[ 9.99961754e-01 -1.67827618e-04 -8.74431010e-03 1.47984944e+02] [ 1.67723494e-04 9.99999986e-01 -1.26408586e-05 1.34194649e+00] [ 8.74431210e-03 1.11737489e-05 9.99961768e-01 2.93304488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:148.01, Y:1.34, Z:0.29 [[ 9.99961628e-01 5.32727093e-04 -8.74410934e-03 1.48014718e+02] [-5.33176542e-04 9.99999857e-01 -4.90691577e-05 1.34194186e+00] [ 8.74408194e-03 5.37294288e-05 9.99961768e-01 2.93133833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:148.04, Y:1.34, Z:0.29 [[ 9.99961769e-01 2.30255754e-05 -8.74418568e-03 1.48042515e+02] [-2.33401664e-05 9.99999999e-01 -3.58751188e-05 1.34164247e+00] [ 8.74418484e-03 3.60778380e-05 9.99961768e-01 2.94236928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:148.07, Y:1.34, Z:0.29 [[ 9.99961745e-01 -2.23640268e-04 -8.74407555e-03 1.48070813e+02] [ 2.23179005e-04 9.99999974e-01 -5.37272192e-05 1.34171461e+00] [ 8.74408734e-03 5.17736698e-05 9.99961768e-01 2.94486280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:148.10, Y:1.34, Z:0.29 [[ 9.99961464e-01 -7.82241682e-04 -8.74406173e-03 1.48099544e+02] [ 7.81782929e-04 9.99999693e-01 -5.58824686e-05 1.34171910e+00] [ 8.74410276e-03 4.90443570e-05 9.99961768e-01 2.94516059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:148.13, Y:1.34, Z:0.30 [[ 9.99959638e-01 -2.06501463e-03 -8.74399677e-03 1.48128069e+02] [ 2.06452116e-03 9.99997867e-01 -6.54612663e-05 1.34179039e+00] [ 8.74411330e-03 4.74064578e-05 9.99961768e-01 2.96693942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22864 meters Centerline goodness : 0.849708 Centerline is valid? [True, False] Translation: X:148.13, Y:1.34, Z:0.30 [[ 9.99959405e-01 -2.08773520e-03 -8.76520288e-03 1.48128145e+02] [ 2.08908792e-03 9.99997807e-01 1.45174673e-04 1.34076290e+00] [ 8.76488057e-03 -1.63480059e-04 9.99961574e-01 2.96658350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25864 meters Centerline goodness : 0.759063 Centerline is valid? [False, False] Translation: X:148.12, Y:1.36, Z:0.30 [[ 9.99998999e-01 9.52928733e-04 -1.04589166e-03 1.48122890e+02] [-9.70863393e-04 9.99850161e-01 -1.72833146e-02 1.35531943e+00] [ 1.02926518e-03 1.72843127e-02 9.99850085e-01 2.98018460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [False, True] Translation: X:148.12, Y:1.36, Z:0.30 [[ 9.99994659e-01 -3.11234258e-03 -9.97417069e-04 1.48122854e+02] [ 3.08896646e-03 9.99738942e-01 -2.26385887e-02 1.36050163e+00] [ 1.06761573e-03 2.26353869e-02 9.99743217e-01 2.98445827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:148.15, Y:1.34, Z:0.30 [[ 9.99997868e-01 1.67168781e-03 -1.21247419e-03 1.48152264e+02] [-1.67174353e-03 9.99998602e-01 -4.49391696e-05 1.34388452e+00] [ 1.21239737e-03 4.69660197e-05 9.99999264e-01 3.00959419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864000000002 meters Centerline goodness : 0.965880 Centerline is valid? [True, True] Translation: X:148.16, Y:1.31, Z:0.28 [[ 9.96189210e-01 -8.72100141e-02 -1.21277628e-03 1.48163161e+02] [ 8.72100624e-02 9.96189944e-01 -1.31146252e-05 1.30583176e+00] [ 1.20929927e-03 -9.27016473e-05 9.99999265e-01 2.78188146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37864000000002 meters Centerline goodness : 0.814004 Centerline is valid? [True, False] Translation: X:148.16, Y:1.32, Z:0.28 [[ 9.97080818e-01 -7.63418343e-02 1.32950721e-03 1.48158831e+02] [ 7.63512863e-02 9.97031795e-01 -9.90353071e-03 1.31636581e+00] [-5.69507255e-04 9.97613009e-03 9.99950075e-01 2.80392959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:148.16, Y:1.33, Z:0.28 [[ 9.98167402e-01 -6.04098832e-02 3.53325438e-03 1.48156213e+02] [ 6.04557141e-02 9.98061865e-01 -1.47519336e-02 1.32626780e+00] [-2.63524387e-03 1.49385046e-02 9.99884942e-01 2.81077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.19, Y:1.32, Z:0.28 [[ 9.98328852e-01 -5.77409212e-02 2.34309773e-03 1.48189698e+02] [ 5.77406419e-02 9.98331600e-01 1.86715265e-04 1.31820059e+00] [-2.34996962e-03 -5.11112690e-05 9.99997238e-01 2.78896320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.22, Y:1.33, Z:0.28 [[ 9.98398665e-01 -5.65209330e-02 2.34319300e-03 1.48221950e+02] [ 5.65206532e-02 9.98401413e-01 1.85511983e-04 1.32501362e+00] [-2.34993251e-03 -5.27761172e-05 9.99997238e-01 2.81069417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49864 meters Centerline goodness : 0.896545 Centerline is valid? [True, False] Translation: X:148.22, Y:1.34, Z:0.28 [[ 9.99036657e-01 -4.37188521e-02 3.79744419e-03 1.48218878e+02] [ 4.37488583e-02 9.99008785e-01 -8.21492977e-03 1.33568513e+00] [-3.43453281e-03 8.37314982e-03 9.99959046e-01 2.83057595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:148.22, Y:1.35, Z:0.29 [[ 9.99491260e-01 -3.13563418e-02 5.83110428e-03 1.48215338e+02] [ 3.14527171e-02 9.99356475e-01 -1.72441822e-02 1.34749435e+00] [-5.28663735e-03 1.74188135e-02 9.99834304e-01 2.85282588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.25, Y:1.34, Z:0.28 [[ 9.99487529e-01 -3.16375140e-02 4.87303157e-03 1.48249173e+02] [ 3.16365889e-02 9.99499402e-01 2.66825390e-04 1.34020102e+00] [-4.87903383e-03 -1.12522554e-04 9.99988091e-01 2.82644947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters Centerline goodness : 0.931226 Centerline is valid? [True, False] Translation: X:148.24, Y:1.35, Z:0.29 [[ 9.99747655e-01 -2.08371978e-02 8.39268315e-03 1.48243803e+02] [ 2.09207415e-02 9.99731198e-01 -9.99269319e-03 1.35157711e+00] [-8.18220746e-03 1.01657527e-02 9.99914851e-01 2.85691517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61864 meters Centerline goodness : 0.999264 Centerline is valid? [False, True] Translation: X:148.25, Y:1.36, Z:0.29 [[ 9.99972936e-01 -6.83800912e-03 2.71471992e-03 1.48247378e+02] [ 6.88003871e-03 9.99851706e-01 -1.57870530e-02 1.35986733e+00] [-2.60636533e-03 1.58053031e-02 9.99871691e-01 2.86114667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:148.28, Y:1.35, Z:0.27 [[ 9.99967272e-01 -7.76596978e-03 2.26833618e-03 1.48278945e+02] [ 7.76587524e-03 9.99969844e-01 5.04829244e-05 1.35030919e+00] [-2.26865983e-03 -3.28656564e-05 9.99997426e-01 2.71033548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:148.31, Y:1.35, Z:0.29 [[ 9.99968370e-01 -7.62338529e-03 2.26795381e-03 1.48310705e+02] [ 7.62325967e-03 9.99970940e-01 6.40273598e-05 1.35395923e+00] [-2.26837600e-03 -4.67361338e-05 9.99997426e-01 2.87221490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:148.34, Y:1.36, Z:0.29 [[ 9.99966481e-01 -7.86721571e-03 2.26817597e-03 1.48342636e+02] [ 7.86710860e-03 9.99969052e-01 5.61388557e-05 1.35899703e+00] [-2.26854743e-03 -3.82929873e-05 9.99997426e-01 2.85861295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:148.37, Y:1.36, Z:0.28 [[ 9.99972703e-01 -7.03188299e-03 2.26827069e-03 1.48374224e+02] [ 7.03178139e-03 9.99975275e-01 5.27610706e-05 1.36147041e+00] [-2.26858562e-03 -3.68096467e-05 9.99997426e-01 2.83816213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:1.36, Z:0.27 [[ 9.99971088e-01 -7.25803990e-03 2.26818188e-03 1.48404532e+02] [ 7.25793166e-03 9.99973659e-01 5.59474743e-05 1.36447219e+00] [-2.26852820e-03 -3.94835477e-05 9.99997426e-01 2.68959448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.44, Y:1.37, Z:0.27 [[ 9.99976774e-01 -6.42716146e-03 2.26797817e-03 1.48436164e+02] [ 6.42703452e-03 9.99979344e-01 6.32517170e-05 1.37185138e+00] [-2.26833785e-03 -4.86738739e-05 9.99997426e-01 2.68394136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:148.47, Y:1.38, Z:0.28 [[ 9.99981651e-01 -5.61721626e-03 2.26800619e-03 1.48469112e+02] [ 5.61708956e-03 9.99984222e-01 6.22304218e-05 1.37561612e+00] [-2.26831997e-03 -4.94896860e-05 9.99997426e-01 2.81990532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:148.50, Y:1.38, Z:0.28 [[ 9.99974747e-01 -6.73490010e-03 2.26847535e-03 1.48499425e+02] [ 6.73481561e-03 9.99977320e-01 4.48793142e-05 1.37793682e+00] [-2.26872616e-03 -2.96004176e-05 9.99997426e-01 2.82995776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:148.53, Y:1.38, Z:0.28 [[ 9.99968299e-01 -7.63253521e-03 2.26822257e-03 1.48531927e+02] [ 7.63243192e-03 9.99970871e-01 5.41909953e-05 1.38119953e+00] [-2.26857011e-03 -3.68772231e-05 9.99997426e-01 2.83224820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:148.56, Y:1.39, Z:0.29 [[ 9.99970026e-01 -7.40292935e-03 2.26820049e-03 1.48564342e+02] [ 7.40282362e-03 9.99972597e-01 5.50066958e-05 1.38541447e+00] [-2.26854554e-03 -3.82139589e-05 9.99997426e-01 2.85133600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:148.60, Y:1.39, Z:0.28 [[ 9.99954164e-01 -9.30181024e-03 2.26832385e-03 1.48597544e+02] [ 9.30171977e-03 9.99956737e-01 5.04306308e-05 1.39148233e+00] [-2.26869482e-03 -2.93290064e-05 9.99997426e-01 2.81625975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:148.63, Y:1.39, Z:0.28 [[ 9.99945069e-01 -1.02329830e-02 2.26846744e-03 1.48629509e+02] [ 1.02329070e-02 9.99947641e-01 4.50966356e-05 1.39312435e+00] [-2.26881014e-03 -2.18811420e-05 9.99997426e-01 2.81051614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:148.66, Y:1.39, Z:0.28 [[ 9.99931191e-01 -1.15094191e-02 2.26840364e-03 1.48660311e+02] [ 1.15093410e-02 9.99933764e-01 4.74699390e-05 1.39486862e+00] [-2.26879975e-03 -2.13588416e-05 9.99997426e-01 2.83964421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:148.69, Y:1.40, Z:0.28 [[ 9.99896656e-01 -1.41962217e-02 2.26830829e-03 1.48692408e+02] [ 1.41961425e-02 9.99899228e-01 5.10139491e-05 1.39718986e+00] [-2.26880391e-03 -1.88074493e-05 9.99997426e-01 2.81095602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:148.72, Y:1.40, Z:0.28 [[ 9.99865331e-01 -1.62534755e-02 2.26822622e-03 1.48723277e+02] [ 1.62533946e-02 9.99867903e-01 5.40843022e-05 1.39901418e+00] [-2.26880565e-03 -1.72106430e-05 9.99997426e-01 2.84827089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09864000000002 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:148.76, Y:1.40, Z:0.28 [[ 9.99810058e-01 -1.93572489e-02 2.26812514e-03 1.48755454e+02] [ 1.93571674e-02 9.99812631e-01 5.78891468e-05 1.40022142e+00] [-2.26882074e-03 -1.39736732e-05 9.99997426e-01 2.83638308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:148.79, Y:1.40, Z:0.28 [[ 9.99779283e-01 -2.08863910e-02 2.26821285e-03 1.48786865e+02] [ 2.08863210e-02 9.99781856e-01 5.45519897e-05 1.40107077e+00] [-2.26885744e-03 -7.16532751e-06 9.99997426e-01 2.84802794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:148.82, Y:1.40, Z:0.28 [[ 9.99741227e-01 -2.26348009e-02 2.26817592e-03 1.48820064e+02] [ 2.26347322e-02 9.99743800e-01 5.59628348e-05 1.40369874e+00] [-2.26886153e-03 -4.60879840e-06 9.99997426e-01 2.83698178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.85, Y:1.41, Z:0.27 [[ 9.99717298e-01 -2.36680825e-02 2.26825396e-03 1.48850547e+02] [ 2.36680233e-02 9.99719872e-01 5.29430721e-05 1.40528016e+00] [-2.26887162e-03 7.56982449e-07 9.99997426e-01 2.65335756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:148.88, Y:1.41, Z:0.28 [[ 9.99722889e-01 -2.34307653e-02 2.26812331e-03 1.48881773e+02] [ 2.34306939e-02 9.99725462e-01 5.80478610e-05 1.40653471e+00] [-2.26886073e-03 -4.88807227e-06 9.99997426e-01 2.81938943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:148.92, Y:1.41, Z:0.28 [[ 9.99750574e-01 -2.22181287e-02 2.26807500e-03 1.48915059e+02] [ 2.22180498e-02 9.99753147e-01 5.99495732e-05 1.40850993e+00] [-2.26884709e-03 -9.54241678e-06 9.99997426e-01 2.82380478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:148.95, Y:1.41, Z:0.28 [[ 9.99718030e-01 -2.36371379e-02 2.26832665e-03 1.48946138e+02] [ 2.36370856e-02 9.99720604e-01 4.98922403e-05 1.40944946e+00] [-2.26887220e-03 3.73845883e-06 9.99997426e-01 2.82457561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:148.98, Y:1.41, Z:0.27 [[ 9.99680890e-01 -2.51589556e-02 2.26809320e-03 1.48978897e+02] [ 2.51588858e-02 9.99683463e-01 5.92971016e-05 1.40976850e+00] [-2.26886712e-03 -2.21548148e-06 9.99997426e-01 2.67585861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:149.01, Y:1.41, Z:0.27 [[ 9.99668702e-01 -2.56386550e-02 2.26818692e-03 1.49011695e+02] [ 2.56385952e-02 9.99671276e-01 5.54646149e-05 1.41013984e+00] [-2.26886335e-03 2.70688644e-06 9.99997426e-01 2.67545992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:149.04, Y:1.41, Z:0.28 [[ 9.99625097e-01 -2.72859005e-02 2.26821443e-03 1.49041889e+02] [ 2.72858475e-02 9.99627670e-01 5.43157097e-05 1.41030952e+00] [-2.26885196e-03 7.59480644e-06 9.99997426e-01 2.83723265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39864 meters Centerline goodness : 0.949494 Centerline is valid? [True, False] Translation: X:149.04, Y:1.42, Z:0.28 [[ 9.99915917e-01 -1.26176214e-02 2.99247748e-03 1.49041887e+02] [ 1.26331462e-02 9.99906536e-01 -5.22704526e-03 1.41682821e+00] [-2.92624492e-03 5.26441016e-03 9.99981861e-01 2.83628800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters Centerline goodness : 0.998333 Centerline is valid? [False, True] Translation: X:149.06, Y:1.42, Z:0.29 [[ 9.99981339e-01 -6.03647580e-03 -9.39332068e-04 1.49062576e+02] [ 6.02926179e-03 9.99953683e-01 -7.50205546e-03 1.41921729e+00] [ 9.84574537e-04 7.49625199e-03 9.99971418e-01 2.88060891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:149.09, Y:1.41, Z:0.27 [[ 9.99988233e-01 -4.75538455e-03 -9.59386406e-04 1.49094114e+02] [ 4.75533305e-03 9.99988692e-01 -5.59542004e-05 1.41253742e+00] [ 9.59641641e-04 5.13913401e-05 9.99999538e-01 2.69916451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48864 meters Centerline goodness : 0.892399 Centerline is valid? [True, False] Translation: X:149.12, Y:1.42, Z:0.27 [[ 9.99986486e-01 -1.69462197e-03 -4.91478325e-03 1.49116489e+02] [ 1.65967717e-03 9.99973378e-01 -7.10552527e-03 1.41900998e+00] [ 4.92669359e-03 7.09727229e-03 9.99962678e-01 2.73713531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51864 meters Centerline goodness : 0.998570 Centerline is valid? [False, True] Translation: X:149.14, Y:1.43, Z:0.28 [[ 9.99953390e-01 4.39527042e-04 -9.64488029e-03 1.49137680e+02] [-5.78944565e-04 9.99895324e-01 -1.44570531e-02 1.42576839e+00] [ 9.63751643e-03 1.44619631e-02 9.99848974e-01 2.78518199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:149.17, Y:1.41, Z:0.28 [[ 9.99942415e-01 -4.59565908e-03 -9.69780607e-03 1.49165755e+02] [ 4.59518383e-03 9.99989440e-01 -7.12876812e-05 1.40950252e+00] [ 9.69803127e-03 2.67203745e-05 9.99952973e-01 2.77006153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:149.20, Y:1.41, Z:0.26 [[ 9.99925700e-01 -7.38563673e-03 -9.69781666e-03 1.49196661e+02] [ 7.38531925e-03 9.99972726e-01 -6.85488028e-05 1.40865756e+00] [ 9.69805843e-03 -3.07776248e-06 9.99952973e-01 2.64784939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:149.23, Y:1.41, Z:0.26 [[ 9.99909638e-01 -9.30945858e-03 -9.69793689e-03 1.49225559e+02] [ 9.30953524e-03 9.99956665e-01 -3.72390925e-05 1.40817056e+00] [ 9.69786330e-03 -5.30475577e-05 9.99952973e-01 2.64412630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:149.25, Y:1.41, Z:0.28 [[ 9.99879140e-01 -1.21513320e-02 -9.69793204e-03 1.49254737e+02] [ 1.21515305e-02 9.99926167e-01 -3.84622567e-05 1.40551728e+00] [ 9.69768337e-03 -7.93871085e-05 9.99952973e-01 2.80311111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:149.28, Y:1.40, Z:0.28 [[ 9.99853603e-01 -1.40969964e-02 -9.69781399e-03 1.49283066e+02] [ 1.40970017e-02 9.99900630e-01 -6.78157232e-05 1.40364371e+00] [ 9.69780631e-03 -6.89043048e-05 9.99952973e-01 2.79793932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:149.31, Y:1.40, Z:0.28 [[ 9.99827018e-01 -1.58710049e-02 -9.69769438e-03 1.49312871e+02] [ 1.58708094e-02 9.99874046e-01 -9.71245967e-05 1.40079424e+00] [ 9.69801438e-03 -5.68024628e-05 9.99952972e-01 2.81449692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:149.34, Y:1.40, Z:0.27 [[ 9.99805774e-01 -1.71571702e-02 -9.69769077e-03 1.49344445e+02] [ 1.71570262e-02 9.99852803e-01 -9.80500912e-05 1.39945814e+00] [ 9.69794556e-03 -6.83524870e-05 9.99952971e-01 2.66886699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75864 meters Centerline goodness : 0.984459 Centerline is valid? [True, True] Translation: X:149.42, Y:1.38, Z:0.25 [[ 9.99048123e-01 -4.25299711e-02 -9.69792357e-03 1.49420617e+02] [ 4.25316132e-02 9.99095121e-01 -3.69419981e-05 1.37552966e+00] [ 9.69071926e-03 -3.75561500e-04 9.99952973e-01 2.50986197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.40, Y:1.39, Z:0.26 [[ 9.99802997e-01 -1.73258506e-02 -9.68412360e-03 1.49396370e+02] [ 1.73482965e-02 9.99847001e-01 2.23862064e-03 1.38626421e+00] [ 9.64385593e-03 -2.40618268e-03 9.99950602e-01 2.64744915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:149.42, Y:1.39, Z:0.27 [[ 9.99799291e-01 -1.75421915e-02 -9.67729078e-03 1.49424832e+02] [ 1.75427298e-02 9.99846114e-01 -2.92625411e-05 1.38699797e+00] [ 9.67631491e-03 -1.40509430e-04 9.99953173e-01 2.67006012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:149.45, Y:1.39, Z:0.27 [[ 9.99834570e-01 -1.54007161e-02 -9.67728701e-03 1.49453868e+02] [ 1.54011425e-02 9.99881395e-01 -3.04628611e-05 1.38585388e+00] [ 9.67660838e-03 -1.18583455e-04 9.99953173e-01 2.65784126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:149.48, Y:1.38, Z:0.27 [[ 9.99852163e-01 -1.42127422e-02 -9.67728306e-03 1.49482297e+02] [ 1.42131013e-02 9.99898988e-01 -3.16680101e-05 1.38484226e+00] [ 9.67675563e-03 -1.05880876e-04 9.99953173e-01 2.65585768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864000000002 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:149.51, Y:1.38, Z:0.28 [[ 9.99895158e-01 -1.07713888e-02 -9.67727898e-03 1.49511738e+02] [ 1.07715751e-02 9.99941984e-01 -3.28685412e-05 1.38419913e+00] [ 9.67707159e-03 -7.13744426e-05 9.99953173e-01 2.83971101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:1.38, Z:0.27 [[ 9.99918292e-01 -8.35231265e-03 -9.67719037e-03 1.49542563e+02] [ 8.35213780e-03 9.99965119e-01 -5.84822422e-05 1.38484998e+00] [ 9.67734128e-03 -2.23477637e-05 9.99953173e-01 2.66916537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864000000002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:149.57, Y:1.39, Z:0.28 [[ 9.99933759e-01 -6.23114113e-03 -9.67727724e-03 1.49573124e+02] [ 6.23111322e-03 9.99980586e-01 -3.30351060e-05 1.38571219e+00] [ 9.67729521e-03 -2.72672925e-05 9.99953174e-01 2.81615913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.60, Y:1.39, Z:0.27 [[ 9.99938005e-01 -5.50778366e-03 -9.67736834e-03 1.49602728e+02] [ 5.50797943e-03 9.99984831e-01 -6.42211383e-06 1.38580596e+00] [ 9.67725692e-03 -4.68810301e-05 9.99953173e-01 2.68488292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.63, Y:1.39, Z:0.27 [[ 9.99936931e-01 -5.69943652e-03 -9.67726781e-03 1.49631182e+02] [ 5.69936888e-03 9.99983758e-01 -3.45679119e-05 1.38587878e+00] [ 9.67730765e-03 -2.05885872e-05 9.99953174e-01 2.68768088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:149.66, Y:1.39, Z:0.28 [[ 9.99952423e-01 -1.22550543e-03 -9.67726084e-03 1.49660859e+02] [ 1.22521035e-03 9.99999249e-01 -3.64201534e-05 1.38717816e+00] [ 9.67729820e-03 2.45617405e-05 9.99953174e-01 2.84624810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:149.69, Y:1.39, Z:0.28 [[ 9.99953157e-01 -1.84379211e-04 -9.67731097e-03 1.49689405e+02] [ 1.84158980e-04 9.99999983e-01 -2.36485388e-05 1.38864329e+00] [ 9.67731517e-03 2.18652673e-05 9.99953173e-01 2.84592442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:149.72, Y:1.39, Z:0.28 [[ 9.99947789e-01 3.28161816e-03 -9.67726570e-03 1.49718669e+02] [-3.28210197e-03 9.99994613e-01 -3.41136525e-05 1.39338162e+00] [ 9.67710162e-03 6.58736442e-05 9.99953174e-01 2.84727583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:149.75, Y:1.40, Z:0.29 [[ 9.99943004e-01 4.50983886e-03 -9.67731641e-03 1.49748270e+02] [-4.51026797e-03 9.99989828e-01 -2.25184820e-05 1.39548879e+00] [ 9.67711642e-03 6.61644888e-05 9.99953173e-01 2.85100121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:149.78, Y:1.40, Z:0.28 [[ 9.99944748e-01 4.10486445e-03 -9.67739779e-03 1.49778392e+02] [-4.10510652e-03 9.99991574e-01 -5.15072798e-06 1.39785385e+00] [ 9.67729511e-03 4.48771922e-05 9.99953173e-01 2.82805245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:149.81, Y:1.40, Z:0.28 [[ 9.99948500e-01 3.05723963e-03 -9.67731854e-03 1.49806504e+02] [-3.05758855e-03 9.99995325e-01 -2.12609087e-05 1.39956573e+00] [ 9.67720830e-03 5.08490721e-05 9.99953173e-01 2.84505347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:1.40, Z:0.27 [[ 9.99951441e-01 1.86156253e-03 -9.67729190e-03 1.49835661e+02] [-1.86190222e-03 9.99998266e-01 -2.60921450e-05 1.40391887e+00] [ 9.67722655e-03 4.41090492e-05 9.99953174e-01 2.70296745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:149.87, Y:1.41, Z:0.29 [[ 9.99950830e-01 2.16585152e-03 -9.67712739e-03 1.49865423e+02] [-2.16648544e-03 9.99997652e-01 -5.50252672e-05 1.40661011e+00] [ 9.67698549e-03 7.59879172e-05 9.99953174e-01 2.85390116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29864 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:149.91, Y:1.44, Z:0.27 [[ 9.97492391e-01 7.01090525e-02 -9.67736709e-03 1.49906918e+02] [-7.01124677e-02 9.97539093e-01 -1.36847781e-05 1.44186640e+00] [ 9.65259256e-03 6.92154549e-04 9.99953173e-01 2.68224760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:149.91, Y:1.41, Z:0.28 [[ 9.99900386e-01 -1.02707357e-02 -9.68145129e-03 1.49913373e+02] [ 1.02768791e-02 9.99947020e-01 5.85018855e-04 1.40875818e+00] [ 9.67492980e-03 -6.84455683e-04 9.99952963e-01 2.84110112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.95, Y:1.41, Z:0.28 [[ 9.99953227e-01 6.16310701e-05 -9.67159025e-03 1.49951877e+02] [-6.58230027e-05 9.99999904e-01 -4.33109728e-04 1.41431028e+00] [ 9.67156263e-03 4.33726084e-04 9.99953135e-01 2.82226146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.98, Y:1.42, Z:0.29 [[ 9.99939444e-01 -5.24459879e-03 -9.67482858e-03 1.49980157e+02] [ 5.24445127e-03 9.99986247e-01 -4.06178710e-05 1.41683938e+00] [ 9.67490854e-03 -1.01237556e-05 9.99953197e-01 2.87687254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.01, Y:1.42, Z:0.29 [[ 9.99896769e-01 -1.06232431e-02 -9.67458513e-03 1.50005537e+02] [ 1.06230735e-02 9.99943571e-01 -6.89140520e-05 1.41771345e+00] [ 9.67477129e-03 -3.38668914e-05 9.99953198e-01 2.89733222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44864 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:150.08, Y:1.45, Z:0.28 [[ 9.98776016e-01 4.85068160e-02 -9.67262251e-03 1.50077000e+02] [-4.85118598e-02 9.98822565e-01 -2.87375498e-04 1.44729272e+00] [ 9.64729396e-03 7.56260662e-04 9.99953178e-01 2.79537808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:1.41, Z:0.29 [[ 9.99819846e-01 -1.63287461e-02 -9.67714398e-03 1.50060410e+02] [ 1.63464326e-02 9.99864854e-01 1.75138377e-03 1.41369874e+00] [ 9.64723825e-03 -1.90925503e-03 9.99951642e-01 2.90343704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.09, Y:1.42, Z:0.29 [[ 9.99737832e-01 -2.07592193e-02 -9.66032351e-03 1.50088169e+02] [ 2.07580445e-02 9.99784504e-01 -2.21872072e-04 1.41591472e+00] [ 9.66284764e-03 2.12844786e-05 9.99953313e-01 2.92441311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:1.42, Z:0.27 [[ 9.99832396e-01 -1.55522248e-02 -9.65958989e-03 1.50122869e+02] [ 1.55499718e-02 9.99879044e-01 -3.08297513e-04 1.41709779e+00] [ 9.66321622e-03 1.58039491e-04 9.99953298e-01 2.73027468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:1.42, Z:0.27 [[ 9.99808717e-01 -1.70054551e-02 -9.66141769e-03 1.50151528e+02] [ 1.70055145e-02 9.99855393e-01 -7.60129132e-05 1.41703125e+00] [ 9.66131321e-03 -8.82990050e-05 9.99953325e-01 2.73886814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:150.18, Y:1.42, Z:0.29 [[ 9.99732572e-01 -2.10105052e-02 -9.66140812e-03 1.50177550e+02] [ 2.10107400e-02 9.99779247e-01 -7.72105994e-05 1.41700958e+00] [ 9.66089757e-03 -1.25803383e-04 9.99953325e-01 2.94422611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.21, Y:1.42, Z:0.29 [[ 9.99733592e-01 -2.09624536e-02 -9.66027992e-03 1.50207401e+02] [ 2.09613447e-02 9.99780264e-01 -2.16042663e-04 1.41806705e+00] [ 9.66268599e-03 1.34926503e-05 9.99953315e-01 2.92489902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:1.42, Z:0.29 [[ 9.99756052e-01 -1.98624436e-02 -9.66020604e-03 1.50237725e+02] [ 1.98611916e-02 9.99802722e-01 -2.25535802e-04 1.41841625e+00] [ 9.66277998e-03 3.36175801e-05 9.99953314e-01 2.89327621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.27, Y:1.42, Z:0.29 [[ 9.99771510e-01 -1.90682776e-02 -9.66065025e-03 1.50266379e+02] [ 1.90675672e-02 9.99818184e-01 -1.65644160e-04 1.41882253e+00] [ 9.66205234e-03 -1.85987859e-05 9.99953321e-01 2.90807253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:1.42, Z:0.27 [[ 9.99818899e-01 -1.63963491e-02 -9.66069197e-03 1.50299278e+02] [ 1.63955697e-02 9.99865571e-01 -1.59877888e-04 1.42031240e+00] [ 9.66201470e-03 1.45638552e-06 9.99953322e-01 2.73916677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:150.33, Y:1.42, Z:0.29 [[ 9.99764768e-01 -1.94182088e-02 -9.66133794e-03 1.50326327e+02] [ 1.94184611e-02 9.99811442e-01 -6.77059415e-05 1.42022727e+00] [ 9.66083094e-03 -1.19918300e-04 9.99953326e-01 2.92718236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:150.36, Y:1.42, Z:0.29 [[ 9.99790897e-01 -1.80233009e-02 -9.66035549e-03 1.50358632e+02] [ 1.80221906e-02 9.99837567e-01 -2.01990665e-04 1.42067392e+00] [ 9.66242687e-03 2.78476608e-05 9.99953317e-01 2.90969550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:150.39, Y:1.42, Z:0.29 [[ 9.99677637e-01 -2.34793742e-02 -9.66131434e-03 1.50386381e+02] [ 2.34798556e-02 9.99724308e-01 -6.36175433e-05 1.41880739e+00] [ 9.66014449e-03 -1.63249230e-04 9.99953326e-01 2.93276716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:150.42, Y:1.42, Z:0.30 [[ 9.99633141e-01 -2.53031654e-02 -9.66094683e-03 1.50415324e+02] [ 2.53032366e-02 9.99679815e-01 -1.14876407e-04 1.41751121e+00] [ 9.66076028e-03 -1.29618960e-04 9.99953325e-01 2.95028407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:1.42, Z:0.28 [[ 9.99647587e-01 -2.47259970e-02 -9.66056504e-03 1.50447997e+02] [ 2.47255000e-02 9.99694263e-01 -1.70901146e-04 1.41680559e+00] [ 9.66183716e-03 -6.80213827e-05 9.99953321e-01 2.77469069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:150.49, Y:1.43, Z:0.29 [[ 9.99948928e-01 2.96674791e-03 -9.66126545e-03 1.50485949e+02] [-2.96748839e-03 9.99995595e-01 -6.23098199e-05 1.42639483e+00] [ 9.66103804e-03 9.09763307e-05 9.99953327e-01 2.88226848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:150.51, Y:1.41, Z:0.30 [[ 9.99559403e-01 -2.80644865e-02 -9.66358962e-03 1.50506063e+02] [ 2.80686969e-02 9.99605951e-01 3.00320863e-04 1.41224897e+00] [ 9.65135334e-03 -5.71432911e-04 9.99953261e-01 2.95998171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:1.41, Z:0.28 [[ 9.99610826e-01 -2.61701879e-02 -9.66012364e-03 1.50537780e+02] [ 2.61700408e-02 9.99657496e-01 -1.41658797e-04 1.41089373e+00] [ 9.66052224e-03 -1.11202162e-04 9.99953330e-01 2.79338662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:150.57, Y:1.41, Z:0.30 [[ 9.99645260e-01 -2.48198927e-02 -9.66064188e-03 1.50566841e+02] [ 2.48203356e-02 9.99691925e-01 -7.40636753e-05 1.41054364e+00] [ 9.65950393e-03 -1.65742971e-04 9.99953332e-01 2.96425296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:150.60, Y:1.41, Z:0.30 [[ 9.99670329e-01 -2.37888374e-02 -9.66043751e-03 1.50596758e+02] [ 2.37889770e-02 9.99716997e-01 -1.00477803e-04 1.41005125e+00] [ 9.66009383e-03 -1.29367248e-04 9.99953332e-01 2.96232872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:150.63, Y:1.41, Z:0.30 [[ 9.99728360e-01 -2.12105165e-02 -9.66028587e-03 1.50625802e+02] [ 2.12103475e-02 9.99775028e-01 -1.19953204e-04 1.41043443e+00] [ 9.66065684e-03 -8.49774004e-05 9.99953331e-01 2.99715582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:150.66, Y:1.41, Z:0.30 [[ 9.99800672e-01 -1.74728943e-02 -9.65988845e-03 1.50657777e+02] [ 1.74720620e-02 9.99847337e-01 -1.70548967e-04 1.41116013e+00] [ 9.66139373e-03 1.73680210e-06 9.99953328e-01 2.98293535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:150.68, Y:1.41, Z:0.30 [[ 9.99768948e-01 -1.92021990e-02 -9.66059496e-03 1.50684009e+02] [ 1.92023497e-02 9.99815615e-01 -7.71591021e-05 1.41073988e+00] [ 9.66029531e-03 -1.08364849e-04 9.99953332e-01 3.00052688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.72, Y:1.41, Z:0.28 [[ 9.99834126e-01 -1.54407968e-02 -9.65929994e-03 1.50717426e+02] [ 1.54391545e-02 9.99880779e-01 -2.44571858e-04 1.41331356e+00] [ 9.66192473e-03 9.53998656e-05 9.99953318e-01 2.81057697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:150.75, Y:1.41, Z:0.30 [[ 9.99842082e-01 -1.49159182e-02 -9.66054954e-03 1.50749010e+02] [ 1.49159516e-02 9.99888749e-01 -6.85887138e-05 1.41348445e+00] [ 9.66049786e-03 -7.55184073e-05 9.99953333e-01 2.95081964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:150.78, Y:1.41, Z:0.29 [[ 9.99770769e-01 -1.91068946e-02 -9.66103432e-03 1.50775448e+02] [ 1.91077658e-02 9.99817430e-01 -2.11907330e-06 1.41394102e+00] [ 9.65931099e-03 -1.82482194e-04 9.99953331e-01 2.94197952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:1.41, Z:0.28 [[ 9.99725874e-01 -2.13274092e-02 -9.66012063e-03 1.50807046e+02] [ 2.13272174e-02 9.99772541e-01 -1.22870057e-04 1.41281566e+00] [ 9.66054386e-03 -8.31871179e-05 9.99953332e-01 2.81125211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25864 meters Centerline goodness : 0.897247 Centerline is valid? [True, False] Translation: X:150.80, Y:1.42, Z:0.28 [[ 9.99946823e-01 -9.53857546e-03 -3.91996155e-03 1.50802757e+02] [ 9.50800209e-03 9.99924801e-01 -7.74540090e-03 1.41891414e+00] [ 3.99354686e-03 7.70771803e-03 9.99962321e-01 2.81470185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864000000002 meters Centerline goodness : 0.998671 Centerline is valid? [False, True] Translation: X:150.82, Y:1.42, Z:0.28 [[ 9.99984663e-01 -1.40027035e-03 -5.35838218e-03 1.50823816e+02] [ 1.35530597e-03 9.99963920e-01 -8.38585990e-03 1.41755736e+00] [ 5.36993132e-03 8.37846904e-03 9.99950481e-01 2.83697644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.86, Y:1.41, Z:0.26 [[ 9.99986450e-01 -4.07833696e-04 -5.18973762e-03 1.50855683e+02] [ 4.07702652e-04 9.99999917e-01 -2.63083892e-05 1.40886857e+00] [ 5.18974792e-03 2.41921630e-05 9.99986533e-01 2.64695919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864000000002 meters Centerline goodness : 0.983112 Centerline is valid? [True, True] Translation: X:150.91, Y:1.44, Z:0.27 [[ 9.97446228e-01 7.12328401e-02 -5.18704516e-03 1.50905006e+02] [-7.12332508e-02 9.97459680e-01 1.05754042e-04 1.43977083e+00] [ 5.18140157e-03 2.64006119e-04 9.99986542e-01 2.66263992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:1.40, Z:0.26 [[ 9.99959256e-01 -7.39473531e-03 -5.17724490e-03 1.50913773e+02] [ 7.39779810e-03 9.99972472e-01 5.72686439e-04 1.39764409e+00] [ 5.17286752e-03 -6.10963318e-04 9.99986434e-01 2.64083075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:150.94, Y:1.39, Z:0.28 [[ 9.99914691e-01 -1.19882872e-02 -5.18570245e-03 1.50939640e+02] [ 1.19889205e-02 9.99928126e-01 9.10556219e-05 1.39420261e+00] [ 5.18423813e-03 -1.53218828e-04 9.99986550e-01 2.81678506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:150.97, Y:1.39, Z:0.28 [[ 9.99908039e-01 -1.25301334e-02 -5.18738782e-03 1.50970136e+02] [ 1.25302771e-02 9.99921493e-01 -4.79384092e-06 1.38880749e+00] [ 5.18704064e-03 -6.02060067e-05 9.99986545e-01 2.83063758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:151.00, Y:1.39, Z:0.28 [[ 9.99983398e-01 -2.50958352e-03 -5.18710758e-03 1.51001452e+02] [ 2.50967358e-03 9.99996851e-01 1.08538281e-05 1.38929824e+00] [ 5.18706400e-03 -2.38715948e-05 9.99986547e-01 2.80588017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:151.03, Y:1.38, Z:0.28 [[ 9.99947498e-01 -8.83777514e-03 -5.18604118e-03 1.51029795e+02] [ 8.83825280e-03 9.99960939e-01 6.91920979e-05 1.38270185e+00] [ 5.18522711e-03 -1.15024008e-04 9.99986550e-01 2.80123073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:1.38, Z:0.27 [[ 9.99900769e-01 -1.30977976e-02 -5.18650561e-03 1.51062030e+02] [ 1.30982005e-02 9.99914214e-01 4.37308433e-05 1.37575799e+00] [ 5.18548790e-03 -1.11660394e-04 9.99986549e-01 2.65298997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:151.09, Y:1.37, Z:0.28 [[ 9.99821548e-01 -1.81654390e-02 -5.18551576e-03 1.51086756e+02] [ 1.81661849e-02 9.99834977e-01 9.67720440e-05 1.37262418e+00] [ 5.18290212e-03 -1.90955813e-04 9.99986550e-01 2.79876721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:151.12, Y:1.37, Z:0.28 [[ 9.99918314e-01 -1.16811173e-02 -5.18818542e-03 1.51120484e+02] [ 1.16810402e-02 9.99931773e-01 -4.51626842e-05 1.36852688e+00] [ 5.18835900e-03 -1.54444074e-05 9.99986540e-01 2.82332487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61864 meters Centerline goodness : 0.911561 Centerline is valid? [True, False] Translation: X:151.14, Y:1.37, Z:0.29 [[ 9.99950477e-01 -4.75141457e-03 -8.74460933e-03 1.51141220e+02] [ 4.73443140e-03 9.99986868e-01 -1.96180737e-03 1.36944591e+00] [ 8.75381586e-03 1.92030946e-03 9.99959841e-01 2.86686475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters Centerline goodness : 0.999313 Centerline is valid? [False, True] Translation: X:151.16, Y:1.37, Z:0.29 [[ 9.99922660e-01 2.38614123e-03 -1.22057549e-02 1.51162365e+02] [-2.43187422e-03 9.99990074e-01 -3.73336999e-03 1.37002121e+00] [ 1.21967254e-02 3.76276411e-03 9.99918537e-01 2.90781061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.19, Y:1.36, Z:0.29 [[ 9.99918209e-01 4.18150732e-03 -1.20868059e-02 1.51190712e+02] [-4.18042906e-03 9.99991255e-01 1.14473217e-04 1.36376486e+00] [ 1.20871789e-02 -6.39358195e-05 9.99926945e-01 2.90893893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:1.36, Z:0.27 [[ 9.99853522e-01 1.21177970e-02 -1.20868810e-02 1.51226069e+02] [-1.21173280e-02 9.99926576e-01 1.12031761e-04 1.36338634e+00] [ 1.20873511e-02 3.44453514e-05 9.99926945e-01 2.73346694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.25, Y:1.36, Z:0.29 [[ 9.99850243e-01 1.23936602e-02 -1.20784090e-02 1.51250623e+02] [-1.23899643e-02 9.99923169e-01 3.80779089e-04 1.36181214e+00] [ 1.20822003e-02 -2.31071009e-04 9.99926981e-01 2.89912656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:1.36, Z:0.27 [[ 9.99720358e-01 2.03259966e-02 -1.20855529e-02 1.51284959e+02] [-2.03256447e-02 9.99793401e-01 1.51959415e-04 1.36119194e+00] [ 1.20861448e-02 9.37297342e-05 9.99926955e-01 2.72798110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.31, Y:1.36, Z:0.27 [[ 9.99693894e-01 2.15925324e-02 -1.20780895e-02 1.51312360e+02] [-2.15894482e-02 9.99766846e-01 3.85690175e-04 1.35971294e+00] [ 1.20836015e-02 -1.24812825e-04 9.99926983e-01 2.73305135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:151.34, Y:1.36, Z:0.29 [[ 9.99705337e-01 2.10559853e-02 -1.20782808e-02 1.51338019e+02] [-2.10529355e-02 9.99778290e-01 3.79605742e-04 1.36036299e+00] [ 1.20835959e-02 -1.25210620e-04 9.99926983e-01 2.92104390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.37, Y:1.36, Z:0.29 [[ 9.99581509e-01 2.62824194e-02 -1.20847611e-02 1.51369226e+02] [-2.62822827e-02 9.99654547e-01 1.70149218e-04 1.36214756e+00] [ 1.20850583e-02 1.47537097e-04 9.99926962e-01 2.88844425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:151.40, Y:1.36, Z:0.29 [[ 9.99604840e-01 2.53819824e-02 -1.20796593e-02 1.51396303e+02] [-2.53797975e-02 9.99677825e-01 3.34161155e-04 1.36203022e+00] [ 1.20842492e-02 -2.74498019e-05 9.99926982e-01 2.93137301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:151.43, Y:1.36, Z:0.29 [[ 9.99531406e-01 2.81240734e-02 -1.20832491e-02 1.51427067e+02] [-2.81234943e-02 9.99604433e-01 2.17875507e-04 1.36362626e+00] [ 1.20845969e-02 1.22049776e-04 9.99926971e-01 2.91393793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:151.46, Y:1.36, Z:0.29 [[ 9.99527386e-01 2.82670409e-02 -1.20822124e-02 1.51455401e+02] [-2.82660718e-02 9.99600403e-01 2.50993884e-04 1.36278252e+00] [ 1.20844792e-02 9.06414222e-05 9.99926976e-01 2.91731589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.48, Y:1.36, Z:0.29 [[ 9.99551964e-01 2.73841644e-02 -1.20821427e-02 1.51483035e+02] [-2.73831041e-02 9.99624980e-01 2.53208320e-04 1.36272859e+00] [ 1.20845456e-02 7.77516984e-05 9.99926976e-01 2.91177002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:151.51, Y:1.36, Z:0.29 [[ 9.99591433e-01 2.59031830e-02 -1.20827244e-02 1.51511642e+02] [-2.59022384e-02 9.99664453e-01 2.34686287e-04 1.36265757e+00] [ 1.20847492e-02 7.83792067e-05 9.99926974e-01 2.91881693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03864000000002 meters Centerline goodness : 0.899561 Centerline is valid? [True, False] Translation: X:151.50, Y:1.36, Z:0.29 [[ 9.99915840e-01 1.29202334e-02 -1.17527282e-03 1.51503435e+02] [-1.29158655e-02 9.99909921e-01 3.65112493e-03 1.35848367e+00] [ 1.22234034e-03 -3.63563799e-03 9.99992644e-01 2.90864373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:151.50, Y:1.36, Z:0.29 [[ 9.99988381e-01 4.61685692e-03 -1.38621124e-03 1.51503789e+02] [-4.62529565e-03 9.99970408e-01 -6.14741488e-03 1.36447826e+00] [ 1.35778848e-03 6.15375509e-03 9.99980144e-01 2.91545965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:151.53, Y:1.36, Z:0.31 [[ 9.99999052e-01 3.82093752e-04 -1.32295088e-03 1.51532212e+02] [-3.82076108e-04 9.99999927e-01 1.35892732e-05 1.35884606e+00] [ 1.32295598e-03 -1.30837924e-05 9.99999125e-01 3.07606822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:1.36, Z:0.29 [[ 9.99997136e-01 1.99432135e-03 -1.32308923e-03 1.51564123e+02] [-1.99432323e-03 9.99998011e-01 -1.01394576e-07 1.35867435e+00] [ 1.32308640e-03 2.74006187e-06 9.99999125e-01 2.91838778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15864000000002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:151.59, Y:1.36, Z:0.31 [[ 9.99998541e-01 -1.08085599e-03 -1.32295058e-03 1.51592361e+02] [ 1.08087478e-03 9.99999416e-01 1.34927421e-05 1.35653936e+00] [ 1.32293523e-03 -1.49226663e-05 9.99999125e-01 3.05902589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.62, Y:1.35, Z:0.29 [[ 9.99999088e-01 -2.71844449e-04 -1.32302320e-03 1.51623187e+02] [ 2.71852923e-04 9.99999963e-01 6.22530169e-06 1.35479682e+00] [ 1.32302146e-03 -6.58496373e-06 9.99999125e-01 2.91331745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21864000000002 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:151.65, Y:1.35, Z:0.31 [[ 9.99994543e-01 -3.02731741e-03 -1.32295619e-03 1.51651967e+02] [ 3.02733730e-03 9.99995418e-01 1.30292497e-05 1.35434246e+00] [ 1.32291069e-03 -1.70342132e-05 9.99999125e-01 3.08068031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.68, Y:1.35, Z:0.29 [[ 9.99996164e-01 -2.43357197e-03 -1.32309187e-03 1.51684405e+02] [ 2.43357356e-03 9.99997039e-01 -4.08425208e-07 1.35367581e+00] [ 1.32308895e-03 -2.81141776e-06 9.99999125e-01 2.91109491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:151.71, Y:1.35, Z:0.31 [[ 9.99988686e-01 -4.56927573e-03 -1.32294159e-03 1.51712914e+02] [ 4.56929812e-03 9.99989561e-01 1.38974016e-05 1.35193731e+00] [ 1.32286428e-03 -1.99421588e-05 9.99999125e-01 3.08464957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters Centerline goodness : 0.947032 Centerline is valid? [True, False] Translation: X:151.73, Y:1.35, Z:0.31 [[ 9.99995737e-01 -8.90063391e-04 -2.78095587e-03 1.51733049e+02] [ 8.72972484e-04 9.99980764e-01 -6.14087656e-03 1.35431419e+00] [ 2.78636814e-03 6.13842268e-03 9.99977278e-01 3.11948836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:151.73, Y:1.35, Z:0.31 [[ 9.99995947e-01 -8.80847403e-04 -2.70732240e-03 1.51732940e+02] [ 8.64494698e-04 9.99981413e-01 -6.03542322e-03 1.35380739e+00] [ 2.71258836e-03 6.03305830e-03 9.99978122e-01 3.12255758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:151.76, Y:1.35, Z:0.31 [[ 9.99996074e-01 -1.03215493e-03 -2.60516903e-03 1.51761333e+02] [ 1.03227253e-03 9.99999466e-01 4.37971100e-05 1.34727147e+00] [ 2.60512243e-03 -4.64861824e-05 9.99996606e-01 3.11653683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:151.79, Y:1.34, Z:0.33 [[ 9.99995001e-01 -1.79198408e-03 -2.60518745e-03 1.51789800e+02] [ 1.79210133e-03 9.99998393e-01 4.26721792e-05 1.34455909e+00] [ 2.60510680e-03 -4.73407257e-05 9.99996606e-01 3.27576615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.82, Y:1.34, Z:0.31 [[ 9.99995618e-01 -1.40549326e-03 -2.60549441e-03 1.51821567e+02] [ 1.40555940e-03 9.99999012e-01 2.35543945e-05 1.34309533e+00] [ 2.60545873e-03 -2.72164684e-05 9.99996605e-01 3.10352751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:151.85, Y:1.34, Z:0.31 [[ 9.99994785e-01 -1.90885889e-03 -2.60519725e-03 1.51850087e+02] [ 1.90897476e-03 9.99998177e-01 4.19910593e-05 1.34119546e+00] [ 2.60511234e-03 -4.69640961e-05 9.99996606e-01 3.09520656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:151.88, Y:1.34, Z:0.31 [[ 9.99992785e-01 -2.76472157e-03 -2.60520233e-03 1.51878791e+02] [ 2.76483951e-03 9.99996177e-01 4.16732085e-05 1.33684850e+00] [ 2.60507716e-03 -4.88758741e-05 9.99996606e-01 3.09818657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51864 meters Centerline goodness : 0.910563 Centerline is valid? [True, False] Translation: X:151.90, Y:1.34, Z:0.31 [[ 9.99976038e-01 -1.78214228e-04 -6.92034169e-03 1.51900021e+02] [ 1.31293183e-04 9.99977007e-01 -6.78002558e-03 1.34100267e+00] [ 6.92139086e-03 6.77895452e-03 9.99953069e-01 3.14382348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:151.90, Y:1.34, Z:0.31 [[ 9.99975460e-01 -1.36159956e-04 -7.00429497e-03 1.51900275e+02] [ 9.32351450e-05 9.99981217e-01 -6.12831727e-03 1.33826835e+00] [ 7.00499784e-03 6.12751384e-03 9.99956691e-01 3.14051361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:151.93, Y:1.33, Z:0.31 [[ 9.99976144e-01 3.76796545e-05 -6.90727545e-03 1.51927816e+02] [-3.69372212e-05 9.99999994e-01 1.07613236e-04 1.33089306e+00] [ 6.90727946e-03 -1.07355533e-04 9.99976139e-01 3.13981624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.96, Y:1.33, Z:0.31 [[ 9.99975401e-01 1.21945141e-03 -6.90732757e-03 1.51955681e+02] [-1.21876104e-03 9.99999252e-01 1.04156549e-04 1.32947319e+00] [ 6.90744942e-03 -9.57356047e-05 9.99976139e-01 3.14366476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:151.98, Y:1.33, Z:0.31 [[ 9.99975150e-01 1.40997795e-03 -6.90737785e-03 1.51984775e+02] [-1.40931594e-03 9.99999002e-01 1.00708076e-04 1.32760023e+00] [ 6.90751295e-03 -9.09708957e-05 9.99976139e-01 3.14058921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:152.01, Y:1.32, Z:0.31 [[ 9.99971055e-01 3.19022600e-03 -6.90742072e-03 1.52013185e+02] [-3.18962739e-03 9.99994908e-01 9.76765394e-05 1.32392244e+00] [ 6.90769716e-03 -7.56416138e-05 9.99976139e-01 3.12207256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:152.04, Y:1.32, Z:0.31 [[ 9.99970406e-01 3.38739701e-03 -6.90746255e-03 1.52041158e+02] [-3.38682419e-03 9.99994260e-01 9.46230457e-05 1.32142896e+00] [ 6.90774343e-03 -7.12258841e-05 9.99976139e-01 3.12205833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72864 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:152.07, Y:1.32, Z:0.33 [[ 9.99972070e-01 2.85390687e-03 -6.90750855e-03 1.52069470e+02] [-2.85334540e-03 9.99995925e-01 9.11367073e-05 1.31933941e+00] [ 6.90774049e-03 -7.14246541e-05 9.99976139e-01 3.29990030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75864 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:152.10, Y:1.32, Z:0.33 [[ 9.99974469e-01 1.82688547e-03 -6.90824402e-03 1.52096994e+02] [-1.82668907e-03 9.99998331e-01 3.47399054e-05 1.31716038e+00] [ 6.90829595e-03 -2.21198046e-05 9.99976137e-01 3.30789154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864000000002 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:152.13, Y:1.32, Z:0.33 [[ 9.99969133e-01 3.74195762e-03 -6.90879043e-03 1.52126456e+02] [-3.74210184e-03 9.99992998e-01 -7.94777411e-06 1.31693540e+00] [ 6.90871232e-03 3.38009261e-05 9.99976134e-01 3.29663816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81864000000002 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:152.16, Y:1.32, Z:0.33 [[ 9.99945452e-01 7.83341839e-03 -6.90874544e-03 1.52155388e+02] [-7.83363680e-03 9.99969317e-01 -4.55301669e-06 1.31722067e+00] [ 6.90849779e-03 5.86733708e-05 9.99976134e-01 3.29739025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864000000002 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:152.18, Y:1.32, Z:0.33 [[ 9.99937212e-01 8.82309208e-03 -6.90838510e-03 1.52184065e+02] [-8.82314788e-03 9.99961075e-01 2.24006519e-05 1.31779058e+00] [ 6.90831383e-03 3.85544579e-05 9.99976137e-01 3.28725462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87864000000002 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:152.22, Y:1.32, Z:0.31 [[ 9.99908531e-01 1.16276533e-02 -6.90847210e-03 1.52216340e+02] [-1.16278212e-02 9.99932394e-01 1.58537761e-05 1.31880351e+00] [ 6.90818939e-03 6.44781526e-05 9.99976136e-01 3.10945706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864000000002 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:152.24, Y:1.32, Z:0.33 [[ 9.99919434e-01 1.06495742e-02 -6.90744663e-03 1.52244139e+02] [-1.06491896e-02 9.99943291e-01 9.24629297e-05 1.32034008e+00] [ 6.90803961e-03 -1.88967715e-05 9.99976139e-01 3.29068153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:152.28, Y:1.32, Z:0.31 [[ 9.99905416e-01 1.18926546e-02 -6.90824270e-03 1.52276649e+02] [-1.18927120e-02 9.99929279e-01 3.27730013e-05 1.32116690e+00] [ 6.90814390e-03 4.93878390e-05 9.99976137e-01 3.11779551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864000000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:152.31, Y:1.32, Z:0.31 [[ 9.99919716e-01 1.06230220e-02 -6.90740630e-03 1.52305831e+02] [-1.06226251e-02 9.99943574e-01 9.41423326e-05 1.32189990e+00] [ 6.90801662e-03 -2.07599867e-05 9.99976139e-01 3.13825243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99864 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:152.31, Y:1.30, Z:0.32 [[ 9.99148662e-01 -4.06723301e-02 -6.90744696e-03 1.52313222e+02] [ 4.06739287e-02 9.99172469e-01 9.10578530e-05 1.29902298e+00] [ 6.89802730e-03 -3.71933337e-04 9.99976139e-01 3.19388562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:152.37, Y:1.33, Z:0.31 [[ 9.99892680e-01 1.29150573e-02 -6.91587541e-03 1.52365836e+02] [-1.29194054e-02 9.99916370e-01 -5.84396176e-04 1.32699598e+00] [ 6.90774953e-03 6.73682457e-04 9.99975914e-01 3.14854334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05864 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:152.40, Y:1.33, Z:0.33 [[ 9.99885504e-01 1.34651320e-02 -6.90430693e-03 1.52395035e+02] [-1.34646635e-02 9.99909341e-01 1.14328297e-04 1.33198418e+00] [ 6.90522044e-03 -2.13510368e-05 9.99976158e-01 3.30214049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:152.43, Y:1.33, Z:0.32 [[ 9.99856643e-01 1.54603333e-02 -6.90450599e-03 1.52426082e+02] [-1.54599966e-02 9.99880482e-01 1.02141496e-04 1.33417790e+00] [ 6.90525991e-03 4.61678559e-06 9.99976158e-01 3.22277457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:152.45, Y:1.33, Z:0.31 [[ 9.99895652e-01 1.26896339e-02 -6.90347830e-03 1.52454668e+02] [-1.26887982e-02 9.99919480e-01 1.64846237e-04 1.33476632e+00] [ 6.90501428e-03 -7.72321927e-05 9.99976157e-01 3.13934263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:152.48, Y:1.34, Z:0.32 [[ 9.99930578e-01 9.54829682e-03 -6.90434996e-03 1.52483645e+02] [-9.54776303e-03 9.99954413e-01 1.10269971e-04 1.33563774e+00] [ 6.90508810e-03 -4.43412182e-05 9.99976159e-01 3.16372935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17864 meters Centerline goodness : 0.969022 Centerline is valid? [True, True] Translation: X:152.52, Y:1.38, Z:0.31 [[ 9.95893302e-01 9.02710360e-02 -6.90439741e-03 1.52515898e+02] [-9.02724500e-02 9.95917102e-01 1.07214117e-04 1.37529243e+00] [ 6.88588578e-03 5.16503049e-04 9.99976159e-01 3.10811658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:152.54, Y:1.34, Z:0.32 [[ 9.99971074e-01 3.19219688e-03 -6.90370205e-03 1.52544376e+02] [-3.19122456e-03 9.99994897e-01 1.51850317e-04 1.33796815e+00] [ 6.90415155e-03 -1.29814661e-04 9.99976158e-01 3.17972737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23864 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:152.57, Y:1.34, Z:0.33 [[ 9.99975826e-01 8.22737718e-04 -6.90442022e-03 1.52573661e+02] [-8.22037059e-04 9.99999657e-01 1.04317092e-04 1.33690261e+00] [ 6.90450368e-03 -9.86388808e-05 9.99976159e-01 3.32301783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:152.60, Y:1.33, Z:0.32 [[ 9.99971710e-01 -2.98439799e-03 -6.90447873e-03 1.52603884e+02] [ 2.98516204e-03 9.99995539e-01 1.00357071e-04 1.33487197e+00] [ 6.90414842e-03 -1.20965220e-04 9.99976159e-01 3.16040424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:152.63, Y:1.33, Z:0.32 [[ 9.99961927e-01 -5.33603847e-03 -6.90446206e-03 1.52632540e+02] [ 5.33686639e-03 9.99985754e-01 1.01491093e-04 1.33343740e+00] [ 6.90382213e-03 -1.38335420e-04 9.99976159e-01 3.17086428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32864 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:152.66, Y:1.33, Z:0.32 [[ 9.99939806e-01 -8.52716243e-03 -6.90447434e-03 1.52661763e+02] [ 8.52806057e-03 9.99963630e-01 1.00648687e-04 1.33254195e+00] [ 6.90336497e-03 -1.59524404e-04 9.99976159e-01 3.19129915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35864 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:152.69, Y:1.33, Z:0.34 [[ 9.99916997e-01 -1.08778647e-02 -6.90449532e-03 1.52688397e+02] [ 1.08788087e-02 9.99940819e-01 9.91879841e-05 1.33028782e+00] [ 6.90300775e-03 -1.74292435e-04 9.99976159e-01 3.36918278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38864 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:152.72, Y:1.32, Z:0.32 [[ 9.99912473e-01 -1.12854819e-02 -6.90542882e-03 1.52720329e+02] [ 1.12859834e-02 9.99936311e-01 3.36508906e-05 1.32328186e+00] [ 6.90460925e-03 -1.11582500e-04 9.99976157e-01 3.19954372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41864 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:152.75, Y:1.32, Z:0.32 [[ 9.99915866e-01 -1.09813347e-02 -6.90448347e-03 1.52749196e+02] [ 1.09822824e-02 9.99939688e-01 9.93500926e-05 1.31948519e+00] [ 6.90297605e-03 -1.75168721e-04 9.99976159e-01 3.19774963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44864 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:152.78, Y:1.32, Z:0.32 [[ 9.99927406e-01 -9.87472244e-03 -6.90449529e-03 1.52777782e+02] [ 9.87563800e-03 9.99951230e-01 9.85216498e-05 1.31504911e+00] [ 6.90318568e-03 -1.66700794e-04 9.99976159e-01 3.18992038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47864 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:152.81, Y:1.31, Z:0.32 [[ 9.99943875e-01 -8.03585217e-03 -6.90450702e-03 1.52806608e+02] [ 8.03671820e-03 9.99967700e-01 9.76927609e-05 1.31327113e+00] [ 6.90349896e-03 -1.53176855e-04 9.99976159e-01 3.19493571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50864 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:152.84, Y:1.31, Z:0.34 [[ 9.99961284e-01 -5.45508863e-03 -6.90451865e-03 1.52835107e+02] [ 5.45588745e-03 9.99985112e-01 9.68638706e-05 1.31059697e+00] [ 6.90388745e-03 -1.34530397e-04 9.99976159e-01 3.36635671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53864000000002 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:152.86, Y:1.31, Z:0.32 [[ 9.99971577e-01 -3.02818944e-03 -6.90467498e-03 1.52864641e+02] [ 3.02885216e-03 9.99995409e-01 8.55263574e-05 1.30798979e+00] [ 6.90438429e-03 -1.06437166e-04 9.99976159e-01 3.20035946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864000000002 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:152.89, Y:1.31, Z:0.32 [[ 9.99973322e-01 2.38370496e-03 -6.90454652e-03 1.52892931e+02] [-2.38310669e-03 9.99997156e-01 9.48747689e-05 1.30550947e+00] [ 6.90475304e-03 -7.84179669e-05 9.99976159e-01 3.21095025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59864000000002 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:152.92, Y:1.30, Z:0.32 [[ 9.99962605e-01 5.20722640e-03 -6.90458662e-03 1.52921665e+02] [-5.20671624e-03 9.99986441e-01 9.18612971e-05 1.30463682e+00] [ 6.90497134e-03 -5.59076387e-05 9.99976159e-01 3.20549412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864000000002 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:152.95, Y:1.30, Z:0.32 [[ 9.99934525e-01 9.12531064e-03 -6.90462553e-03 1.52950079e+02] [-9.12491476e-03 9.99958363e-01 8.88370325e-05 1.30144381e+00] [ 6.90514871e-03 -2.58270966e-05 9.99976159e-01 3.18372523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65864000000002 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:152.98, Y:1.30, Z:0.34 [[ 9.99906659e-01 1.17897496e-02 -6.90466345e-03 1.52979246e+02] [-1.17894383e-02 9.99930498e-01 8.57847762e-05 1.29975369e+00] [ 6.90519495e-03 -4.37466517e-06 9.99976159e-01 3.38109528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864000000002 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:153.01, Y:1.30, Z:0.32 [[ 9.99880038e-01 1.38648660e-02 -6.90472187e-03 1.53009711e+02] [-1.38646369e-02 9.99903878e-01 8.10403254e-05 1.29957318e+00] [ 6.90518179e-03 1.47008582e-05 9.99976159e-01 3.19086018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71864000000002 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:153.04, Y:1.30, Z:0.34 [[ 9.99764441e-01 2.05763708e-02 -6.90467781e-03 1.53038943e+02] [-2.05762770e-02 9.99788282e-01 8.46349924e-05 1.30365927e+00] [ 6.90495745e-03 5.74575070e-05 9.99976159e-01 3.37640575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:153.07, Y:1.31, Z:0.34 [[ 9.99681822e-01 2.42606142e-02 -6.90491564e-03 1.53067393e+02] [-2.42607434e-02 9.99705663e-01 6.50625940e-05 1.30538759e+00] [ 6.90446172e-03 1.02476494e-04 9.99976159e-01 3.40831919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:153.10, Y:1.31, Z:0.33 [[ 9.99453068e-01 3.23401278e-02 -6.90507199e-03 1.53097847e+02] [-3.23405401e-02 9.99476907e-01 5.19760094e-05 1.31011345e+00] [ 6.90314090e-03 1.71366175e-04 9.99976158e-01 3.33884184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:153.13, Y:1.31, Z:0.33 [[ 9.99331972e-01 3.58877052e-02 -6.90519609e-03 1.53127101e+02] [-3.58882748e-02 9.99355808e-01 4.14444232e-05 1.31432361e+00] [ 6.90223516e-03 2.06398838e-04 9.99976158e-01 3.33057838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83864 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:153.16, Y:1.31, Z:0.33 [[ 9.99344920e-01 3.55253449e-02 -6.90506308e-03 1.53155531e+02] [-3.55258271e-02 9.99368757e-01 5.28586183e-05 1.31376965e+00] [ 6.90258213e-03 1.92484085e-04 9.99976158e-01 3.33252724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:153.18, Y:1.32, Z:0.33 [[ 9.99216154e-01 3.89794409e-02 -6.90509336e-03 1.53184641e+02] [-3.89800241e-02 9.99239989e-01 5.01640542e-05 1.31763303e+00] [ 6.90180078e-03 2.19035972e-04 9.99976158e-01 3.32715780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89864 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:153.19, Y:1.30, Z:0.32 [[ 9.99805913e-01 -1.84515004e-02 -6.90496621e-03 1.53185260e+02] [ 1.84523659e-02 9.99829739e-01 6.16503361e-05 1.29706238e+00] [ 6.90265302e-03 -1.89051333e-04 9.99976159e-01 3.21058814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:153.21, Y:1.30, Z:0.32 [[ 9.99792689e-01 -1.91503437e-02 -6.91685948e-03 1.53212029e+02] [ 1.91457401e-02 9.99816436e-01 -7.31163733e-04 1.30087025e+00] [ 6.92959183e-03 5.98583761e-04 9.99975811e-01 3.19111185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95864 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:153.27, Y:1.33, Z:0.32 [[ 9.98621019e-01 5.20399672e-02 -6.92107697e-03 1.53273590e+02] [-5.20485668e-02 9.98643983e-01 -1.06814891e-03 1.32935276e+00] [ 6.85610544e-03 1.42690809e-03 9.99975479e-01 3.23033406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98864 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:153.28, Y:1.30, Z:0.32 [[ 9.99752026e-01 -2.11731590e-02 -6.89807454e-03 1.53278231e+02] [ 2.11745745e-02 9.99775785e-01 1.32215527e-04 1.30360592e+00] [ 6.89372846e-03 -2.78246534e-04 9.99976199e-01 3.18882553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:153.33, Y:1.34, Z:0.33 [[ 9.98677068e-01 5.09545176e-02 -6.91020757e-03 1.53332151e+02] [-5.09599109e-02 9.98700515e-01 -6.06563562e-04 1.33732972e+00] [ 6.87032071e-03 9.57904682e-04 9.99975940e-01 3.34430706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:153.36, Y:1.34, Z:0.32 [[ 9.98739654e-01 4.97149209e-02 -6.89424401e-03 1.53361593e+02] [-4.97150291e-02 9.98763431e-01 1.55793955e-04 1.33818550e+00] [ 6.89346409e-03 1.87149941e-04 9.99976222e-01 3.24463879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:153.39, Y:1.34, Z:0.34 [[ 9.98851544e-01 4.74136995e-02 -6.89451666e-03 1.53390741e+02] [-4.74138438e-02 9.98875321e-01 1.42612830e-04 1.34035541e+00] [ 6.89352435e-03 1.84446490e-04 9.99976222e-01 3.41929513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:153.42, Y:1.34, Z:0.34 [[ 9.99001013e-01 4.41524338e-02 -6.89489336e-03 1.53420771e+02] [-4.41526265e-02 9.99024790e-01 1.24330521e-04 1.34467918e+00] [ 6.89365889e-03 1.80221336e-04 9.99976222e-01 3.39016269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:153.45, Y:1.35, Z:0.34 [[ 9.99080900e-01 4.23062490e-02 -6.89469522e-03 1.53449423e+02] [-4.23063310e-02 9.99104677e-01 1.34018372e-04 1.34595053e+00] [ 6.89419206e-03 1.57794062e-04 9.99976222e-01 3.41026046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:153.48, Y:1.35, Z:0.34 [[ 9.99182003e-01 3.98470431e-02 -6.89482280e-03 1.53478723e+02] [-3.98471104e-02 9.99205780e-01 1.27672275e-04 1.34645729e+00] [ 6.89443416e-03 1.47170926e-04 9.99976222e-01 3.39976137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:153.51, Y:1.35, Z:0.34 [[ 9.99362264e-01 3.50360816e-02 -6.89474159e-03 1.53507307e+02] [-3.50360062e-02 9.99386042e-01 1.31745967e-04 1.34749640e+00] [ 6.89512437e-03 1.09902261e-04 9.99976222e-01 3.41461705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:153.54, Y:1.35, Z:0.34 [[ 9.99466514e-01 3.19240796e-02 -6.89499213e-03 1.53535690e+02] [-3.19240179e-02 9.99490292e-01 1.19036010e-04 1.34817786e+00] [ 6.89527781e-03 1.01143347e-04 9.99976222e-01 3.42712877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25864 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:153.56, Y:1.35, Z:0.34 [[ 9.99581147e-01 2.81067841e-02 -6.89490304e-03 1.53563566e+02] [-2.81066002e-02 9.99604924e-01 1.23593610e-04 1.34844584e+00] [ 6.89565284e-03 7.02504405e-05 9.99976222e-01 3.43262206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864000000002 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:153.59, Y:1.35, Z:0.35 [[ 9.99768036e-01 2.04042188e-02 -6.89514237e-03 1.53592383e+02] [-2.04039373e-02 9.99791812e-01 1.11185859e-04 1.34756526e+00] [ 6.89597555e-03 2.95279850e-05 9.99976222e-01 3.48037919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31864000000002 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:153.62, Y:1.35, Z:0.34 [[ 9.99819390e-01 1.77099344e-02 -6.89532795e-03 1.53620717e+02] [-1.77096556e-02 9.99843167e-01 1.01496128e-04 1.34576051e+00] [ 6.89604402e-03 2.06360868e-05 9.99976222e-01 3.41459145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864000000002 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:153.65, Y:1.35, Z:0.35 [[ 9.99893329e-01 1.28755719e-02 -6.89561708e-03 1.53649392e+02] [-1.28752833e-02 9.99917106e-01 8.62421910e-05 1.34532327e+00] [ 6.89615590e-03 2.55003230e-06 9.99976221e-01 3.47518453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37864000000002 meters Centerline goodness : 0.720866 Centerline is valid? [True, False] Translation: X:153.65, Y:1.35, Z:0.35 [[ 9.99963670e-01 4.63076445e-03 -7.15641980e-03 1.53649951e+02] [-4.69981805e-03 9.99942271e-01 -9.66267905e-03 1.35122545e+00] [ 7.11126107e-03 9.69596188e-03 9.99927707e-01 3.48562916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864000000002 meters Centerline goodness : 0.993863 Centerline is valid? [False, True] Translation: X:153.67, Y:1.35, Z:0.35 [[ 9.99960016e-01 -4.90418618e-03 -7.47768786e-03 1.53669814e+02] [ 4.84470904e-03 9.99956651e-01 -7.95142319e-03 1.34753663e+00] [ 7.51635897e-03 7.91487804e-03 9.99940428e-01 3.50680611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43864000000002 meters Centerline goodness : 0.911545 Centerline is valid? [True, False] Translation: X:153.69, Y:1.35, Z:0.35 [[ 9.99978164e-01 1.20352844e-04 -6.60730767e-03 1.53690989e+02] [-2.02185358e-04 9.99923272e-01 -1.23858821e-02 1.34882101e+00] [ 6.60531002e-03 1.23869475e-02 9.99901462e-01 3.51206492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864000000002 meters Centerline goodness : 0.991850 Centerline is valid? [False, True] Translation: X:153.69, Y:1.34, Z:0.35 [[ 9.99969470e-01 4.18742497e-03 -6.59738545e-03 1.53691060e+02] [-4.23575453e-03 9.99964174e-01 -7.32870043e-03 1.34454997e+00] [ 6.56646070e-03 7.35642158e-03 9.99951381e-01 3.50446868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49864 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:153.72, Y:1.34, Z:0.37 [[ 9.99975609e-01 2.65636658e-03 -6.45957059e-03 1.53719171e+02] [-2.65564893e-03 9.99996467e-01 1.19674832e-04 1.33610215e+00] [ 6.45986567e-03 -1.02517562e-04 9.99979130e-01 3.66117595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:153.75, Y:1.33, Z:0.37 [[ 9.99976369e-01 2.35012938e-03 -6.46048237e-03 1.53746544e+02] [-2.34972535e-03 9.99997237e-01 7.01286505e-05 1.33413687e+00] [ 6.46062933e-03 -5.49466341e-05 9.99979128e-01 3.68848694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55864 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:153.78, Y:1.33, Z:0.35 [[ 9.99966582e-01 5.00954192e-03 -6.46059731e-03 1.53778216e+02] [-5.00923428e-03 9.99987452e-01 6.37994385e-05 1.33175956e+00] [ 6.46083584e-03 -3.14346610e-05 9.99979128e-01 3.47515691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:153.81, Y:1.33, Z:0.37 [[ 9.99963632e-01 5.56846408e-03 -6.45958328e-03 1.53806275e+02] [-5.56781221e-03 9.99984493e-01 1.18893001e-04 1.32975328e+00] [ 6.46014516e-03 -8.29229304e-05 9.99979130e-01 3.65310351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61864 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:153.84, Y:1.33, Z:0.37 [[ 9.99945703e-01 8.17639786e-03 -6.46040540e-03 1.53835817e+02] [-8.17609309e-03 9.99966572e-01 7.35841873e-05 1.32888328e+00] [ 6.46079110e-03 -2.07593160e-05 9.99979129e-01 3.66891252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters Centerline goodness : 0.923515 Centerline is valid? [True, False] Translation: X:153.86, Y:1.34, Z:0.37 [[ 9.99922020e-01 6.81374927e-03 -1.04655283e-02 1.53857423e+02] [-6.93859286e-03 9.99904649e-01 -1.19394091e-02 1.33763274e+00] [ 1.03831782e-02 1.20110941e-02 9.99873954e-01 3.72168314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67864 meters Centerline goodness : 0.982625 Centerline is valid? [False, True] Translation: X:153.85, Y:1.33, Z:0.37 [[ 9.99998026e-01 -1.66135504e-03 -1.09027945e-03 1.53853766e+02] [ 1.65791532e-03 9.99993670e-01 -3.14824720e-03 1.32786541e+00] [ 1.09550290e-03 3.14643339e-03 9.99994450e-01 3.72384739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70864 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:153.89, Y:1.30, Z:0.37 [[ 9.98392810e-01 -5.66587722e-02 -1.25693732e-03 1.53890987e+02] [ 5.66585893e-02 9.98393596e-01 -1.80607468e-04 1.29998118e+00] [ 1.26515117e-03 1.09100902e-04 9.99999194e-01 3.70965458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73864 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:153.92, Y:1.30, Z:0.39 [[ 9.98342274e-01 -5.75422295e-02 -1.26306433e-03 1.53918821e+02] [ 5.75421871e-02 9.98343073e-01 -6.99084018e-05 1.30090293e+00] [ 1.26499421e-03 -2.88697107e-06 9.99999200e-01 3.94903785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76864 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:153.95, Y:1.30, Z:0.39 [[ 9.98535284e-01 -5.40896881e-02 -1.26203417e-03 1.53951726e+02] [ 5.40896194e-02 9.98536081e-01 -8.84806951e-05 1.30414351e+00] [ 1.26497255e-03 2.00881481e-05 9.99999200e-01 3.93650885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79864 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:153.98, Y:1.31, Z:0.39 [[ 9.98659007e-01 -5.17551440e-02 -1.26241350e-03 1.53984747e+02] [ 5.17550823e-02 9.98659804e-01 -8.15326212e-05 1.31087937e+00] [ 1.26494136e-03 1.60869716e-05 9.99999200e-01 3.93015556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82864 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:154.02, Y:1.32, Z:0.39 [[ 9.98744995e-01 -5.00683551e-02 -1.26267240e-03 1.54017942e+02] [ 5.00682981e-02 9.98745793e-01 -7.67227234e-05 1.31520318e+00] [ 1.26493012e-03 1.34065781e-05 9.99999200e-01 3.93190164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85864 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:154.05, Y:1.32, Z:0.39 [[ 9.98861811e-01 -4.76810977e-02 -1.26284750e-03 1.54050026e+02] [ 4.76810430e-02 9.98862610e-01 -7.34443575e-05 1.32182507e+00] [ 1.26491306e-03 1.31468781e-05 9.99999200e-01 3.94669069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88864 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:154.08, Y:1.33, Z:0.39 [[ 9.98908291e-01 -4.66972351e-02 -1.26291578e-03 1.54079240e+02] [ 4.66971812e-02 9.98909089e-01 -7.21558341e-05 1.32685608e+00] [ 1.26490753e-03 1.31024539e-05 9.99999200e-01 3.93447180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91864 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:154.11, Y:1.33, Z:0.39 [[ 9.98969041e-01 -4.53790804e-02 -1.26287345e-03 1.54110985e+02] [ 4.53790244e-02 9.98969839e-01 -7.29562872e-05 1.33228748e+00] [ 1.26488318e-03 1.55731070e-05 9.99999200e-01 3.91370317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94864 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:154.14, Y:1.34, Z:0.40 [[ 9.98871795e-01 -4.74714857e-02 -1.26297055e-03 1.54141772e+02] [ 4.74714337e-02 9.98872593e-01 -7.11080956e-05 1.33970072e+00] [ 1.26492227e-03 1.10728486e-05 9.99999200e-01 3.97699375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97864 meters Centerline goodness : 0.871422 Centerline is valid? [True, False] Translation: X:154.14, Y:1.35, Z:0.40 [[ 9.99314404e-01 -3.70154806e-02 -7.59305471e-04 1.54142772e+02] [ 3.70050081e-02 9.99255506e-01 -1.09115703e-02 1.35170841e+00] [ 1.16263719e-03 1.08759913e-02 9.99940179e-01 3.97436451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00864 meters Centerline goodness : 0.994245 Centerline is valid? [False, True] Translation: X:154.14, Y:1.36, Z:0.40 [[ 9.99642696e-01 -2.67068806e-02 1.10624751e-03 1.54141743e+02] [ 2.67246939e-02 9.99403584e-01 -2.18692941e-02 1.36277722e+00] [-5.21527100e-04 2.18910443e-02 9.99760226e-01 3.98925012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03864000000002 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:154.17, Y:1.35, Z:0.39 [[ 9.99520477e-01 -3.09611173e-02 4.73681559e-04 1.54174325e+02] [ 3.09611575e-02 9.99520585e-01 -7.77885808e-05 1.34803709e+00] [-4.71046048e-04 9.24170088e-05 9.99999885e-01 3.92871690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864000000002 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:154.20, Y:1.35, Z:0.40 [[ 9.99327174e-01 -3.66739442e-02 4.71020661e-04 1.54203546e+02] [ 3.66739411e-02 9.99327285e-01 1.53601139e-05 1.34795946e+00] [-4.71267115e-04 1.92440476e-06 9.99999889e-01 3.96016010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09864000000002 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:154.24, Y:1.35, Z:0.40 [[ 9.99468616e-01 -3.25923985e-02 4.70812116e-04 1.54238424e+02] [ 3.25923914e-02 9.99468727e-01 2.28230945e-05 1.35366953e+00] [-4.71305845e-04 -7.46607397e-06 9.99999889e-01 3.95010950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864000000002 meters Centerline goodness : 0.968692 Centerline is valid? [True, True] Translation: X:154.24, Y:1.37, Z:0.35 [[ 9.99523658e-01 3.08582972e-02 4.71011031e-04 1.54243018e+02] [-3.08583079e-02 9.99523769e-01 1.54524859e-05 1.36806631e+00] [-4.70309883e-04 -2.99797286e-05 9.99999889e-01 3.51383154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15864000000002 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:154.30, Y:1.36, Z:0.37 [[ 9.99504289e-01 -3.14794308e-02 4.70015340e-04 1.54298279e+02] [ 3.14794099e-02 9.99504399e-01 5.19092694e-05 1.36356432e+00] [-4.71416474e-04 -3.70877319e-05 9.99999888e-01 3.72263753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864000000002 meters Centerline goodness : 0.943699 Centerline is valid? [True, False] Translation: X:154.29, Y:1.37, Z:0.37 [[ 9.99730569e-01 -2.02255772e-02 1.13892766e-02 1.54293556e+02] [ 2.02968474e-02 9.99774915e-01 -6.17722729e-03 1.37362623e+00] [-1.12617751e-02 6.40672936e-03 9.99916060e-01 3.72051936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21864000000002 meters Centerline goodness : 0.994068 Centerline is valid? [False, True] Translation: X:154.29, Y:1.38, Z:0.37 [[ 9.99915232e-01 -7.84482600e-03 1.03917524e-02 1.54293219e+02] [ 7.99476153e-03 9.99863397e-01 -1.44662277e-02 1.38250789e+00] [-1.02768478e-02 1.45480810e-02 9.99841357e-01 3.73564909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:154.33, Y:1.37, Z:0.35 [[ 9.99904139e-01 -9.09081967e-03 1.04436181e-02 1.54325747e+02] [ 9.09192794e-03 9.99958666e-01 -5.86454769e-05 1.37171461e+00] [-1.04426533e-02 1.53592479e-04 9.99945462e-01 3.46777137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27864 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:154.35, Y:1.37, Z:0.37 [[ 9.99867915e-01 -1.24531930e-02 1.04436882e-02 1.54354671e+02] [ 1.24542969e-02 9.99922441e-01 -4.06642100e-05 1.37324945e+00] [-1.04423718e-02 1.70727632e-04 9.99945462e-01 3.68962836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:154.39, Y:1.38, Z:0.37 [[ 9.99851197e-01 -1.37296913e-02 1.04441410e-02 1.54385759e+02] [ 1.37296409e-02 9.99905741e-01 7.65352156e-05 1.37707805e+00] [-1.04442074e-02 6.68704785e-05 9.99945456e-01 3.70726928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33864 meters Centerline goodness : 0.862077 Centerline is valid? [True, False] Translation: X:154.41, Y:1.38, Z:0.37 [[ 9.99929114e-01 -9.67355998e-03 6.94181695e-03 1.54409725e+02] [ 9.71500035e-03 9.99935041e-01 -5.96099116e-03 1.38265805e+00] [-6.88370201e-03 6.02800837e-03 9.99958138e-01 3.72325536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters Centerline goodness : 0.996715 Centerline is valid? [False, True] Translation: X:154.43, Y:1.39, Z:0.37 [[ 9.99961280e-01 -1.62198277e-03 8.64913310e-03 1.54427757e+02] [ 1.69048451e-03 9.99967218e-01 -7.91864918e-03 1.38651325e+00] [-8.63600565e-03 7.93296380e-03 9.99931241e-01 3.74459893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39864 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:154.46, Y:1.38, Z:0.37 [[ 9.99961373e-01 -4.69121428e-04 8.77679969e-03 1.54458565e+02] [ 4.70426064e-04 9.99999879e-01 -1.46582117e-04 1.38144687e+00] [-8.77672986e-03 1.50705290e-04 9.99961472e-01 3.74269137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:154.49, Y:1.38, Z:0.37 [[ 9.99961330e-01 -5.14957165e-04 8.77916571e-03 1.54488972e+02] [ 5.15062105e-04 9.99999867e-01 -9.69236386e-06 1.38259056e+00] [-8.77915956e-03 1.42138046e-05 9.99961462e-01 3.73036906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45864 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:154.52, Y:1.38, Z:0.35 [[ 9.99942156e-01 6.21350664e-03 8.77930436e-03 1.54523007e+02] [-6.21373008e-03 9.99980695e-01 -1.82631791e-06 1.38211485e+00] [-8.77914622e-03 -5.27260153e-05 9.99961461e-01 3.49297564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48864 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:154.55, Y:1.39, Z:0.37 [[ 9.99746061e-01 2.07554484e-02 8.77643638e-03 1.54554905e+02] [-2.07548473e-02 9.99784582e-01 -1.59571393e-04 1.38762018e+00] [-8.77785776e-03 -2.26227258e-05 9.99961474e-01 3.68648019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51864 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:154.58, Y:1.38, Z:0.35 [[ 9.99930703e-01 7.84700595e-03 8.77571369e-03 1.54584855e+02] [-7.84555701e-03 9.99969203e-01 -1.99522501e-04 1.38198543e+00] [-8.77700908e-03 1.30658312e-04 9.99961473e-01 3.49931568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54864 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:154.61, Y:1.38, Z:0.37 [[ 9.99939927e-01 6.56638050e-03 8.77644051e-03 1.54614465e+02] [-6.56523311e-03 9.99978436e-01 -1.59539506e-04 1.38246939e+00] [-8.77729885e-03 1.01910545e-04 9.99961474e-01 3.70279961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:154.64, Y:1.38, Z:0.37 [[ 9.99927948e-01 8.18857144e-03 8.77757331e-03 1.54644130e+02] [-8.18803928e-03 9.99966473e-01 -9.65618445e-05 1.38322552e+00] [-8.77806973e-03 2.46837719e-05 9.99961472e-01 3.70669055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60864 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:154.67, Y:1.38, Z:0.37 [[ 9.99941487e-01 6.32168521e-03 8.77829958e-03 1.54673231e+02] [-6.32143341e-03 9.99980018e-01 -5.64309955e-05 1.38018145e+00] [-8.77848091e-03 9.36257364e-07 9.99961468e-01 3.73588472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:154.71, Y:1.39, Z:0.37 [[ 9.99825277e-01 1.65021490e-02 8.78036822e-03 1.54709014e+02] [-1.65032496e-02 9.99863811e-01 5.28991294e-05 1.38523284e+00] [-8.77829948e-03 -1.97794495e-04 9.99961450e-01 3.73866344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66864 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:154.74, Y:1.39, Z:0.38 [[ 9.99846303e-01 1.51767070e-02 8.77716333e-03 1.54737871e+02] [-1.51763253e-02 9.99884827e-01 -1.10089172e-04 1.38539546e+00] [-8.77782323e-03 -2.31328344e-05 9.99961474e-01 3.75645559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:154.77, Y:1.38, Z:0.35 [[ 9.99742905e-01 2.09058784e-02 8.77880775e-03 1.54772189e+02] [-2.09064537e-02 9.99781436e-01 -2.62403286e-05 1.38489398e+00] [-8.77743760e-03 -1.57300155e-04 9.99961465e-01 3.53170301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:154.80, Y:1.38, Z:0.35 [[ 9.99761489e-01 1.99987941e-02 8.77571532e-03 1.54804235e+02] [-1.99979987e-02 9.99800004e-01 -1.78381623e-04 1.38456697e+00] [-8.77752763e-03 2.84233305e-06 9.99961477e-01 3.53043480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:154.84, Y:1.38, Z:0.35 [[ 9.99758945e-01 2.01255754e-02 8.77569269e-03 1.54836915e+02] [-2.01247752e-02 9.99797460e-01 -1.79488039e-04 1.38393680e+00] [-8.77752756e-03 2.83593038e-06 9.99961477e-01 3.52756817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864000000002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:154.87, Y:1.38, Z:0.35 [[ 9.99777296e-01 1.91923427e-02 8.77566979e-03 1.54868743e+02] [-1.91914968e-02 9.99815810e-01 -1.80600855e-04 1.38336008e+00] [-8.77751955e-03 1.21423958e-05 9.99961477e-01 3.53014652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81864000000002 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:154.90, Y:1.38, Z:0.37 [[ 9.99872278e-01 1.33572144e-02 8.77564679e-03 1.54895934e+02] [-1.33561340e-02 9.99910786e-01 -1.81711799e-04 1.38190398e+00] [-8.77729104e-03 6.44798756e-05 9.99961477e-01 3.69733082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864000000002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:154.93, Y:1.38, Z:0.35 [[ 9.99850305e-01 1.49098091e-02 8.77870383e-03 1.54930075e+02] [-1.49101121e-02 9.99888838e-01 -3.09300897e-05 1.37905317e+00] [-8.77818913e-03 -9.99659988e-05 9.99961466e-01 3.53497530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:154.96, Y:1.38, Z:0.35 [[ 9.99884913e-01 1.23754030e-02 8.77551197e-03 1.54961795e+02] [-1.23742687e-02 9.99923419e-01 -1.83543164e-04 1.37713054e+00] [-8.77711135e-03 7.49314970e-05 9.99961478e-01 3.54349609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864000000002 meters Centerline goodness : 0.958771 Centerline is valid? [True, True] Translation: X:155.00, Y:1.34, Z:0.35 [[ 9.97641616e-01 -6.80749413e-02 8.77547596e-03 1.55004317e+02] [ 6.80791834e-02 9.97679904e-01 -1.85248995e-04 1.33613441e+00] [-8.74250520e-03 7.82239344e-04 9.99961478e-01 3.51063756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93864000000002 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:155.02, Y:1.37, Z:0.37 [[ 9.99942481e-01 6.18586729e-03 8.76183568e-03 1.55019133e+02] [-6.17932031e-03 9.99980608e-01 -7.74090530e-04 1.37261016e+00] [-8.76645420e-03 7.19903816e-04 9.99961315e-01 3.69403078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:155.05, Y:1.37, Z:0.37 [[ 9.99929190e-01 8.03674845e-03 8.77647884e-03 1.55050493e+02] [-8.03638610e-03 9.99967705e-01 -7.65534977e-05 1.37096156e+00] [-8.77681064e-03 6.01690438e-06 9.99961483e-01 3.69426342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:155.08, Y:1.37, Z:0.37 [[ 9.99904956e-01 1.06326140e-02 8.77651075e-03 1.55082839e+02] [-1.06323646e-02 9.99943472e-01 -7.50670398e-05 1.37003115e+00] [-8.77681279e-03 -1.82551575e-05 9.99961483e-01 3.69117909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:155.12, Y:1.37, Z:0.35 [[ 9.99863889e-01 1.39706644e-02 8.77630901e-03 1.55116284e+02] [-1.39704622e-02 9.99902405e-01 -8.43502896e-05 1.36925214e+00] [-8.77663091e-03 -3.82702843e-05 9.99961484e-01 3.53897650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05864 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:155.15, Y:1.37, Z:0.37 [[ 9.99876485e-01 1.30397052e-02 8.77385043e-03 1.55146497e+02] [-1.30384962e-02 9.99914976e-01 -1.94983509e-04 1.36893920e+00] [-8.77564697e-03 8.05616105e-05 9.99961490e-01 3.68258493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:155.18, Y:1.37, Z:0.37 [[ 9.99882178e-01 1.25950598e-02 8.77470408e-03 1.55176795e+02] [-1.25941701e-02 9.99920678e-01 -1.56650533e-04 1.36875094e+00] [-8.77598108e-03 4.61219606e-05 9.99961489e-01 3.66637768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11864 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:155.21, Y:1.37, Z:0.37 [[ 9.99874653e-01 1.31782920e-02 8.77560463e-03 1.55209254e+02] [-1.31777758e-02 9.99913163e-01 -1.16641171e-04 1.36792618e+00] [-8.77637971e-03 9.83600238e-07 9.99961487e-01 3.66910967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:155.24, Y:1.37, Z:0.37 [[ 9.99858888e-01 1.43249374e-02 8.77503213e-03 1.55242261e+02] [-1.43242454e-02 9.99897393e-01 -1.41702358e-04 1.36822530e+00] [-8.77616162e-03 1.59866488e-05 9.99961489e-01 3.69707644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17864 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:155.27, Y:1.37, Z:0.37 [[ 9.99863858e-01 1.39744685e-02 8.77380289e-03 1.55274072e+02] [-1.39732979e-02 9.99902350e-01 -1.94713353e-04 1.36990935e+00] [-8.77566714e-03 7.20878832e-05 9.99961490e-01 3.69800068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20864 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:155.31, Y:1.37, Z:0.37 [[ 9.99870409e-01 1.34974953e-02 8.77396701e-03 1.55305033e+02] [-1.34963678e-02 9.99908902e-01 -1.87704511e-04 1.36997944e+00] [-8.77570126e-03 6.92635001e-05 9.99961490e-01 3.67195320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:155.34, Y:1.37, Z:0.36 [[ 9.99861613e-01 1.41337295e-02 8.77454657e-03 1.55336728e+02] [-1.41328431e-02 9.99900113e-01 -1.63027230e-04 1.37010213e+00] [-8.77597429e-03 3.89953790e-05 9.99961490e-01 3.55001658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26864 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:155.37, Y:1.37, Z:0.37 [[ 9.99914357e-01 9.71103586e-03 8.77346608e-03 1.55366441e+02] [-9.70958021e-03 9.99952839e-01 -2.08494577e-04 1.37055223e+00] [-8.77507702e-03 1.23290049e-04 9.99961491e-01 3.67330446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29864 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:155.40, Y:1.37, Z:0.37 [[ 9.99930844e-01 7.83069290e-03 8.77427551e-03 1.55398730e+02] [-7.82946262e-03 9.99969334e-01 -1.74555264e-04 1.36878049e+00] [-8.77537333e-03 1.05845330e-04 9.99961490e-01 3.69596470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:155.43, Y:1.36, Z:0.35 [[ 9.99960002e-01 1.73822865e-03 8.77338789e-03 1.55429134e+02] [-1.73643820e-03 9.99998470e-01 -2.11691124e-04 1.36372635e+00] [-8.77374244e-03 1.96448211e-04 9.99961491e-01 3.54484510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:155.46, Y:1.36, Z:0.35 [[ 9.99960919e-01 -1.08971573e-03 8.77341941e-03 1.55462216e+02] [ 1.09160344e-03 9.99999382e-01 -2.10376822e-04 1.36101750e+00] [-8.77318474e-03 2.19945695e-04 9.99961491e-01 3.54033788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:155.50, Y:1.36, Z:0.35 [[ 9.99955986e-01 -3.32487418e-03 8.77331580e-03 1.55495361e+02] [ 3.32688500e-03 9.99994443e-01 -2.14612261e-04 1.35898889e+00] [-8.77255349e-03 2.43790628e-04 9.99961491e-01 3.54210489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41864 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:155.53, Y:1.36, Z:0.37 [[ 9.99945950e-01 -5.57927070e-03 8.77321064e-03 1.55525927e+02] [ 5.58140516e-03 9.99984400e-01 -2.18828214e-04 1.35666103e+00] [-8.77185288e-03 2.67783229e-04 9.99961491e-01 3.65312008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44864 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:155.56, Y:1.35, Z:0.36 [[ 9.99939602e-01 -6.61964203e-03 8.77345294e-03 1.55558028e+02] [ 6.62173198e-03 9.99978054e-01 -2.09184804e-04 1.35074753e+00] [-8.77187567e-03 2.67267624e-04 9.99961491e-01 3.64545571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:155.59, Y:1.35, Z:0.35 [[ 9.99940022e-01 -6.55610049e-03 8.77321268e-03 1.55589343e+02] [ 6.55827054e-03 9.99978470e-01 -2.18602653e-04 1.34793422e+00] [-8.77159062e-03 2.76126644e-04 9.99961491e-01 3.54691292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:155.62, Y:1.34, Z:0.35 [[ 9.99955575e-01 -3.44698678e-03 8.77300430e-03 1.55622475e+02] [ 3.44910797e-03 9.99994026e-01 -2.26668032e-04 1.34377303e+00] [-8.77217057e-03 2.56917001e-04 9.99961491e-01 3.52644451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53864000000002 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:155.65, Y:1.34, Z:0.35 [[ 9.99959590e-01 -1.96349614e-03 8.77289428e-03 1.55654215e+02] [ 1.96559693e-03 9.99998042e-01 -2.30848966e-04 1.34098456e+00] [-8.77242383e-03 2.48083611e-04 9.99961491e-01 3.52818624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864000000002 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:155.69, Y:1.34, Z:0.35 [[ 9.99961510e-01 1.25388593e-04 8.77286651e-03 1.55686398e+02] [-1.23358912e-04 9.99999966e-01 -2.31899582e-04 1.33836339e+00] [-8.77289529e-03 2.30808445e-04 9.99961491e-01 3.51844595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59864000000002 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:155.72, Y:1.34, Z:0.35 [[ 9.99948677e-01 5.06760439e-03 8.77283847e-03 1.55719694e+02] [-5.06575554e-03 9.99987142e-01 -2.32955563e-04 1.33520520e+00] [-8.77390619e-03 1.88502552e-04 9.99961491e-01 3.51867822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864000000002 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:155.75, Y:1.33, Z:0.36 [[ 9.99919404e-01 9.17734744e-03 8.77279555e-03 1.55752787e+02] [-9.17564261e-03 9.99957875e-01 -2.34560943e-04 1.33365436e+00] [-8.77457864e-03 1.54046002e-04 9.99961491e-01 3.61452397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65864000000002 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:155.78, Y:1.33, Z:0.35 [[ 9.99916102e-01 9.53209544e-03 8.77089754e-03 1.55781369e+02] [-9.52978709e-03 9.99954544e-01 -3.04940046e-04 1.33261551e+00] [-8.77340557e-03 2.21329676e-04 9.99961488e-01 3.51414976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864000000002 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:155.81, Y:1.33, Z:0.35 [[ 9.99866872e-01 1.37578019e-02 8.77279835e-03 1.55813842e+02] [-1.37562823e-02 9.99905351e-01 -2.33537397e-04 1.33127295e+00] [-8.77518097e-03 1.12825216e-04 9.99961491e-01 3.50315796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71864 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:155.85, Y:1.33, Z:0.36 [[ 9.99804917e-01 1.76965353e-02 8.77276911e-03 1.55847144e+02] [-1.76951578e-02 9.99843401e-01 -2.34630504e-04 1.33011802e+00] [-8.77554745e-03 7.93491979e-05 9.99961491e-01 3.60577396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:155.88, Y:1.33, Z:0.35 [[ 9.99805103e-01 1.76872263e-02 8.77034972e-03 1.55875854e+02] [-1.76850516e-02 9.99843554e-01 -3.25457227e-04 1.32897393e+00] [-8.77473408e-03 1.70289709e-04 9.99961487e-01 3.49916984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:155.91, Y:1.33, Z:0.35 [[ 9.99763718e-01 1.98883067e-02 8.77283525e-03 1.55908531e+02] [-1.98870444e-02 9.99802206e-01 -2.31108546e-04 1.32739001e+00] [-8.77569640e-03 5.65881745e-05 9.99961491e-01 3.49312425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:155.94, Y:1.33, Z:0.35 [[ 9.99733377e-01 2.13591464e-02 8.77279876e-03 1.55940799e+02] [-2.13579286e-02 9.99771866e-01 -2.32485723e-04 1.32587927e+00] [-8.77576308e-03 4.50549273e-05 9.99961491e-01 3.48911661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83864 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:155.97, Y:1.33, Z:0.35 [[ 9.99656977e-01 2.46772659e-02 8.77276909e-03 1.55972842e+02] [-2.46761662e-02 9.99695470e-01 -2.33599819e-04 1.32600853e+00] [-8.77586212e-03 1.70413809e-05 9.99961491e-01 3.47791149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:156.00, Y:1.33, Z:0.35 [[ 9.99586297e-01 2.73911157e-02 8.77273914e-03 1.56004874e+02] [-2.73901106e-02 9.99624793e-01 -2.34719341e-04 1.32633311e+00] [-8.77587677e-03 -5.66405795e-06 9.99961491e-01 3.47301900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:156.04, Y:1.33, Z:0.35 [[ 9.99498432e-01 3.04290032e-02 8.77270896e-03 1.56037185e+02] [-3.04281052e-02 9.99536930e-01 -2.35841824e-04 1.32701101e+00] [-8.77582301e-03 -3.12133779e-05 9.99961491e-01 3.47132331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:156.07, Y:1.33, Z:0.35 [[ 9.99306202e-01 3.61960660e-02 8.77267847e-03 1.56068835e+02] [-3.61953803e-02 9.99344704e-01 -2.36970430e-04 1.32925550e+00] [-8.77550717e-03 -8.07244128e-05 9.99961491e-01 3.48159943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:156.10, Y:1.33, Z:0.35 [[ 9.99206016e-01 3.88635781e-02 8.77266336e-03 1.56100187e+02] [-3.88629903e-02 9.99244520e-01 -2.37528744e-04 1.32946396e+00] [-8.77526701e-03 -1.03591781e-04 9.99961491e-01 3.46780087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:156.13, Y:1.33, Z:0.35 [[ 9.99060952e-01 4.24294210e-02 8.77264813e-03 1.56130865e+02] [-4.24289657e-02 9.99099458e-01 -2.38089682e-04 1.33010625e+00] [-8.77485000e-03 -1.34348282e-04 9.99961491e-01 3.45943605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:156.16, Y:1.33, Z:0.34 [[ 9.99016887e-01 4.34545809e-02 8.77264813e-03 1.56161680e+02] [-4.34541651e-02 9.99055393e-01 -2.38089682e-04 1.33106145e+00] [-8.77470752e-03 -1.43352487e-04 9.99961491e-01 3.44910913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:156.19, Y:1.33, Z:0.35 [[ 9.98995918e-01 4.39339936e-02 8.77264813e-03 1.56191043e+02] [-4.39335962e-02 9.99034425e-01 -2.38089682e-04 1.33212365e+00] [-8.77463771e-03 -1.47563360e-04 9.99961491e-01 3.45198555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:156.22, Y:1.33, Z:0.34 [[ 9.98916693e-01 4.56999072e-02 8.77266331e-03 1.56220966e+02] [-4.56995829e-02 9.98955200e-01 -2.37529230e-04 1.33367448e+00] [-8.77435269e-03 -1.63635142e-04 9.99961491e-01 3.44192320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:156.25, Y:1.34, Z:0.34 [[ 9.98798074e-01 4.82228905e-02 8.77267856e-03 1.56251139e+02] [-4.82226684e-02 9.98836582e-01 -2.36964643e-04 1.33698741e+00] [-8.77389939e-03 -1.86362140e-04 9.99961491e-01 3.44435809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:156.28, Y:1.34, Z:0.34 [[ 9.98749038e-01 4.92280316e-02 8.77269360e-03 1.56279451e+02] [-4.92278532e-02 9.98787546e-01 -2.36406392e-04 1.33801231e+00] [-8.77369494e-03 -1.95750216e-04 9.99961491e-01 3.43416155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:156.31, Y:1.34, Z:0.34 [[ 9.98594168e-01 5.22754695e-02 8.77279800e-03 1.56308800e+02] [-5.22754431e-02 9.98632677e-01 -2.32466441e-04 1.34353863e+00] [-8.77295505e-03 -2.26462271e-04 9.99961491e-01 3.42931175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:156.34, Y:1.35, Z:0.34 [[ 9.98622041e-01 5.17402635e-02 8.77289990e-03 1.56337783e+02] [-5.17402508e-02 9.98660550e-01 -2.28555200e-04 1.34596627e+00] [-8.77297455e-03 -2.25671781e-04 9.99961491e-01 3.42017673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:156.37, Y:1.35, Z:0.34 [[ 9.98615248e-01 5.18711977e-02 8.77300030e-03 1.56365696e+02] [-5.18712245e-02 9.98653757e-01 -2.24634376e-04 1.34785855e+00] [-8.77284176e-03 -2.30742955e-04 9.99961491e-01 3.41508042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:156.39, Y:1.35, Z:0.34 [[ 9.98740834e-01 4.93941139e-02 8.77311277e-03 1.56394212e+02] [-4.93940846e-02 9.98779343e-01 -2.20152365e-04 1.35313196e+00] [-8.77327804e-03 -2.13464718e-04 9.99961491e-01 3.41093710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:156.42, Y:1.36, Z:0.34 [[ 9.98849262e-01 4.71506318e-02 8.77321634e-03 1.56422029e+02] [-4.71505529e-02 9.98887771e-01 -2.15944332e-04 1.35555431e+00] [-8.77364043e-03 -1.97966165e-04 9.99961491e-01 3.40495666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:156.45, Y:1.36, Z:0.34 [[ 9.98972903e-01 4.44540985e-02 8.77332547e-03 1.56449995e+02] [-4.44539554e-02 9.99011412e-01 -2.11416009e-04 1.35782162e+00] [-8.77405057e-03 -1.78810154e-04 9.99961491e-01 3.39033341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:156.48, Y:1.36, Z:0.34 [[ 9.99195052e-01 3.91442760e-02 8.77343174e-03 1.56479340e+02] [-3.91439678e-02 9.99233560e-01 -2.06909842e-04 1.36254526e+00] [-8.77480676e-03 -1.36683639e-04 9.99961491e-01 3.37977117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37864000000002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:156.51, Y:1.36, Z:0.35 [[ 9.99350738e-01 3.49446299e-02 8.77351617e-03 1.56507723e+02] [-3.49441918e-02 9.99389245e-01 -2.03265360e-04 1.36426094e+00] [-8.77526073e-03 -1.03450044e-04 9.99961491e-01 3.52798684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.54, Y:1.37, Z:0.34 [[ 9.99395704e-01 3.36336866e-02 8.77502386e-03 1.56538870e+02] [-3.36337745e-02 9.99434215e-01 -1.37592607e-04 1.36608432e+00] [-8.77468683e-03 -1.57627713e-04 9.99961489e-01 3.37535999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:156.57, Y:1.37, Z:0.34 [[ 9.99602039e-01 2.68102352e-02 8.77355100e-03 1.56568910e+02] [-2.68094978e-02 9.99640540e-01 -2.01669733e-04 1.37012963e+00] [-8.77580407e-03 -3.36250199e-05 9.99961491e-01 3.37262614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:156.60, Y:1.37, Z:0.35 [[ 9.99757663e-01 2.01900749e-02 8.77356370e-03 1.56597105e+02] [-2.01890874e-02 9.99796159e-01 -2.01115468e-04 1.37025626e+00] [-8.77583583e-03 2.39364860e-05 9.99961491e-01 3.52996198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.63, Y:1.37, Z:0.34 [[ 9.99786367e-01 1.87136784e-02 8.77606587e-03 1.56631205e+02] [-1.87136031e-02 9.99824881e-01 -9.07054746e-05 1.37091872e+00] [-8.77622645e-03 -7.35457167e-05 9.99961485e-01 3.36185836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.66, Y:1.37, Z:0.34 [[ 9.99813741e-01 1.71903679e-02 8.77350517e-03 1.56663372e+02] [-1.71892575e-02 9.99852233e-01 -2.01953168e-04 1.37185786e+00] [-8.77568039e-03 5.11055123e-05 9.99961492e-01 3.35356027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.70, Y:1.37, Z:0.34 [[ 9.99853334e-01 1.47083554e-02 8.77347980e-03 1.56695139e+02] [-1.47071399e-02 9.99891824e-01 -2.03049552e-04 1.37329570e+00] [-8.77551724e-03 7.39869767e-05 9.99961492e-01 3.35362494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.73, Y:1.37, Z:0.34 [[ 9.99886876e-01 1.22173087e-02 8.77345459e-03 1.56727230e+02] [-1.22159878e-02 9.99925361e-01 -2.04133004e-04 1.37310578e+00] [-8.77529370e-03 9.69334974e-05 9.99961492e-01 3.35212672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:1.37, Z:0.33 [[ 9.99899397e-01 1.11455188e-02 8.77342936e-03 1.56759402e+02] [-1.11441472e-02 9.99937881e-01 -2.05211578e-04 1.37052698e+00] [-8.77517155e-03 1.07418545e-04 9.99961492e-01 3.33823053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:1.37, Z:0.33 [[ 9.99898020e-01 1.12684476e-02 8.77340380e-03 1.56792088e+02] [-1.12670712e-02 9.99936503e-01 -2.06298585e-04 1.36979657e+00] [-8.77517138e-03 1.07426982e-04 9.99961492e-01 3.33536395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.82, Y:1.37, Z:0.33 [[ 9.99911500e-01 1.00010129e-02 8.77337830e-03 1.56824219e+02] [-9.99957818e-03 9.99949981e-01 -2.07377153e-04 1.36773599e+00] [-8.77501345e-03 1.19628718e-04 9.99961492e-01 3.34157249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:1.37, Z:0.33 [[ 9.99926863e-01 8.32450059e-03 8.77335268e-03 1.56856868e+02] [-8.32299194e-03 9.99965342e-01 -2.08455506e-04 1.36636658e+00] [-8.77478390e-03 1.35419716e-04 9.99961492e-01 3.34543435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:1.36, Z:0.33 [[ 9.99926503e-01 8.36759975e-03 8.77332700e-03 1.56889980e+02] [-8.36608333e-03 9.99964982e-01 -2.09530771e-04 1.36436158e+00] [-8.77477305e-03 1.36116986e-04 9.99961492e-01 3.33635945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:1.36, Z:0.33 [[ 9.99940709e-01 6.45042106e-03 8.77328825e-03 1.56922401e+02] [-6.44881675e-03 9.99979184e-01 -2.11141129e-04 1.35915449e+00] [-8.77446757e-03 1.54551282e-04 9.99961492e-01 3.32506784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:1.36, Z:0.33 [[ 9.99948001e-01 5.19855630e-03 8.77326234e-03 1.56954372e+02] [-5.19689442e-03 9.99986474e-01 -2.12212138e-04 1.35660096e+00] [-8.77424687e-03 1.66607385e-04 9.99961492e-01 3.32098006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:1.35, Z:0.33 [[ 9.99952792e-01 4.17654376e-03 8.77323639e-03 1.56987511e+02] [-4.17483320e-03 9.99991263e-01 -2.13279688e-04 1.35399113e+00] [-8.77405050e-03 1.76642821e-04 9.99961492e-01 3.32405549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:157.02, Y:1.35, Z:0.33 [[ 9.99961289e-01 6.72616984e-04 8.77319700e-03 1.57020169e+02] [-6.70757530e-04 9.99999752e-01 -2.14887753e-04 1.34855555e+00] [-8.77333936e-03 2.08994747e-04 9.99961492e-01 3.32082022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:157.05, Y:1.35, Z:0.35 [[ 9.99961475e-01 -2.84297638e-04 8.77309200e-03 1.57051047e+02] [ 2.86230763e-04 9.99999935e-01 -2.19092239e-04 1.34500647e+00] [-8.77302914e-03 2.21594928e-04 9.99961492e-01 3.46857632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:157.08, Y:1.34, Z:0.35 [[ 9.99960893e-01 1.11526777e-03 8.77317796e-03 1.57083734e+02] [-1.11341856e-03 9.99999357e-01 -2.15661262e-04 1.34228849e+00] [-8.77341283e-03 2.05884609e-04 9.99961492e-01 3.45988431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.11, Y:1.34, Z:0.33 [[ 9.99961360e-01 5.71590581e-04 8.77219495e-03 1.57113616e+02] [-5.69379992e-04 9.99999806e-01 -2.54494848e-04 1.33854282e+00] [-8.77233871e-03 2.49490302e-04 9.99961491e-01 3.31819548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:1.34, Z:0.33 [[ 9.99959240e-01 2.13383690e-03 8.77301432e-03 1.57146257e+02] [-2.13197011e-03 9.99997703e-01 -2.22134533e-04 1.33684152e+00] [-8.77346816e-03 2.03421675e-04 9.99961492e-01 3.30593130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:1.33, Z:0.33 [[ 9.99951879e-01 4.39037533e-03 8.77297354e-03 1.57178447e+02] [-4.38858132e-03 9.99990345e-01 -2.23733623e-04 1.33480516e+00] [-8.77387111e-03 1.85221949e-04 9.99961492e-01 3.30273979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.21, Y:1.33, Z:0.33 [[ 9.99921140e-01 8.98604737e-03 8.77294656e-03 1.57210850e+02] [-8.98442093e-03 9.99959614e-01 -2.24786658e-04 1.33133069e+00] [-8.77461220e-03 1.45949086e-04 9.99961492e-01 3.28983734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:1.33, Z:0.33 [[ 9.99910315e-01 1.01192286e-02 8.77291925e-03 1.57243062e+02] [-1.01176365e-02 9.99948790e-01 -2.25847526e-04 1.32898021e+00] [-8.77475539e-03 1.37066063e-04 9.99961492e-01 3.28538028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:1.33, Z:0.33 [[ 9.99899638e-01 1.11243107e-02 8.77289163e-03 1.57275182e+02] [-1.11227479e-02 9.99938115e-01 -2.26915240e-04 1.32658105e+00] [-8.77487299e-03 1.29313804e-04 9.99961492e-01 3.28267048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.31, Y:1.32, Z:0.33 [[ 9.99884902e-01 1.23782091e-02 8.77286342e-03 1.57307572e+02] [-1.23766849e-02 9.99923380e-01 -2.28000610e-04 1.32227341e+00] [-8.77501348e-03 1.19395401e-04 9.99961492e-01 3.27668601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.34, Y:1.32, Z:0.33 [[ 9.99884355e-01 1.24222866e-02 8.77283526e-03 1.57339583e+02] [-1.24207548e-02 9.99922833e-01 -2.29079111e-04 1.32011161e+00] [-8.77500397e-03 1.20087384e-04 9.99961492e-01 3.27810068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:1.32, Z:0.33 [[ 9.99862246e-01 1.40899526e-02 8.77280699e-03 1.57371525e+02] [-1.40884755e-02 9.99900726e-01 -2.30156624e-04 1.31822518e+00] [-8.77517898e-03 1.06529443e-04 9.99961492e-01 3.27257380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:1.32, Z:0.33 [[ 9.99848914e-01 1.50062275e-02 8.77277854e-03 1.57403629e+02] [-1.50047761e-02 9.99887395e-01 -2.31235893e-04 1.31683110e+00] [-8.77526067e-03 9.95673781e-05 9.99961492e-01 3.26046673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:157.43, Y:1.32, Z:0.34 [[ 9.99824359e-01 1.65617284e-02 8.77274996e-03 1.57433673e+02] [-1.65603274e-02 9.99862841e-01 -2.32315157e-04 1.31519933e+00] [-8.77539424e-03 8.69947417e-05 9.99961492e-01 3.40348519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:1.31, Z:0.33 [[ 9.99796115e-01 1.81867358e-02 8.77330040e-03 1.57465287e+02] [-1.81855803e-02 9.99834606e-01 -2.11472711e-04 1.31400708e+00] [-8.77569535e-03 5.18820365e-05 9.99961491e-01 3.25167466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.50, Y:1.31, Z:0.33 [[ 9.99788318e-01 1.86107103e-02 8.77271637e-03 1.57497141e+02] [-1.86093785e-02 9.99826803e-01 -2.33422397e-04 1.31383994e+00] [-8.77554112e-03 7.01181867e-05 9.99961492e-01 3.25982205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.53, Y:1.31, Z:0.32 [[ 9.99783294e-01 1.88786746e-02 8.77268723e-03 1.57529118e+02] [-1.88773435e-02 9.99821780e-01 -2.34512683e-04 1.31337692e+00] [-8.77555104e-03 6.88568328e-05 9.99961492e-01 3.24519111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.56, Y:1.31, Z:0.32 [[ 9.99799145e-01 1.80197247e-02 8.77265776e-03 1.57561375e+02] [-1.80183510e-02 9.99837629e-01 -2.35609984e-04 1.31215692e+00] [-8.77547895e-03 7.74938339e-05 9.99961492e-01 3.22829323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:1.31, Z:0.32 [[ 9.99827207e-01 1.63889352e-02 8.77262839e-03 1.57593359e+02] [-1.63874892e-02 9.99865688e-01 -2.36698469e-04 1.31062354e+00] [-8.77532935e-03 9.28962159e-05 9.99961492e-01 3.22420194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:1.31, Z:0.32 [[ 9.99866821e-01 1.37615746e-02 8.77259900e-03 1.57625678e+02] [-1.37600179e-02 9.99905298e-01 -2.37782810e-04 1.30932191e+00] [-8.77504048e-03 1.17040023e-04 9.99961492e-01 3.22712138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:1.31, Z:0.32 [[ 9.99915443e-01 9.59941299e-03 8.77256978e-03 1.57659094e+02] [-9.59768675e-03 9.99953913e-01 -2.38856029e-04 1.30782229e+00] [-8.77445835e-03 1.54639455e-04 9.99961492e-01 3.22306691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:1.31, Z:0.32 [[ 9.99922834e-01 8.79597801e-03 8.77252510e-03 1.57691700e+02] [-8.79420656e-03 9.99961301e-01 -2.40485635e-04 1.30578180e+00] [-8.77430092e-03 1.63319680e-04 9.99961492e-01 3.23566666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.72, Y:1.30, Z:0.32 [[ 9.99937452e-01 6.93798995e-03 8.77248192e-03 1.57723417e+02] [-6.93613330e-03 9.99975915e-01 -2.42050508e-04 1.30103983e+00] [-8.77394999e-03 1.81188264e-04 9.99961492e-01 3.22196763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.76, Y:1.30, Z:0.32 [[ 9.99941018e-01 6.40346448e-03 8.77245204e-03 1.57756108e+02] [-6.40157782e-03 9.99979480e-01 -2.43128750e-04 1.29931363e+00] [-8.77382890e-03 1.86956875e-04 9.99961492e-01 3.22045184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:1.30, Z:0.32 [[ 9.99944367e-01 5.85727796e-03 8.77240742e-03 1.57788627e+02] [-5.85535627e-03 9.99982827e-01 -2.44728076e-04 1.29732937e+00] [-8.77369022e-03 1.93348891e-04 9.99961492e-01 3.22268269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:1.30, Z:0.32 [[ 9.99945235e-01 5.70720583e-03 8.77237763e-03 1.57821072e+02] [-5.70526904e-03 9.99983695e-01 -2.45791335e-04 1.29516243e+00] [-8.77363738e-03 1.95729099e-04 9.99961492e-01 3.21178086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:1.29, Z:0.32 [[ 9.99947801e-01 5.23837005e-03 8.77234792e-03 1.57853445e+02] [-5.23640597e-03 9.99986259e-01 -2.46847256e-04 1.29081055e+00] [-8.77352046e-03 2.00898796e-04 9.99961492e-01 3.21727064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66864 meters Centerline goodness : 0.979627 Centerline is valid? [True, True] Translation: X:157.90, Y:1.32, Z:0.32 [[ 9.96588452e-01 8.20640233e-02 8.77231789e-03 1.57903177e+02] [-8.20650110e-02 9.96626948e-01 -2.47909756e-04 1.32372973e+00] [-8.76307288e-03 -4.72836365e-04 9.99961492e-01 3.22430726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.91, Y:1.29, Z:0.32 [[ 9.99957593e-01 2.87493329e-03 8.74913335e-03 1.57912272e+02] [-2.86617683e-03 9.99995379e-01 -1.01321091e-03 1.28582372e+00] [-8.75200583e-03 9.88091374e-04 9.99961212e-01 3.22811065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:157.94, Y:1.28, Z:0.33 [[ 9.99893974e-01 1.16244414e-02 8.77004887e-03 1.57944960e+02] [-1.16228187e-02 9.99932425e-01 -2.35972514e-04 1.28378231e+00] [-8.77219928e-03 1.34014806e-04 9.99961515e-01 3.34432381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:157.97, Y:1.28, Z:0.32 [[ 9.99957123e-01 2.97860835e-03 8.76809204e-03 1.57974062e+02] [-2.97602107e-03 9.99995524e-01 -3.08112117e-04 1.27820892e+00] [-8.76897054e-03 2.82004879e-04 9.99961512e-01 3.21333825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864000000002 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:158.00, Y:1.27, Z:0.34 [[ 9.99960512e-01 1.43615251e-03 8.76999308e-03 1.58002418e+02] [-1.43411959e-03 9.99998943e-01 -2.38087765e-04 1.27289994e+00] [-8.77032574e-03 2.25501144e-04 9.99961515e-01 3.37824633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.04, Y:1.27, Z:0.32 [[ 9.99957282e-01 2.91226865e-03 8.77225248e-03 1.58035561e+02] [-2.91102177e-03 9.99995751e-01 -1.54904725e-04 1.27139124e+00] [-8.77266633e-03 1.29361890e-04 9.99961511e-01 3.22344533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:158.06, Y:1.27, Z:0.34 [[ 9.99961286e-01 7.19147453e-04 8.76982001e-03 1.58063209e+02] [-7.17045915e-04 9.99999713e-01 -2.42774856e-04 1.26792677e+00] [-8.76999209e-03 2.36477094e-04 9.99961515e-01 3.37512658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87864000000002 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:158.10, Y:1.26, Z:0.33 [[ 9.99942038e-01 6.24044353e-03 8.77369409e-03 1.58096759e+02] [-6.23979175e-03 9.99980527e-01 -1.01659130e-04 1.26432844e+00] [-8.77415764e-03 4.69072132e-05 9.99961505e-01 3.34952730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:158.13, Y:1.26, Z:0.32 [[ 9.99919949e-01 9.11948821e-03 8.77105850e-03 1.58129227e+02] [-9.11812274e-03 9.99958410e-01 -1.95656443e-04 1.26155175e+00] [-8.77247800e-03 1.15665193e-04 9.99961514e-01 3.21007655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:158.16, Y:1.26, Z:0.32 [[ 9.99903804e-01 1.07459948e-02 8.76957805e-03 1.58161141e+02] [-1.07442329e-02 9.99942248e-01 -2.48006211e-04 1.25852850e+00] [-8.77173667e-03 1.53759965e-04 9.99961516e-01 3.21596939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.19, Y:1.25, Z:0.32 [[ 9.99859557e-01 1.42815346e-02 8.76952952e-03 1.58193795e+02] [-1.42798937e-02 9.99898006e-01 -2.49710480e-04 1.25378703e+00] [-8.77220133e-03 1.24447460e-04 9.99961516e-01 3.21146947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.23, Y:1.25, Z:0.32 [[ 9.99831634e-01 1.61183346e-02 8.76948191e-03 1.58225806e+02] [-1.61167497e-02 9.99870085e-01 -2.51371531e-04 1.25069960e+00] [-8.77239431e-03 1.09993663e-04 9.99961516e-01 3.21668117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:1.25, Z:0.32 [[ 9.99787567e-01 1.86525438e-02 8.76945022e-03 1.58258365e+02] [-1.86510468e-02 9.99826022e-01 -2.52472082e-04 1.24648119e+00] [-8.77263378e-03 8.88590220e-05 9.99961516e-01 3.21552256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05864 meters Centerline goodness : 0.884802 Centerline is valid? [True, False] Translation: X:158.26, Y:1.25, Z:0.32 [[ 9.99846676e-01 1.48652932e-02 9.25455613e-03 1.58256940e+02] [-1.48189624e-02 9.99877416e-01 -5.05487305e-03 1.24900572e+00] [-9.32856383e-03 4.91695510e-03 9.99944399e-01 3.21697775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters Centerline goodness : 0.999804 Centerline is valid? [False, True] Translation: X:158.28, Y:1.25, Z:0.32 [[ 9.99990149e-01 3.38254609e-03 2.87415128e-03 1.58280854e+02] [-3.36217187e-03 9.99969395e-01 -7.06428242e-03 1.24697789e+00] [-2.89795858e-03 7.05454943e-03 9.99970917e-01 3.24619979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.31, Y:1.24, Z:0.32 [[ 9.99981785e-01 5.26698826e-03 2.94766399e-03 1.58312760e+02] [-5.26692042e-03 9.99986129e-01 -3.07778017e-05 1.23916666e+00] [-2.94778521e-03 1.52521294e-05 9.99995655e-01 3.23384893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:158.34, Y:1.24, Z:0.34 [[ 9.99976378e-01 6.20928519e-03 2.94766002e-03 1.58343508e+02] [-6.20922033e-03 9.99980722e-01 -3.11536712e-05 1.23782069e+00] [-2.94779664e-03 1.28502647e-05 9.99995655e-01 3.35383796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:158.37, Y:1.24, Z:0.32 [[ 9.99981126e-01 5.39069309e-03 2.94763048e-03 1.58374259e+02] [-5.39061637e-03 9.99985470e-01 -3.39699204e-05 1.23668363e+00] [-2.94777077e-03 1.80797342e-05 9.99995655e-01 3.22311000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:158.41, Y:1.23, Z:0.32 [[ 9.99988840e-01 3.69199245e-03 2.94766174e-03 1.58405984e+02] [-3.69191712e-03 9.99993184e-01 -3.09965508e-05 1.23486969e+00] [-2.94775609e-03 2.01136821e-05 9.99995655e-01 3.23277563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.44, Y:1.23, Z:0.32 [[ 9.99989952e-01 3.37752386e-03 2.94765776e-03 1.58438032e+02] [-3.37744606e-03 9.99994296e-01 -3.13705981e-05 1.23387423e+00] [-2.94774690e-03 2.14147278e-05 9.99995655e-01 3.23097477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.47, Y:1.23, Z:0.32 [[ 9.99991248e-01 2.96903085e-03 2.94765372e-03 1.58470023e+02] [-2.96895017e-03 9.99995592e-01 -3.17464667e-05 1.23269895e+00] [-2.94773498e-03 2.29947519e-05 9.99995655e-01 3.22444951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:158.50, Y:1.23, Z:0.34 [[ 9.99994921e-01 1.21252824e-03 2.94764961e-03 1.58498032e+02] [-1.21243882e-03 9.99999264e-01 -3.21229717e-05 1.23199955e+00] [-2.94768639e-03 2.85489637e-05 9.99995655e-01 3.39680773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:158.53, Y:1.23, Z:0.34 [[ 9.99991195e-01 2.98653542e-03 2.94804232e-03 1.58530144e+02] [-2.98655848e-03 9.99995540e-01 3.41663948e-06 1.23199257e+00] [-2.94801897e-03 -1.22211102e-05 9.99995655e-01 3.36669553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.56, Y:1.23, Z:0.32 [[ 9.99974795e-01 6.45904410e-03 2.94795533e-03 1.58562908e+02] [-6.45905985e-03 9.99979140e-01 -4.17823996e-06 1.23350647e+00] [-2.94792082e-03 -1.48628853e-05 9.99995655e-01 3.23636694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.60, Y:1.23, Z:0.32 [[ 9.99971600e-01 6.93619881e-03 2.94760371e-03 1.58595341e+02] [-6.93612768e-03 9.99975944e-01 -3.43506561e-05 1.23438599e+00] [-2.94777107e-03 1.39047248e-05 9.99995655e-01 3.23131102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:158.63, Y:1.24, Z:0.34 [[ 9.99972393e-01 6.82091830e-03 2.94759932e-03 1.58626043e+02] [-6.82084558e-03 9.99976737e-01 -3.47234408e-05 1.23572500e+00] [-2.94776759e-03 1.46173624e-05 9.99995655e-01 3.36525843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.66, Y:1.24, Z:0.32 [[ 9.99977630e-01 6.00418588e-03 2.94776912e-03 1.58657963e+02] [-6.00415240e-03 9.99981975e-01 -2.02089677e-05 1.23565485e+00] [-2.94783732e-03 2.50966057e-06 9.99995655e-01 3.22795512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.69, Y:1.24, Z:0.32 [[ 9.99982786e-01 5.07333204e-03 2.94760384e-03 1.58690570e+02] [-5.07325274e-03 9.99987130e-01 -3.43792728e-05 1.23580878e+00] [-2.94774033e-03 1.94247417e-05 9.99995655e-01 3.22230933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.72, Y:1.24, Z:0.32 [[ 9.99990238e-01 3.29165117e-03 2.94759943e-03 1.58721473e+02] [-3.29156303e-03 9.99994582e-01 -3.47533126e-05 1.23564067e+00] [-2.94769786e-03 2.50507641e-05 9.99995655e-01 3.22911825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.75, Y:1.23, Z:0.32 [[ 9.99994341e-01 1.62186194e-03 2.94759615e-03 1.58753231e+02] [-1.62176573e-03 9.99998684e-01 -3.50300579e-05 1.23489059e+00] [-2.94764908e-03 3.02495493e-05 9.99995655e-01 3.21491162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.79, Y:1.23, Z:0.32 [[ 9.99994129e-01 1.74763206e-03 2.94759163e-03 1.58785916e+02] [-1.74753529e-03 9.99998472e-01 -3.54062750e-05 1.23453489e+00] [-2.94764900e-03 3.02550468e-05 9.99995655e-01 3.21394871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:1.23, Z:0.32 [[ 9.99995484e-01 5.86118003e-04 2.94758713e-03 1.58817830e+02] [-5.86015092e-04 9.99999828e-01 -3.57769939e-05 1.23437497e+00] [-2.94760759e-03 3.40495018e-05 9.99995655e-01 3.21289912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:1.23, Z:0.32 [[ 9.99992546e-01 -2.49375186e-03 2.94757094e-03 1.58849992e+02] [ 2.49387194e-03 9.99996890e-01 -3.70642290e-05 1.23405538e+00] [-2.94746934e-03 4.44148172e-05 9.99995655e-01 3.22978967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:1.23, Z:0.32 [[ 9.99990683e-01 -3.15354915e-03 2.94755435e-03 1.58883448e+02] [ 3.15367585e-03 9.99995026e-01 -3.83398008e-05 1.23279063e+00] [-2.94741878e-03 4.76350746e-05 9.99995655e-01 3.21931362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:1.23, Z:0.32 [[ 9.99990178e-01 -3.30984463e-03 2.94753460e-03 1.58916234e+02] [ 3.30997632e-03 9.99994521e-01 -3.98025599e-05 1.23179041e+00] [-2.94738671e-03 4.95584387e-05 9.99995655e-01 3.22151092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:1.23, Z:0.32 [[ 9.99982395e-01 -5.14990231e-03 2.94751401e-03 1.58948880e+02] [ 5.15004632e-03 9.99986738e-01 -4.12729134e-05 1.23011201e+00] [-2.94726237e-03 5.64520205e-05 9.99995655e-01 3.21393234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.98, Y:1.23, Z:0.33 [[ 9.99971113e-01 -7.00615715e-03 2.94749294e-03 1.58978890e+02] [ 7.00631351e-03 9.99975455e-01 -4.27265765e-05 1.22806351e+00] [-2.94712124e-03 6.33764018e-05 9.99995655e-01 3.33597128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:159.01, Y:1.23, Z:0.33 [[ 9.99964381e-01 -7.90877090e-03 2.94771415e-03 1.59010760e+02] [ 7.90888617e-03 9.99968724e-01 -2.74516232e-05 1.22636876e+00] [-2.94740485e-03 5.07637810e-05 9.99995655e-01 3.33119711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.04, Y:1.22, Z:0.33 [[ 9.99970254e-01 -7.12761843e-03 2.94754920e-03 1.59044785e+02] [ 7.12776287e-03 9.99974596e-01 -3.85028228e-05 1.22211170e+00] [-2.94719989e-03 5.95111093e-05 9.99995655e-01 3.32723463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:1.22, Z:0.32 [[ 9.99921260e-01 -1.21979270e-02 2.94702229e-03 1.59073834e+02] [ 1.21981966e-02 9.99925597e-01 -7.35279378e-05 1.22029576e+00] [-2.94590613e-03 1.09470505e-04 9.99995655e-01 3.21329446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.11, Y:1.22, Z:0.32 [[ 9.99919007e-01 -1.23811399e-02 2.94746315e-03 1.59106820e+02] [ 1.23813233e-02 9.99923348e-01 -4.39878715e-05 1.21819212e+00] [-2.94669260e-03 8.04778029e-05 9.99995655e-01 3.20997130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.14, Y:1.22, Z:0.32 [[ 9.99918834e-01 -1.23950709e-02 2.94744116e-03 1.59139174e+02] [ 1.23952585e-02 9.99923175e-01 -4.54146303e-05 1.21646755e+00] [-2.94665181e-03 8.19452395e-05 9.99995655e-01 3.20072898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:1.21, Z:0.32 [[ 9.99913332e-01 -1.28312228e-02 2.94742160e-03 1.59172637e+02] [ 1.28314160e-02 9.99917673e-01 -4.66507449e-05 1.21458979e+00] [-2.94658036e-03 8.44662945e-05 9.99995655e-01 3.20227954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:1.21, Z:0.32 [[ 9.99904927e-01 -1.34703072e-02 2.94739839e-03 1.59205802e+02] [ 1.34705074e-02 9.99909267e-01 -4.80735935e-05 1.21203604e+00] [-2.94648340e-03 8.77719747e-05 9.99995655e-01 3.19703212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:1.21, Z:0.33 [[ 9.99898735e-01 -1.39224150e-02 2.94737466e-03 1.59235906e+02] [ 1.39226213e-02 9.99903074e-01 -4.94872504e-05 1.20899224e+00] [-2.94640000e-03 9.05174201e-05 9.99995655e-01 3.33395412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:1.21, Z:0.32 [[ 9.99888130e-01 -1.46642135e-02 2.94755046e-03 1.59267219e+02] [ 1.46643924e-02 9.99892471e-01 -3.90728214e-05 1.20541626e+00] [-2.94666054e-03 8.22924868e-05 9.99995655e-01 3.20248670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:1.20, Z:0.32 [[ 9.99908248e-01 -1.32215045e-02 2.94734878e-03 1.59299382e+02] [ 1.32217115e-02 9.99912588e-01 -5.07790811e-05 1.19959404e+00] [-2.94641977e-03 8.97434173e-05 9.99995655e-01 3.20805602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.33, Y:1.20, Z:0.33 [[ 9.99919158e-01 -1.23689554e-02 2.94732692e-03 1.59329789e+02] [ 1.23691624e-02 9.99923498e-01 -5.20175209e-05 1.19712857e+00] [-2.94645804e-03 8.84692809e-05 9.99995655e-01 3.32447826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.36, Y:1.19, Z:0.32 [[ 9.99948850e-01 -9.67518754e-03 2.94739804e-03 1.59361598e+02] [ 9.67537110e-03 9.99953191e-01 -4.80279312e-05 1.19325988e+00] [-2.94679540e-03 7.65426445e-05 9.99995655e-01 3.20807250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:1.19, Z:0.32 [[ 9.99964912e-01 -7.84142004e-03 2.94730295e-03 1.59393866e+02] [ 7.84161114e-03 9.99969253e-01 -5.32876412e-05 1.19130480e+00] [-2.94679447e-03 7.63973751e-05 9.99995655e-01 3.18563833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:1.19, Z:0.32 [[ 9.99983636e-01 -4.90318789e-03 2.94727958e-03 1.59426882e+02] [ 4.90336995e-03 9.99987977e-01 -5.45501801e-05 1.18954575e+00] [-2.94697667e-03 6.90008896e-05 9.99995655e-01 3.19215705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:1.19, Z:0.32 [[ 9.99995657e-01 2.63821828e-06 2.94725196e-03 1.59459359e+02] [-2.47317193e-06 9.99999998e-01 -5.60037244e-05 1.18726106e+00] [-2.94725210e-03 5.59961921e-05 9.99995655e-01 3.19630794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.49, Y:1.19, Z:0.33 [[ 9.99983755e-01 4.87891297e-03 2.94724490e-03 1.59491261e+02] [-4.87876801e-03 9.99988097e-01 -5.63728974e-05 1.18585752e+00] [-2.94748485e-03 4.19930575e-05 9.99995655e-01 3.31028600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.52, Y:1.18, Z:0.32 [[ 9.99977382e-01 6.04576362e-03 2.94698854e-03 1.59521089e+02] [-6.04558389e-03 9.99981723e-01 -6.98923130e-05 1.18485995e+00] [-2.94735723e-03 5.20744657e-05 9.99995655e-01 3.19820687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:1.18, Z:0.32 [[ 9.99939502e-01 1.05974428e-02 2.94725702e-03 1.59552847e+02] [-1.05973247e-02 9.99943845e-01 -5.56813635e-05 1.18478933e+00] [-2.94768160e-03 2.44449553e-05 9.99995655e-01 3.19635078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:1.18, Z:0.32 [[ 9.99914392e-01 1.27483941e-02 2.94724989e-03 1.59583909e+02] [-1.27482843e-02 9.99918736e-01 -5.60562676e-05 1.18480498e+00] [-2.94772501e-03 1.84790892e-05 9.99995655e-01 3.18870623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:1.19, Z:0.32 [[ 9.99863848e-01 1.62357108e-02 2.94724630e-03 1.59615469e+02] [-1.62356156e-02 9.99868192e-01 -5.62444297e-05 1.18515267e+00] [-2.94777100e-03 8.38641399e-06 9.99995655e-01 3.17997785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:1.19, Z:0.32 [[ 9.99831834e-01 1.81002188e-02 2.94724270e-03 1.59647291e+02] [-1.81001311e-02 9.99836178e-01 -5.64323087e-05 1.18504584e+00] [-2.94778131e-03 3.07733947e-06 9.99995655e-01 3.17781781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:1.19, Z:0.32 [[ 9.99762390e-01 2.15980663e-02 2.94723904e-03 1.59677429e+02] [-2.15979932e-02 9.99766735e-01 -5.66229383e-05 1.18550477e+00] [-2.94777449e-03 -7.04496466e-06 9.99995655e-01 3.18068987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.71, Y:1.19, Z:0.33 [[ 9.99697150e-01 2.44319806e-02 2.94723904e-03 1.59706948e+02] [-2.44319199e-02 9.99701494e-01 -5.66229383e-05 1.18597894e+00] [-2.94774268e-03 -1.54009180e-05 9.99995655e-01 3.29559592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:1.19, Z:0.32 [[ 9.99621260e-01 2.73615250e-02 2.94693519e-03 1.59736172e+02] [-2.73614297e-02 9.99625603e-01 -7.26580569e-05 1.18854320e+00] [-2.94781990e-03 -8.00182152e-06 9.99995655e-01 3.18064189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:1.19, Z:0.33 [[ 9.99546637e-01 2.99638836e-02 2.94726147e-03 1.59767003e+02] [-2.99638510e-02 9.99550981e-01 -5.52537893e-05 1.18946082e+00] [-2.94759372e-03 -3.30825643e-05 9.99995655e-01 3.30110743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:1.19, Z:0.33 [[ 9.99593027e-01 2.83742039e-02 2.94687934e-03 1.59797009e+02] [-2.83741041e-02 9.99597371e-01 -7.56910958e-05 1.19039236e+00] [-2.94784052e-03 -7.95476959e-06 9.99995655e-01 3.29015682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:1.19, Z:0.33 [[ 9.99609539e-01 2.77864082e-02 2.94693818e-03 1.59826605e+02] [-2.77863154e-02 9.99613883e-01 -7.24397375e-05 1.19045214e+00] [-2.94781316e-03 -9.47310106e-06 9.99995655e-01 3.29944718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:1.19, Z:0.32 [[ 9.99697106e-01 2.44338188e-02 2.94694208e-03 1.59856047e+02] [-2.44337121e-02 9.99701450e-01 -7.22211805e-05 1.19182999e+00] [-2.94782691e-03 1.94570935e-07 9.99995655e-01 3.17316129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:1.19, Z:0.32 [[ 9.99720458e-01 2.34588712e-02 2.94729653e-03 1.59885920e+02] [-2.34588193e-02 9.99724803e-01 -5.22136824e-05 1.19214958e+00] [-2.94771031e-03 -1.69410100e-05 9.99995655e-01 3.17086934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:1.19, Z:0.32 [[ 9.99758053e-01 2.17979134e-02 2.94729986e-03 1.59915469e+02] [-2.17978547e-02 9.99762397e-01 -5.20249364e-05 1.19158262e+00] [-2.94773361e-03 -1.22324651e-05 9.99995655e-01 3.17474426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:1.19, Z:0.32 [[ 9.99774578e-01 2.10263304e-02 2.94730323e-03 1.59946263e+02] [-2.10262690e-02 9.99778922e-01 -5.18330490e-05 1.19043958e+00] [-2.94774151e-03 -1.01494259e-05 9.99995655e-01 3.15730707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.98, Y:1.19, Z:0.32 [[ 9.99807162e-01 1.94152510e-02 2.94730323e-03 1.59977075e+02] [-1.94151826e-02 9.99811506e-01 -5.18330490e-05 1.18976465e+00] [-2.94775404e-03 -5.39937685e-06 9.99995655e-01 3.17030933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:1.19, Z:0.32 [[ 9.99793257e-01 2.01185546e-02 2.94730323e-03 1.60007304e+02] [-2.01184892e-02 9.99797601e-01 -5.18330490e-05 1.19108410e+00] [-2.94774951e-03 -7.47295543e-06 9.99995655e-01 3.18211868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:1.19, Z:0.32 [[ 9.99772960e-01 2.11031100e-02 2.94730323e-03 1.60036871e+02] [-2.11030489e-02 9.99777305e-01 -5.18330490e-05 1.19100269e+00] [-2.94774072e-03 -1.03758035e-05 9.99995655e-01 3.18724791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:1.19, Z:0.32 [[ 9.99744895e-01 2.23932701e-02 2.94730489e-03 1.60067307e+02] [-2.23932149e-02 9.99749239e-01 -5.17387922e-05 1.19073673e+00] [-2.94772442e-03 -1.42740383e-05 9.99995655e-01 3.17524420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:1.19, Z:0.32 [[ 9.99731361e-01 2.29895248e-02 2.94730489e-03 1.60097519e+02] [-2.29894722e-02 9.99735706e-01 -5.17387922e-05 1.19105183e+00] [-2.94771538e-03 -1.60320907e-05 9.99995655e-01 3.17560227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:1.19, Z:0.33 [[ 9.99711088e-01 2.38548307e-02 2.94730489e-03 1.60127965e+02] [-2.38547818e-02 9.99715433e-01 -5.17387922e-05 1.19383963e+00] [-2.94770040e-03 -1.85834708e-05 9.99995655e-01 3.31251584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:1.19, Z:0.32 [[ 9.99739622e-01 2.26274720e-02 2.94707920e-03 1.60157637e+02] [-2.26273796e-02 9.99743966e-01 -6.46871126e-05 1.19399476e+00] [-2.94778836e-03 -2.01441036e-06 9.99995655e-01 3.16793808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:1.19, Z:0.33 [[ 9.99763611e-01 2.15414806e-02 2.94732250e-03 1.60187703e+02] [-2.15414254e-02 9.99767955e-01 -5.04828677e-05 1.19295517e+00] [-2.94772607e-03 -1.30185936e-05 9.99995655e-01 3.32459268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.22, Y:1.19, Z:0.33 [[ 9.99770549e-01 2.12170466e-02 2.94727884e-03 1.60217748e+02] [-2.12169824e-02 9.99774893e-01 -5.30526359e-05 1.19284602e+00] [-2.94774101e-03 -9.49190049e-06 9.99995655e-01 3.31314793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.25, Y:1.19, Z:0.33 [[ 9.99788889e-01 2.03344635e-02 2.94728480e-03 1.60248006e+02] [-2.03343965e-02 9.99793233e-01 -5.27006148e-05 1.19302694e+00] [-2.94774704e-03 -7.24176858e-06 9.99995655e-01 3.31931995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:1.19, Z:0.32 [[ 9.99837181e-01 1.78023675e-02 2.94725209e-03 1.60278276e+02] [-1.78022838e-02 9.99841525e-01 -5.46521902e-05 1.19145074e+00] [-2.94775796e-03 2.17547383e-06 9.99995655e-01 3.16657423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:1.19, Z:0.32 [[ 9.99842839e-01 1.74817404e-02 2.94734293e-03 1.60309141e+02] [-1.74816713e-02 9.99847183e-01 -4.92116230e-05 1.18969567e+00] [-2.94775283e-03 -2.32059153e-06 9.99995655e-01 3.15860479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:1.19, Z:0.32 [[ 9.99852081e-01 1.69448726e-02 2.94734293e-03 1.60339801e+02] [-1.69448012e-02 9.99856425e-01 -4.92116230e-05 1.18877459e+00] [-2.94775365e-03 -7.37796323e-07 9.99995655e-01 3.17053197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:1.19, Z:0.33 [[ 9.99873341e-01 1.56401571e-02 2.94734293e-03 1.60369916e+02] [-1.56400800e-02 9.99877685e-01 -4.92116230e-05 1.18761293e+00] [-2.94775210e-03 3.10871072e-06 9.99995655e-01 3.33384503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.40, Y:1.19, Z:0.33 [[ 9.99875555e-01 1.54979728e-02 2.94754639e-03 1.60400367e+02] [-1.54979315e-02 9.99879899e-01 -3.68489386e-05 1.18508791e+00] [-2.94776347e-03 -8.83651919e-06 9.99995655e-01 3.31163605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:1.18, Z:0.33 [[ 9.99901412e-01 1.37286859e-02 2.94763493e-03 1.60430536e+02] [-1.37286526e-02 9.99905757e-01 -3.15150668e-05 1.17907290e+00] [-2.94778980e-03 -8.95509624e-06 9.99995655e-01 3.29744374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:1.18, Z:0.32 [[ 9.99896106e-01 1.41099171e-02 2.94757041e-03 1.60462662e+02] [-1.41098740e-02 9.99900450e-01 -3.54123935e-05 1.17675409e+00] [-2.94777665e-03 -6.18113278e-06 9.99995655e-01 3.16144246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:1.18, Z:0.32 [[ 9.99899631e-01 1.38578854e-02 2.94734682e-03 1.60493808e+02] [-1.38578015e-02 9.99903975e-01 -4.88910349e-05 1.17531036e+00] [-2.94774133e-03 8.04238059e-06 9.99995655e-01 3.15968778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:1.17, Z:0.32 [[ 9.99855606e-01 1.67356094e-02 2.94734368e-03 1.60524772e+02] [-1.67355374e-02 9.99859950e-01 -4.90798056e-05 1.17268050e+00] [-2.94775229e-03 -2.52661760e-07 9.99995655e-01 3.15336126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.55, Y:1.17, Z:0.33 [[ 9.99858869e-01 1.65395175e-02 2.94734211e-03 1.60554870e+02] [-1.65394444e-02 9.99863213e-01 -4.91740335e-05 1.17043097e+00] [-2.94775226e-03 4.19692503e-07 9.99995655e-01 3.31601654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.59, Y:1.17, Z:0.33 [[ 9.99816889e-01 1.89076630e-02 2.94767113e-03 1.60585476e+02] [-1.89076593e-02 9.99821234e-01 -2.91473875e-05 1.16945899e+00] [-2.94769529e-03 -2.65915109e-05 9.99995655e-01 3.31712961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.62, Y:1.17, Z:0.33 [[ 9.99678177e-01 2.51963254e-02 2.94761023e-03 1.60615932e+02] [-2.51963380e-02 9.99682521e-01 -3.28706598e-05 1.17157605e+00] [-2.94750265e-03 -4.14089024e-05 9.99995655e-01 3.30890075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:1.17, Z:0.33 [[ 9.99632630e-01 2.69428636e-02 2.94737271e-03 1.60646040e+02] [-2.69428407e-02 9.99636975e-01 -4.74826798e-05 1.17181228e+00] [-2.94758205e-03 -3.19453572e-05 9.99995655e-01 3.29610209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:1.17, Z:0.32 [[ 9.99602184e-01 2.80497122e-02 2.94737925e-03 1.60676434e+02] [-2.80496953e-02 9.99606529e-01 -4.70792224e-05 1.17112559e+00] [-2.94754010e-03 -3.56125965e-05 9.99995655e-01 3.15867798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.71, Y:1.17, Z:0.33 [[ 9.99637542e-01 2.67599984e-02 2.94737100e-03 1.60706261e+02] [-2.67599743e-02 9.99641887e-01 -4.75904830e-05 1.17172005e+00] [-2.94758903e-03 -3.12983388e-05 9.99995655e-01 3.30114947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.74, Y:1.17, Z:0.33 [[ 9.99638250e-01 2.67335522e-02 2.94739799e-03 1.60736251e+02] [-2.67335332e-02 9.99642594e-01 -4.58779638e-05 1.17122435e+00] [-2.94757106e-03 -3.29329946e-05 9.99995655e-01 3.30026302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:1.17, Z:0.33 [[ 9.99655870e-01 2.60663297e-02 2.94739921e-03 1.60766357e+02] [-2.60663079e-02 9.99660215e-01 -4.58008660e-05 1.17236750e+00] [-2.94759158e-03 -3.10427108e-05 9.99995655e-01 3.30163052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.80, Y:1.17, Z:0.33 [[ 9.99719886e-01 2.34832625e-02 2.94734199e-03 1.60796425e+02] [-2.34832186e-02 9.99724230e-01 -4.94859097e-05 1.17331995e+00] [-2.94769130e-03 -1.97410284e-05 9.99995655e-01 3.30405969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:1.17, Z:0.33 [[ 9.99728532e-01 2.31122514e-02 2.94723931e-03 1.60826251e+02] [-2.31121860e-02 9.99732876e-01 -5.62593172e-05 1.17339355e+00] [-2.94775231e-03 -1.18730984e-05 9.99995655e-01 3.29423605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.86, Y:1.18, Z:0.33 [[ 9.99722497e-01 2.33718410e-02 2.94730233e-03 1.60855966e+02] [-2.33717893e-02 9.99726841e-01 -5.19932194e-05 1.17662592e+00] [-2.94771243e-03 -1.69049379e-05 9.99995655e-01 3.30892685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:1.18, Z:0.32 [[ 9.99749431e-01 2.21898574e-02 2.94713466e-03 1.60885753e+02] [-2.21897662e-02 9.99753775e-01 -6.36233462e-05 1.17850243e+00] [-2.94782079e-03 -1.78882492e-06 9.99995655e-01 3.17252605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.91, Y:1.18, Z:0.32 [[ 9.99928488e-01 1.15901727e-02 2.94744728e-03 1.60914679e+02] [-1.15901012e-02 9.99932832e-01 -4.13272522e-05 1.17530965e+00] [-2.94772829e-03 7.16308442e-06 9.99995655e-01 3.23472143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.95, Y:1.18, Z:0.33 [[ 9.99630417e-01 2.70248184e-02 2.94773720e-03 1.60946503e+02] [-2.70248749e-02 9.99634761e-01 -2.06398474e-05 1.18188528e+00] [-2.94721836e-03 -5.90300101e-05 9.99995655e-01 3.28826847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.97, Y:1.18, Z:0.32 [[ 9.99673837e-01 2.53679769e-02 2.94708566e-03 1.60974877e+02] [-2.53678911e-02 9.99678181e-01 -6.65251108e-05 1.18301130e+00] [-2.94782484e-03 -8.25793530e-06 9.99995655e-01 3.16513399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:1.19, Z:0.32 [[ 9.99671418e-01 2.54630907e-02 2.94744205e-03 1.61004064e+02] [-2.54630812e-02 9.99675762e-01 -4.07433556e-05 1.18541367e+00] [-2.94752383e-03 -3.43209882e-05 9.99995655e-01 3.16183664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.03, Y:1.19, Z:0.33 [[ 9.99667774e-01 2.56057421e-02 2.94744605e-03 1.61034388e+02] [-2.56057341e-02 9.99672119e-01 -4.04521210e-05 1.18513529e+00] [-2.94751545e-03 -3.50328382e-05 9.99995655e-01 3.28944437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:1.19, Z:0.32 [[ 9.99775948e-01 2.09611288e-02 2.94717686e-03 1.61064076e+02] [-2.09610425e-02 9.99780291e-01 -6.01650259e-05 1.18626864e+00] [-2.94779047e-03 -1.62435365e-06 9.99995655e-01 3.15480823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.09, Y:1.19, Z:0.33 [[ 9.99811721e-01 1.91790479e-02 2.94745719e-03 1.61094228e+02] [-1.91790164e-02 9.99816065e-01 -3.89534462e-05 1.18580064e+00] [-2.94766214e-03 -1.75832177e-05 9.99995655e-01 3.28141539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:1.18, Z:0.33 [[ 9.99868377e-01 1.59543608e-02 2.94730826e-03 1.61124185e+02] [-1.59542816e-02 9.99872721e-01 -5.03861844e-05 1.18448135e+00] [-2.94773701e-03 3.35736641e-06 9.99995655e-01 3.27533764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:1.18, Z:0.31 [[ 9.99917841e-01 1.24749446e-02 2.94738205e-03 1.61154495e+02] [-1.24748673e-02 9.99922185e-01 -4.46064678e-05 1.18315685e+00] [-2.94770917e-03 7.83460302e-06 9.99995655e-01 3.13420057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:1.18, Z:0.31 [[ 9.99960456e-01 8.39034484e-03 2.94747403e-03 1.61186136e+02] [-8.39027120e-03 9.99964800e-01 -3.73477238e-05 1.17921042e+00] [-2.94768364e-03 1.26161405e-05 9.99995655e-01 3.13028406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.22, Y:1.17, Z:0.33 [[ 9.99986771e-01 4.21539284e-03 2.94747164e-03 1.61217446e+02] [-4.21530051e-03 9.99991115e-01 -3.75355835e-05 1.17482871e+00] [-2.94760368e-03 2.51106082e-05 9.99995655e-01 3.26359581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:1.17, Z:0.33 [[ 9.99989715e-01 3.44706464e-03 2.94760351e-03 1.61249094e+02] [-3.44699913e-03 9.99994059e-01 -2.73064655e-05 1.17304307e+00] [-2.94768013e-03 1.71457979e-05 9.99995655e-01 3.27532509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.28, Y:1.17, Z:0.33 [[ 9.99988543e-01 3.77163763e-03 2.94767487e-03 1.61280864e+02] [-3.77158965e-03 9.99992887e-01 -2.18347878e-05 1.17148028e+00] [-2.94773626e-03 1.07171176e-05 9.99995655e-01 3.25198687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.31, Y:1.17, Z:0.33 [[ 9.99988140e-01 3.87706012e-03 2.94758561e-03 1.61313344e+02] [-3.87699291e-03 9.99992484e-01 -2.85136219e-05 1.16956475e+00] [-2.94767400e-03 1.70855153e-05 9.99995655e-01 3.26321029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:1.17, Z:0.33 [[ 9.99977033e-01 6.10292930e-03 2.94766247e-03 1.61345378e+02] [-6.10288832e-03 9.99981377e-01 -2.28957345e-05 1.16694511e+00] [-2.94774731e-03 4.90595375e-06 9.99995655e-01 3.25599213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:1.17, Z:0.33 [[ 9.99962381e-01 8.15765895e-03 2.94766169e-03 1.61377078e+02] [-8.15762674e-03 9.99966726e-01 -2.29517071e-05 1.16586237e+00] [-2.94775084e-03 -1.09508016e-06 9.99995655e-01 3.25162874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:1.16, Z:0.33 [[ 9.99925512e-01 1.18440913e-02 2.94758526e-03 1.61407968e+02] [-1.18440590e-02 9.99929856e-01 -2.84212742e-05 1.16479769e+00] [-2.94771513e-03 -6.49221647e-06 9.99995655e-01 3.26680290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:1.16, Z:0.31 [[ 9.99895800e-01 1.41315746e-02 2.94751678e-03 1.61439937e+02] [-1.41315378e-02 9.99900144e-01 -3.33100222e-05 1.16435341e+00] [-2.94769318e-03 -8.34639335e-06 9.99995656e-01 3.12450911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:1.16, Z:0.32 [[ 9.99859266e-01 1.65154974e-02 2.94739723e-03 1.61470605e+02] [-1.65154461e-02 9.99863610e-01 -4.17495686e-05 1.16415156e+00] [-2.94768475e-03 -6.93388723e-06 9.99995656e-01 3.24758568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.50, Y:1.17, Z:0.33 [[ 9.99780260e-01 2.07543622e-02 2.94740214e-03 1.61501433e+02] [-2.07543303e-02 9.99784605e-01 -4.14049712e-05 1.16503937e+00] [-2.94762662e-03 -1.97754847e-05 9.99995656e-01 3.26611523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.53, Y:1.17, Z:0.33 [[ 9.99740020e-01 2.26098640e-02 2.94743792e-03 1.61532320e+02] [-2.26098477e-02 9.99744364e-01 -3.88476055e-05 1.16574186e+00] [-2.94756278e-03 -2.78036164e-05 9.99995656e-01 3.27433246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.56, Y:1.17, Z:0.33 [[ 9.99718448e-01 2.35444029e-02 2.94731734e-03 1.61561837e+02] [-2.35443653e-02 9.99722792e-01 -4.74603435e-05 1.16835295e+00] [-2.94761775e-03 -2.19457352e-05 9.99995656e-01 3.26310958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:1.17, Z:0.31 [[ 9.99682714e-01 2.50156788e-02 2.94733799e-03 1.61591609e+02] [-2.50156520e-02 9.99687059e-01 -4.59357793e-05 1.16971049e+00] [-2.94756476e-03 -2.78083769e-05 9.99995656e-01 3.13204713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:161.62, Y:1.17, Z:0.33 [[ 9.99663131e-01 2.57863715e-02 2.94742624e-03 1.61621009e+02] [-2.57863677e-02 9.99667476e-01 -3.93199700e-05 1.17067751e+00] [-2.94746007e-03 -3.66966925e-05 9.99995656e-01 3.26758988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:1.17, Z:0.31 [[ 9.99629421e-01 2.70616704e-02 2.94729955e-03 1.61650990e+02] [-2.70616438e-02 9.99633765e-01 -4.88934156e-05 1.17492394e+00] [-2.94754329e-03 -3.08834740e-05 9.99995656e-01 3.13137366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.68, Y:1.18, Z:0.33 [[ 9.99612617e-01 2.76754133e-02 2.94743262e-03 1.61681133e+02] [-2.76754193e-02 9.99616961e-01 -3.87791049e-05 1.17809047e+00] [-2.94737687e-03 -4.28073512e-05 9.99995656e-01 3.28194162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.71, Y:1.18, Z:0.33 [[ 9.99628760e-01 2.70860921e-02 2.94728565e-03 1.61709601e+02] [-2.70860621e-02 9.99633104e-01 -5.00930441e-05 1.18269832e+00] [-2.94756112e-03 -2.97559145e-05 9.99995655e-01 3.27300205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:1.18, Z:0.31 [[ 9.99664497e-01 2.57333842e-02 2.94722187e-03 1.61737955e+02] [-2.57333332e-02 9.99668841e-01 -5.52115683e-05 1.18434946e+00] [-2.94766665e-03 -2.06487977e-05 9.99995655e-01 3.14019434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:1.19, Z:0.33 [[ 9.99702119e-01 2.42277914e-02 2.94745595e-03 1.61767003e+02] [-2.42277903e-02 9.99706463e-01 -3.60986000e-05 1.18558938e+00] [-2.94746535e-03 -3.53224977e-05 9.99995656e-01 3.27431448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.80, Y:1.19, Z:0.33 [[ 9.99726196e-01 2.32130518e-02 2.94740500e-03 1.61796688e+02] [-2.32130336e-02 9.99730540e-01 -4.03792528e-05 1.19027575e+00] [-2.94754812e-03 -2.80500145e-05 9.99995656e-01 3.27046922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:1.19, Z:0.31 [[ 9.99757801e-01 2.18094698e-02 2.94735705e-03 1.61825940e+02] [-2.18094333e-02 9.99762145e-01 -4.45259099e-05 1.19157633e+00] [-2.94762709e-03 -1.97650612e-05 9.99995656e-01 3.11026299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:1.19, Z:0.31 [[ 9.99790811e-01 2.02397312e-02 2.94748683e-03 1.61856054e+02] [-2.02397221e-02 9.99795155e-01 -3.28982378e-05 1.19428183e+00] [-2.94754890e-03 -2.67649585e-05 9.99995656e-01 3.13302987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:161.89, Y:1.20, Z:0.33 [[ 9.99803845e-01 1.95852902e-02 2.94748890e-03 1.61886666e+02] [-1.95852788e-02 9.99808189e-01 -3.27114822e-05 1.19544542e+00] [-2.94756421e-03 -2.50223263e-05 9.99995656e-01 3.29954354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:161.92, Y:1.20, Z:0.33 [[ 9.99827021e-01 1.83641026e-02 2.94745823e-03 1.61916775e+02] [-1.83640777e-02 9.99831365e-01 -3.54982745e-05 1.19660420e+00] [-2.94761308e-03 -1.86352179e-05 9.99995656e-01 3.27765122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:1.20, Z:0.31 [[ 9.99832591e-01 1.80583062e-02 2.94749444e-03 1.61947007e+02] [-1.80582898e-02 9.99836935e-01 -3.21788635e-05 1.19827966e+00] [-2.94759490e-03 -2.10532322e-05 9.99995656e-01 3.09329774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:1.20, Z:0.31 [[ 9.99823502e-01 1.85547023e-02 2.94749492e-03 1.61976828e+02] [-1.85546882e-02 9.99827846e-01 -3.21342295e-05 1.19840096e+00] [-2.94758374e-03 -2.25612914e-05 9.99995656e-01 3.08619228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:162.01, Y:1.20, Z:0.32 [[ 9.99818307e-01 1.88325843e-02 2.94749696e-03 1.62006129e+02] [-1.88325719e-02 9.99822651e-01 -3.19463899e-05 1.19851957e+00] [-2.94757586e-03 -2.35683631e-05 9.99995656e-01 3.24697289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.04, Y:1.20, Z:0.32 [[ 9.99781516e-01 2.06938015e-02 2.94747889e-03 1.62035974e+02] [-2.06937923e-02 9.99785860e-01 -3.36334537e-05 1.19952124e+00] [-2.94754372e-03 -2.73684106e-05 9.99995656e-01 3.24421454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.06, Y:1.20, Z:0.32 [[ 9.99736360e-01 2.27710721e-02 2.94751035e-03 1.62064031e+02] [-2.27710808e-02 9.99740705e-01 -3.06069824e-05 1.20087570e+00] [-2.94744302e-03 -3.65190829e-05 9.99995656e-01 3.22786702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.09, Y:1.20, Z:0.32 [[ 9.99705779e-01 2.40762709e-02 2.94760654e-03 1.62093880e+02] [-2.40763126e-02 9.99710123e-01 -2.13466136e-05 1.20327852e+00] [-2.94726605e-03 -4.96271635e-05 9.99995656e-01 3.22387027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83864 meters Centerline goodness : 0.865100 Centerline is valid? [True, False] Translation: X:162.09, Y:1.20, Z:0.32 [[ 9.99895483e-01 9.43987358e-03 1.09504470e-02 1.62088711e+02] [-9.47577861e-03 9.99949882e-01 3.23162720e-03 1.20095603e+00] [-1.09193921e-02 -3.33505345e-03 9.99934820e-01 3.20416650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:162.09, Y:1.22, Z:0.32 [[ 9.99925305e-01 1.15471771e-02 4.00586348e-03 1.62089622e+02] [-1.14813572e-02 9.99804752e-01 -1.60821540e-02 1.21951127e+00] [-4.19078483e-03 1.60349600e-02 9.99862649e-01 3.24823659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.12, Y:1.21, Z:0.32 [[ 9.99933561e-01 1.08292218e-02 3.94984175e-03 1.62121317e+02] [-1.08295004e-02 9.99941358e-01 4.91692142e-05 1.20955304e+00] [-3.94907766e-03 -9.19407604e-05 9.99992198e-01 3.23917655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.15, Y:1.21, Z:0.32 [[ 9.99947105e-01 9.49655190e-03 3.95000135e-03 1.62152124e+02] [-9.49665429e-03 9.99954906e-01 7.16648055e-06 1.21132045e+00] [-3.94975517e-03 -4.46778987e-05 9.99992199e-01 3.21857641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.18, Y:1.22, Z:0.33 [[ 9.99967154e-01 7.07727350e-03 3.94996977e-03 1.62183620e+02] [-7.07738900e-03 9.99974955e-01 1.52622602e-05 1.21608100e+00] [-3.94976283e-03 -4.32172315e-05 9.99992199e-01 3.25272585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:1.22, Z:0.31 [[ 9.99972356e-01 6.29952808e-03 3.94998361e-03 1.62214874e+02] [-6.29962366e-03 9.99980157e-01 1.17549676e-05 1.21886847e+00] [-3.94983118e-03 -3.66380529e-05 9.99992199e-01 3.10242376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.24, Y:1.22, Z:0.33 [[ 9.99987029e-01 3.21553670e-03 3.94997162e-03 1.62244205e+02] [-3.21562074e-03 9.99994830e-01 1.49266115e-05 1.22072925e+00] [-3.94990320e-03 -2.76280286e-05 9.99992199e-01 3.26568052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.28, Y:1.22, Z:0.32 [[ 9.99991463e-01 1.21380911e-03 3.94988323e-03 1.62276013e+02] [-1.21397041e-03 9.99999262e-01 3.84382026e-05 1.22198551e+00] [-3.94983366e-03 -4.32329158e-05 9.99992198e-01 3.20852958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.31, Y:1.22, Z:0.32 [[ 9.99992186e-01 -1.57785866e-04 3.94996572e-03 1.62308467e+02] [ 1.57728180e-04 9.99999987e-01 1.49156344e-05 1.22257806e+00] [-3.94996803e-03 -1.42924969e-05 9.99992199e-01 3.21563970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.34, Y:1.22, Z:0.32 [[ 9.99982463e-01 -4.41275086e-03 3.94997453e-03 1.62339202e+02] [ 4.41273762e-03 9.99990264e-01 1.20664058e-05 1.22377163e+00] [-3.94998932e-03 5.36400702e-06 9.99992199e-01 3.22589628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.37, Y:1.22, Z:0.32 [[ 9.99974553e-01 -5.94066825e-03 3.94995123e-03 1.62371233e+02] [ 5.94063387e-03 9.99982354e-01 2.04363239e-05 1.22316002e+00] [-3.95000294e-03 3.02941028e-06 9.99992199e-01 3.21506242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.40, Y:1.22, Z:0.32 [[ 9.99964751e-01 -7.40915274e-03 3.94994744e-03 1.62403492e+02] [ 7.40912365e-03 9.99972552e-01 2.19959585e-05 1.22174529e+00] [-3.95000199e-03 7.27046587e-06 9.99992199e-01 3.20972914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19864 meters Centerline goodness : 0.872461 Centerline is valid? [True, False] Translation: X:162.43, Y:1.22, Z:0.32 [[ 9.99995962e-01 -1.98208230e-03 -2.03660285e-03 1.62425205e+02] [ 1.97881466e-03 9.99996754e-01 -1.60521868e-03 1.22193684e+00] [ 2.03977791e-03 1.60118214e-03 9.99996638e-01 3.24648073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22864 meters Centerline goodness : 0.980461 Centerline is valid? [False, True] Translation: X:162.45, Y:1.23, Z:0.33 [[ 9.99987630e-01 1.32937625e-03 -4.79297406e-03 1.62446235e+02] [-1.36818523e-03 9.99966235e-01 -8.10289105e-03 1.22633491e+00] [ 4.78204043e-03 8.10934849e-03 9.99955684e-01 3.28814145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:1.17, Z:0.33 [[ 9.96195173e-01 -8.69770764e-02 -5.49235154e-03 1.62452076e+02] [ 8.69845725e-02 9.96209006e-01 1.14057858e-03 1.17111086e+00] [ 5.37232588e-03 -1.61398873e-03 9.99984266e-01 3.26713511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.48, Y:1.17, Z:0.34 [[ 9.96251591e-01 -8.63364199e-02 -5.36555471e-03 1.62481880e+02] [ 8.63353426e-02 9.96266040e-01 -4.32507442e-04 1.17272232e+00] [ 5.38286109e-03 -3.23507774e-05 9.99985512e-01 3.43367606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:162.51, Y:1.17, Z:0.34 [[ 9.96586256e-01 -8.23836062e-02 -5.36423244e-03 1.62514031e+02] [ 8.23823833e-02 9.96600693e-01 -4.48903017e-04 1.17396887e+00] [ 5.38298002e-03 5.45232408e-06 9.99985512e-01 3.40334107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.55, Y:1.17, Z:0.34 [[ 9.96652133e-01 -8.15826787e-02 -5.36586508e-03 1.62546750e+02] [ 8.15815538e-02 9.96666577e-01 -4.28551450e-04 1.17447930e+00] [ 5.38294076e-03 -1.06388936e-05 9.99985512e-01 3.42189711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.58, Y:1.18, Z:0.34 [[ 9.96688784e-01 -8.11337179e-02 -5.36536314e-03 1.62578390e+02] [ 8.11325527e-02 9.96703226e-01 -4.34835369e-04 1.17730154e+00] [ 5.38295456e-03 -1.91007311e-06 9.99985512e-01 3.42361920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.61, Y:1.18, Z:0.34 [[ 9.96764271e-01 -8.02009931e-02 -5.36555327e-03 1.62610047e+02] [ 8.01998273e-02 9.96778712e-01 -4.32441622e-04 1.17960240e+00] [ 5.38295152e-03 7.25912646e-07 9.99985512e-01 3.44481082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.64, Y:1.18, Z:0.34 [[ 9.96508068e-01 -8.33238515e-02 -5.36705747e-03 1.62641494e+02] [ 8.33228335e-02 9.96522521e-01 -4.13399109e-04 1.18074779e+00] [ 5.38283965e-03 -3.52428886e-05 9.99985512e-01 3.42168855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:1.18, Z:0.34 [[ 9.96505927e-01 -8.33495884e-02 -5.36501260e-03 1.62673258e+02] [ 8.33484307e-02 9.96520369e-01 -4.39396091e-04 1.18373965e+00] [ 5.38296782e-03 -9.30457198e-06 9.99985512e-01 3.43155169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.71, Y:1.18, Z:0.34 [[ 9.96120298e-01 -8.78382736e-02 -5.36555067e-03 1.62705880e+02] [ 8.78372181e-02 9.96134748e-01 -4.32518343e-04 1.18493673e+00] [ 5.38280313e-03 -4.04547442e-05 9.99985512e-01 3.44086142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.74, Y:1.19, Z:0.34 [[ 9.95870767e-01 -9.06235609e-02 -5.36518612e-03 1.62737729e+02] [ 9.06225205e-02 9.95885218e-01 -4.37199135e-04 1.18599437e+00] [ 5.38273009e-03 -5.08128513e-05 9.99985512e-01 3.44068869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.77, Y:1.19, Z:0.34 [[ 9.95536793e-01 -9.42215572e-02 -5.36581280e-03 1.62768385e+02] [ 9.42206127e-02 9.95551250e-01 -4.29111941e-04 1.18614213e+00] [ 5.38237324e-03 -7.83734448e-05 9.99985512e-01 3.42539432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:1.19, Z:0.34 [[ 9.95300561e-01 -9.66851937e-02 -5.36346185e-03 1.62801470e+02] [ 9.66841210e-02 9.95315010e-01 -4.59536385e-04 1.18681042e+00] [ 5.38276445e-03 -6.11847731e-05 9.99985511e-01 3.42767452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.83, Y:1.19, Z:0.34 [[ 9.95236964e-01 -9.73376156e-02 -5.36408879e-03 1.62833496e+02] [ 9.73365964e-02 9.95251417e-01 -4.51355949e-04 1.18913505e+00] [ 5.38255089e-03 -7.29160212e-05 9.99985511e-01 3.42827017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.87, Y:1.19, Z:0.34 [[ 9.95247027e-01 -9.72346919e-02 -5.36369844e-03 1.62865744e+02] [ 9.72336436e-02 9.95261478e-01 -4.56482013e-04 1.19072017e+00] [ 5.38266832e-03 -6.72195757e-05 9.99985511e-01 3.43717041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67864 meters Centerline goodness : 0.933931 Centerline is valid? [True, False] Translation: X:162.86, Y:1.19, Z:0.34 [[ 9.96596238e-01 -8.24168649e-02 -1.84375196e-03 1.62863551e+02] [ 8.24081349e-02 9.96588977e-01 -4.39423502e-03 1.19300323e+00] [ 2.19962195e-03 4.22733792e-03 9.99988646e-01 3.43410755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70864 meters Centerline goodness : 0.999755 Centerline is valid? [False, True] Translation: X:162.86, Y:1.20, Z:0.34 [[ 9.97805316e-01 -6.60879554e-02 4.11495814e-03 1.62858721e+02] [ 6.61148791e-02 9.97788900e-01 -6.79218993e-03 1.19742431e+00] [-3.65697761e-03 7.04934318e-03 9.99968466e-01 3.43747123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.89, Y:1.20, Z:0.33 [[ 9.98191957e-01 -5.99881028e-02 3.77430304e-03 1.62891431e+02] [ 5.99879513e-02 9.98199089e-01 1.53435692e-04 1.19623070e+00] [-3.77671018e-03 7.32544332e-05 9.99992866e-01 3.27801204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.92, Y:1.20, Z:0.33 [[ 9.98319251e-01 -5.78311232e-02 3.77282593e-03 1.62924514e+02] [ 5.78308417e-02 9.98326379e-01 1.83762406e-04 1.19787724e+00] [-3.77713883e-03 3.47321510e-05 9.99992866e-01 3.27049772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79864 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:162.95, Y:1.22, Z:0.33 [[ 9.99861717e-01 -1.61960686e-02 3.77291652e-03 1.62953623e+02] [ 1.61954975e-02 9.99868828e-01 1.81883140e-04 1.21803364e+00] [-3.77536741e-03 -1.20753729e-04 9.99992866e-01 3.28250095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.98, Y:1.20, Z:0.34 [[ 9.98293275e-01 -5.82778927e-02 3.77144771e-03 1.62984274e+02] [ 5.82775065e-02 9.98300399e-01 2.12323712e-04 1.20057134e+00] [-3.77741154e-03 7.82923500e-06 9.99992866e-01 3.42141764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:163.02, Y:1.20, Z:0.34 [[ 9.98534644e-01 -5.39847202e-02 3.77032881e-03 1.63019097e+02] [ 5.39842149e-02 9.98541761e-01 2.35734484e-04 1.20407848e+00] [-3.77755683e-03 -3.18508083e-05 9.99992864e-01 3.42499911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.05, Y:1.20, Z:0.33 [[ 9.98483366e-01 -5.49248178e-02 3.77261105e-03 1.63050896e+02] [ 5.49245028e-02 9.98490493e-01 1.87116543e-04 1.20289699e+00] [-3.77719361e-03 2.03760305e-05 9.99992866e-01 3.26684112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:163.13, Y:1.20, Z:0.31 [[ 9.99073568e-01 -4.28692230e-02 3.77311217e-03 1.63127286e+02] [ 4.28688625e-02 9.99080692e-01 1.76397624e-04 1.20398051e+00] [-3.77720555e-03 -1.44851766e-05 9.99992866e-01 3.10264643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:1.20, Z:0.33 [[ 9.98331126e-01 -5.76234401e-02 3.80825153e-03 1.63102222e+02] [ 5.76265911e-02 9.98337946e-01 -7.22844841e-04 1.20123962e+00] [-3.76026920e-03 9.41095057e-04 9.99992487e-01 3.28613536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:163.13, Y:1.20, Z:0.34 [[ 9.98305736e-01 -5.80645055e-02 3.76443673e-03 1.63132380e+02] [ 5.80642311e-02 9.98312833e-01 1.82241103e-04 1.20223004e+00] [-3.76866723e-03 3.66467853e-05 9.99992898e-01 3.42208593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00864 meters Centerline goodness : 0.832100 Centerline is valid? [True, False] Translation: X:163.13, Y:1.21, Z:0.34 [[ 9.99017386e-01 -4.38856823e-02 6.18942382e-03 1.63131616e+02] [ 4.39176270e-02 9.99022019e-01 -5.12325444e-03 1.20642808e+00] [-5.95853316e-03 5.39004507e-03 9.99967721e-01 3.41563257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:163.13, Y:1.21, Z:0.34 [[ 9.99505176e-01 -3.05109702e-02 7.64747409e-03 1.63130002e+02] [ 3.05988238e-02 9.99463886e-01 -1.16469598e-02 1.21213165e+00] [-7.28801413e-03 1.18752003e-02 9.99902928e-01 3.42150423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.16, Y:1.20, Z:0.34 [[ 9.99539135e-01 -2.94314448e-02 7.43690573e-03 1.63162593e+02] [ 2.94313650e-02 9.99566796e-01 1.20186388e-04 1.20221150e+00] [-7.43722130e-03 9.87472891e-05 9.99972339e-01 3.41233707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:1.20, Z:0.33 [[ 9.99496603e-01 -3.08420351e-02 7.43705055e-03 1.63193051e+02] [ 3.08420551e-02 9.99524264e-01 1.12023634e-04 1.20202366e+00] [-7.43696752e-03 1.17406682e-04 9.99972338e-01 3.27907027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:163.22, Y:1.20, Z:0.34 [[ 9.99561549e-01 -2.86601651e-02 7.43673768e-03 1.63224068e+02] [ 2.86599915e-02 9.99589210e-01 1.29931364e-04 1.20080612e+00] [-7.43740659e-03 8.32624432e-05 9.99972339e-01 3.44497840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.26, Y:1.20, Z:0.34 [[ 9.99630601e-01 -2.61410867e-02 7.43679797e-03 1.63255428e+02] [ 2.61408691e-02 9.99658261e-01 1.26474633e-04 1.19901135e+00] [-7.43756271e-03 6.79764490e-05 9.99972339e-01 3.42834852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:1.20, Z:0.34 [[ 9.99700475e-01 -2.33164118e-02 7.43677905e-03 1.63287218e+02] [ 2.33161080e-02 9.99728134e-01 1.27564582e-04 1.20033102e+00] [-7.43773160e-03 4.58703705e-05 9.99972339e-01 3.41089052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:1.20, Z:0.33 [[ 9.99739607e-01 -2.15733524e-02 7.43695651e-03 1.63318335e+02] [ 2.15730777e-02 9.99767267e-01 1.17172387e-04 1.20158496e+00] [-7.43775348e-03 4.32961638e-05 9.99972339e-01 3.27857243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:1.20, Z:0.34 [[ 9.99864377e-01 -1.46942942e-02 7.43681304e-03 1.63350021e+02] [ 1.46937660e-02 9.99892033e-01 1.25662668e-04 1.20306675e+00] [-7.43785664e-03 -1.63708346e-05 9.99972339e-01 3.42282749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.38, Y:1.20, Z:0.34 [[ 9.99894798e-01 -1.24530612e-02 7.43736305e-03 1.63381357e+02] [ 1.24527179e-02 9.99922458e-01 9.24683583e-05 1.20380754e+00] [-7.43793786e-03 1.56753603e-07 9.99972338e-01 3.41168338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.41, Y:1.20, Z:0.34 [[ 9.99918940e-01 -1.03344904e-02 7.43721220e-03 1.63412975e+02] [ 1.03340208e-02 9.99946597e-01 1.01574456e-04 1.20483959e+00] [-7.43786475e-03 -2.47099167e-05 9.99972338e-01 3.40207246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.44, Y:1.21, Z:0.33 [[ 9.99930095e-01 -9.19201392e-03 7.43713942e-03 1.63444603e+02] [ 9.19147997e-03 9.99957752e-01 1.05972951e-04 1.20603150e+00] [-7.43779932e-03 -3.76072254e-05 9.99972338e-01 3.26625609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.48, Y:1.21, Z:0.33 [[ 9.99936254e-01 -8.49594362e-03 7.43689557e-03 1.63477631e+02] [ 8.49527892e-03 9.99963907e-01 1.20964779e-04 1.20678030e+00] [-7.43765486e-03 -5.77785659e-05 9.99972339e-01 3.27517535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:1.21, Z:0.34 [[ 9.99940874e-01 -7.93342916e-03 7.43695586e-03 1.63509055e+02] [ 7.93277737e-03 9.99968528e-01 1.17136691e-04 1.20743927e+00] [-7.43765110e-03 -5.81340505e-05 9.99972339e-01 3.40453605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:1.21, Z:0.33 [[ 9.99945392e-01 -7.34199314e-03 7.43693417e-03 1.63540290e+02] [ 7.34131469e-03 9.99973045e-01 1.18523044e-04 1.20855351e+00] [-7.43760391e-03 -6.39196972e-05 9.99972339e-01 3.27120080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:163.57, Y:1.21, Z:0.34 [[ 9.99943863e-01 -7.54733406e-03 7.43701094e-03 1.63570861e+02] [ 7.54669869e-03 9.99971517e-01 1.13492541e-04 1.20918466e+00] [-7.43765568e-03 -5.73612893e-05 9.99972339e-01 3.40829859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:1.21, Z:0.34 [[ 9.99941041e-01 -7.91273818e-03 7.43658583e-03 1.63604376e+02] [ 7.91190392e-03 9.99968690e-01 1.41595820e-04 1.21046330e+00] [-7.43747341e-03 -8.27499194e-05 9.99972338e-01 3.40345768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.64, Y:1.21, Z:0.34 [[ 9.99939176e-01 -8.14478060e-03 7.43683996e-03 1.63636192e+02] [ 8.14408122e-03 9.99966829e-01 1.24322023e-04 1.21205144e+00] [-7.43760585e-03 -6.37482326e-05 9.99972339e-01 3.40870681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:163.67, Y:1.21, Z:0.34 [[ 9.99917158e-01 -1.05056283e-02 7.43697791e-03 1.63667398e+02] [ 1.05050658e-02 9.99944814e-01 1.14693906e-04 1.21294562e+00] [-7.43777242e-03 -3.65584623e-05 9.99972339e-01 3.41381751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57864 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:163.67, Y:1.17, Z:0.32 [[ 9.96315794e-01 -8.54373263e-02 7.43652382e-03 1.63668867e+02] [ 8.54385926e-02 9.96343427e-01 1.47814475e-04 1.17471719e+00] [-7.42196050e-03 4.88096232e-04 9.99972338e-01 3.23420807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:1.21, Z:0.33 [[ 9.99956180e-01 -5.70167419e-03 7.42484862e-03 1.63728206e+02] [ 5.69396898e-03 9.99983229e-01 1.05848594e-03 1.21359314e+00] [-7.43075924e-03 -1.01616270e-03 9.99971875e-01 3.26114312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:1.22, Z:0.34 [[ 9.99923199e-01 -9.91778355e-03 7.43192956e-03 1.63757005e+02] [ 9.91766897e-03 9.99950817e-01 5.22722716e-05 1.21507680e+00] [-7.43208247e-03 2.14391602e-05 9.99972381e-01 3.40517163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:1.22, Z:0.33 [[ 9.99937144e-01 -8.39520288e-03 7.43154638e-03 1.63789564e+02] [ 8.39462990e-03 9.99964759e-01 1.08291847e-04 1.21588517e+00] [-7.43219361e-03 -4.58999593e-05 9.99972380e-01 3.26005305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:1.22, Z:0.33 [[ 9.99935666e-01 -8.56915322e-03 7.43193552e-03 1.63821852e+02] [ 8.56903433e-03 9.99963284e-01 4.78401156e-05 1.21721800e+00] [-7.43207260e-03 1.58474728e-05 9.99972382e-01 3.27359816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:1.22, Z:0.33 [[ 9.99936990e-01 -8.41320247e-03 7.43195527e-03 1.63855228e+02] [ 8.41310376e-03 9.99964608e-01 4.45460251e-05 1.21862027e+00] [-7.43206701e-03 1.79825925e-05 9.99972382e-01 3.26588971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:1.22, Z:0.33 [[ 9.99941608e-01 -7.84518129e-03 7.43197589e-03 1.63887858e+02] [ 7.84509481e-03 9.99969226e-01 4.07888833e-05 1.22041821e+00] [-7.43206717e-03 1.75180540e-05 9.99972382e-01 3.25976729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:1.22, Z:0.33 [[ 9.99937575e-01 -8.34341183e-03 7.43199461e-03 1.63920056e+02] [ 8.34336704e-03 9.99965193e-01 3.70317320e-05 1.22120083e+00] [-7.43204489e-03 2.49784386e-05 9.99972382e-01 3.26385853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:1.22, Z:0.33 [[ 9.99938336e-01 -8.25169274e-03 7.43200029e-03 1.63952099e+02] [ 8.25165418e-03 9.99965954e-01 3.58537475e-05 1.22342290e+00] [-7.43204311e-03 2.54747597e-05 9.99972382e-01 3.25857176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:1.22, Z:0.33 [[ 9.99935368e-01 -8.60383186e-03 7.43201490e-03 1.63985533e+02] [ 8.60382783e-03 9.99962986e-01 3.25151921e-05 1.22484083e+00] [-7.43201956e-03 3.14306861e-05 9.99972382e-01 3.25231652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:1.23, Z:0.32 [[ 9.99934043e-01 -8.75637494e-03 7.43202950e-03 1.64018500e+02] [ 8.75640319e-03 9.99961662e-01 2.87397973e-05 1.22603273e+00] [-7.43199622e-03 3.63399451e-05 9.99972382e-01 3.24440006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:1.23, Z:0.32 [[ 9.99939443e-01 -8.11636059e-03 7.43204211e-03 1.64050218e+02] [ 8.11639904e-03 9.99967061e-01 2.49875847e-05 1.22815264e+00] [-7.43200012e-03 3.53353479e-05 9.99972382e-01 3.23874080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:1.23, Z:0.32 [[ 9.99948607e-01 -6.89551346e-03 7.43205105e-03 1.64083353e+02] [ 6.89554066e-03 9.99976225e-01 2.19649595e-05 1.22991634e+00] [-7.43202581e-03 2.92841795e-05 9.99972382e-01 3.23999668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:1.23, Z:0.32 [[ 9.99958594e-01 -5.25114968e-03 7.43206019e-03 1.64115884e+02] [ 5.25115915e-03 9.99986212e-01 1.82396784e-05 1.23226760e+00] [-7.43205350e-03 2.07880077e-05 9.99972382e-01 3.23699267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:1.23, Z:0.32 [[ 9.99967083e-01 -3.25538410e-03 7.43206676e-03 1.64148532e+02] [ 3.25536270e-03 9.99994701e-01 1.49771032e-05 1.23474966e+00] [-7.43207614e-03 9.21746267e-06 9.99972382e-01 3.23446771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:1.24, Z:0.32 [[ 9.99969978e-01 -2.19268201e-03 7.43206894e-03 1.64180428e+02] [ 2.19263998e-03 9.99997596e-01 1.38039201e-05 1.23566865e+00] [-7.43208134e-03 2.49234577e-06 9.99972382e-01 3.22265074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:1.24, Z:0.32 [[ 9.99971700e-01 -1.16792164e-03 7.43207363e-03 1.64213350e+02] [ 1.16787599e-03 9.99999318e-01 1.04816265e-05 1.23741142e+00] [-7.43208080e-03 -1.80158951e-06 9.99972382e-01 3.21720358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:1.24, Z:0.32 [[ 9.99972049e-01 -8.16091856e-04 7.43207537e-03 1.64246011e+02] [ 8.16047111e-04 9.99999667e-01 9.05303208e-06 1.23883463e+00] [-7.43208028e-03 -2.98785540e-06 9.99972382e-01 3.21832354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:1.24, Z:0.32 [[ 9.99972121e-01 -7.22394345e-04 7.43207805e-03 1.64278417e+02] [ 7.22374936e-04 9.99999739e-01 5.29583861e-06 1.23983009e+00] [-7.43207993e-03 7.30559406e-08 9.99972382e-01 3.22786314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:164.31, Y:1.24, Z:0.34 [[ 9.99967584e-01 -3.09756333e-03 7.43207893e-03 1.64309292e+02] [ 3.09763403e-03 9.99995202e-01 1.99900084e-06 1.23866830e+00] [-7.43204947e-03 2.10229246e-05 9.99972382e-01 3.36569827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:1.24, Z:0.32 [[ 9.99962996e-01 -4.33251680e-03 7.43207847e-03 1.64340916e+02] [ 4.33260385e-03 9.99990614e-01 4.38793242e-06 1.23806858e+00] [-7.43202772e-03 2.78124817e-05 9.99972382e-01 3.21674519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:1.24, Z:0.32 [[ 9.99953087e-01 -6.21187907e-03 7.43207759e-03 1.64372805e+02] [ 6.21205938e-03 9.99980705e-01 -1.17572459e-06 1.23923697e+00] [-7.43192688e-03 4.73441767e-05 9.99972382e-01 3.21879330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:1.24, Z:0.32 [[ 9.99950488e-01 -6.61701988e-03 7.43207566e-03 1.64405867e+02] [ 6.61723551e-03 9.99978106e-01 -4.42274705e-06 1.24014815e+00] [-7.43188367e-03 5.36023230e-05 9.99972382e-01 3.22345599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:1.24, Z:0.32 [[ 9.99950005e-01 -6.68966093e-03 7.43207161e-03 1.64438802e+02] [ 6.68990606e-03 9.99977622e-01 -8.12147732e-06 1.23922896e+00] [-7.43185097e-03 5.78409322e-05 9.99972382e-01 3.21299910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:1.24, Z:0.32 [[ 9.99953199e-01 -6.19392509e-03 7.43206567e-03 1.64472409e+02] [ 6.19418423e-03 9.99980816e-01 -1.18500210e-05 1.23949363e+00] [-7.43184969e-03 5.78850503e-05 9.99972382e-01 3.21050866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:1.24, Z:0.32 [[ 9.99955660e-01 -5.78302535e-03 7.43205797e-03 1.64504577e+02] [ 5.78330053e-03 9.99983276e-01 -1.55344329e-05 1.23838849e+00] [-7.43184384e-03 5.85155688e-05 9.99972382e-01 3.20916251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:1.24, Z:0.32 [[ 9.99961309e-01 -4.70580499e-03 7.43204987e-03 1.64537423e+02] [ 4.70607427e-03 9.99988926e-01 -1.87457483e-05 1.23952299e+00] [-7.43187935e-03 5.37208017e-05 9.99972382e-01 3.20992465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:1.24, Z:0.34 [[ 9.99959268e-01 -5.12118419e-03 7.43203872e-03 1.64566643e+02] [ 5.12149238e-03 9.99986885e-01 -2.24372925e-05 1.24098912e+00] [-7.43182634e-03 6.04995083e-05 9.99972382e-01 3.36183583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:1.24, Z:0.34 [[ 9.99954965e-01 -5.90157856e-03 7.43227630e-03 1.64596282e+02] [ 5.90136365e-03 9.99982586e-01 5.08462091e-05 1.24212639e+00] [-7.43244695e-03 -6.98335408e-06 9.99972379e-01 3.37660038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:164.63, Y:1.24, Z:0.33 [[ 9.99949969e-01 -6.69474556e-03 7.43233837e-03 1.64626747e+02] [ 6.69441713e-03 9.99977590e-01 6.90665643e-05 1.24167673e+00] [-7.43263420e-03 -1.93079355e-05 9.99972377e-01 3.34941412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47864 meters Centerline goodness : 0.738322 Centerline is valid? [True, False] Translation: X:164.65, Y:1.25, Z:0.34 [[ 9.99962270e-01 -8.16229580e-03 2.97235890e-03 1.64648786e+02] [ 8.19832432e-03 9.99890524e-01 -1.23177500e-02 1.25149406e+00] [-2.87149238e-03 1.23416536e-02 9.99919716e-01 3.40520299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:164.67, Y:1.26, Z:0.34 [[ 9.99995781e-01 -2.11976377e-03 -1.98627383e-03 1.64670162e+02] [ 2.08989916e-03 9.99886524e-01 -1.49188314e-02 1.25542400e+00] [ 2.01767283e-03 1.49146174e-02 9.99886735e-01 3.44784241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:1.24, Z:0.34 [[ 9.99988635e-01 -4.41149820e-03 -1.80789164e-03 1.64699268e+02] [ 4.41154448e-03 9.99990269e-01 2.16098420e-05 1.24101997e+00] [ 1.80777872e-03 -2.95851908e-05 9.99998366e-01 3.40853485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.73, Y:1.24, Z:0.36 [[ 9.99945380e-01 -1.02940695e-02 -1.80789297e-03 1.64727114e+02] [ 1.02941252e-02 9.99947014e-01 2.14982436e-05 1.23812476e+00] [ 1.80757587e-03 -4.01077459e-05 9.99998366e-01 3.57145166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:1.23, Z:0.36 [[ 9.99894130e-01 -1.44381288e-02 -1.80815957e-03 1.64758170e+02] [ 1.44381507e-02 9.99895764e-01 -9.04112141e-07 1.23207156e+00] [ 1.80798415e-03 -2.52024640e-05 9.99998365e-01 3.56274135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:1.23, Z:0.34 [[ 9.99908866e-01 -1.33787020e-02 -1.80821226e-03 1.64791635e+02] [ 1.33787144e-02 9.99910501e-01 -5.20498133e-06 1.23063298e+00] [ 1.80812006e-03 -1.89870484e-05 9.99998365e-01 3.40205710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:1.23, Z:0.34 [[ 9.99898311e-01 -1.41456552e-02 -1.80784503e-03 1.64823011e+02] [ 1.41457204e-02 9.99899944e-01 2.32945462e-05 1.22866290e+00] [ 1.80733463e-03 -4.88654478e-05 9.99998366e-01 3.40074083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:1.22, Z:0.34 [[ 9.99897215e-01 -1.42229322e-02 -1.80784364e-03 1.64854030e+02] [ 1.42229977e-02 9.99898848e-01 2.34020959e-05 1.22259061e+00] [ 1.80732793e-03 -4.91126465e-05 9.99998366e-01 3.38580827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:1.22, Z:0.34 [[ 9.99903708e-01 -1.37588565e-02 -1.80784223e-03 1.64885087e+02] [ 1.37589215e-02 9.99905341e-01 2.35105554e-05 1.21871658e+00] [ 1.80734762e-03 -4.83822509e-05 9.99998366e-01 3.38663746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:164.93, Y:1.24, Z:0.34 [[ 9.99488071e-01 3.19425820e-02 -1.80784083e-03 1.64927188e+02] [-3.19425915e-02 9.99489705e-01 2.36180296e-05 1.23526410e+00] [ 1.80767271e-03 3.41411823e-05 9.99998366e-01 3.44993759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.95, Y:1.21, Z:0.34 [[ 9.99913186e-01 -1.30521084e-02 -1.80647407e-03 1.64945270e+02] [ 1.30523519e-02 9.99914807e-01 1.23048008e-04 1.20753031e+00] [ 1.80471413e-03 -1.46616061e-04 9.99998361e-01 3.39594591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.98, Y:1.20, Z:0.34 [[ 9.99923852e-01 -1.22074674e-02 -1.80768047e-03 1.64976581e+02] [ 1.22075261e-02 9.99925485e-01 2.14687051e-05 1.20397293e+00] [ 1.80728369e-03 -4.35343768e-05 9.99998366e-01 3.39535512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.01, Y:1.20, Z:0.36 [[ 9.99937122e-01 -1.10672476e-02 -1.80767917e-03 1.65005560e+02] [ 1.10673047e-02 9.99938755e-01 2.15773269e-05 1.19788374e+00] [ 1.80732966e-03 -4.15821063e-05 9.99998366e-01 3.56129094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:1.20, Z:0.34 [[ 9.99952045e-01 -9.62495358e-03 -1.80776387e-03 1.65036547e+02] [ 9.62499555e-03 9.99953679e-01 1.45160464e-05 1.19555994e+00] [ 1.80754041e-03 -3.19150695e-05 9.99998366e-01 3.39130970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.07, Y:1.19, Z:0.34 [[ 9.99955825e-01 -9.22391599e-03 -1.80767314e-03 1.65067181e+02] [ 9.22397078e-03 9.99957458e-01 2.19785127e-05 1.19329272e+00] [ 1.80739351e-03 -3.86514660e-05 9.99998366e-01 3.39328262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.10, Y:1.19, Z:0.34 [[ 9.99969905e-01 -7.54461672e-03 -1.80767314e-03 1.65097281e+02] [ 7.54466878e-03 9.99971538e-01 2.19785127e-05 1.18906802e+00] [ 1.80745587e-03 -3.56161464e-05 9.99998366e-01 3.38976816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.13, Y:1.19, Z:0.36 [[ 9.99960229e-01 -8.73341220e-03 -1.80767314e-03 1.65125925e+02] [ 8.73346620e-03 9.99961862e-01 2.19785127e-05 1.18664120e+00] [ 1.80741225e-03 -3.77648909e-05 9.99998366e-01 3.55502121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:1.18, Z:0.34 [[ 9.99980059e-01 -6.05093080e-03 -1.80793260e-03 1.65158229e+02] [ 6.05094165e-03 9.99981693e-01 5.35335460e-07 1.18477613e+00] [ 1.80789626e-03 -1.14750195e-05 9.99998366e-01 3.39230885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:1.18, Z:0.34 [[ 9.99989237e-01 -4.27285559e-03 -1.80766146e-03 1.65187588e+02] [ 4.27290308e-03 9.99990871e-01 2.24081947e-05 1.18037938e+00] [ 1.80754921e-03 -3.01319158e-05 9.99998366e-01 3.40186777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:1.18, Z:0.34 [[ 9.99991032e-01 -3.83002504e-03 -1.80766383e-03 1.65217153e+02] [ 3.83007145e-03 9.99992665e-01 2.22157666e-05 1.17846072e+00] [ 1.80756548e-03 -2.91390489e-05 9.99998366e-01 3.39521993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.25, Y:1.18, Z:0.36 [[ 9.99995900e-01 -2.22099938e-03 -1.80766522e-03 1.65247151e+02] [ 2.22104296e-03 9.99997533e-01 2.21018475e-05 1.17631938e+00] [ 1.80761167e-03 -2.61166590e-05 9.99998366e-01 3.56624252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:1.17, Z:0.34 [[ 9.99998107e-01 -7.19894565e-04 -1.80763874e-03 1.65277339e+02] [ 7.19939653e-04 9.99999741e-01 2.42923020e-05 1.17245075e+00] [ 1.80762079e-03 -2.55936469e-05 9.99998366e-01 3.39728098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:1.17, Z:0.36 [[ 9.99997396e-01 -1.39307390e-03 -1.80767269e-03 1.65305386e+02] [ 1.39311492e-03 9.99999029e-01 2.14287412e-05 1.16972208e+00] [ 1.80764108e-03 -2.39469812e-05 9.99998366e-01 3.55833102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:165.34, Y:1.17, Z:0.36 [[ 9.99997200e-01 1.52706137e-03 -1.80783275e-03 1.65336864e+02] [-1.52705030e-03 9.99998834e-01 7.50242278e-06 1.16589910e+00] [ 1.80784210e-03 -4.74175023e-06 9.99998366e-01 3.58346883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:1.16, Z:0.34 [[ 9.99995590e-01 2.35646712e-03 -1.80769480e-03 1.65367263e+02] [-2.35643609e-03 9.99997223e-01 1.92931123e-05 1.16356621e+00] [ 1.80773525e-03 -1.50333099e-05 9.99998366e-01 3.41372503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.40, Y:1.16, Z:0.34 [[ 9.99995991e-01 2.17943984e-03 -1.80767511e-03 1.65395577e+02] [-2.17940545e-03 9.99997625e-01 2.09895033e-05 1.16129545e+00] [ 1.80771656e-03 -1.70497621e-05 9.99998366e-01 3.41786779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:1.16, Z:0.36 [[ 9.99996235e-01 2.06453038e-03 -1.80768407e-03 1.65423946e+02] [-2.06449726e-03 9.99997869e-01 2.01871905e-05 1.15857113e+00] [ 1.80772189e-03 -1.64551557e-05 9.99998366e-01 3.56984473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:1.16, Z:0.34 [[ 9.99992229e-01 3.50337857e-03 -1.80776254e-03 1.65455073e+02] [-3.50336093e-03 9.99993863e-01 1.29230708e-05 1.15754802e+00] [ 1.80779672e-03 -6.58972573e-06 9.99998366e-01 3.42875721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:1.16, Z:0.34 [[ 9.99983578e-01 5.43840075e-03 -1.80769066e-03 1.65483388e+02] [-5.43837427e-03 9.99985212e-01 1.95647929e-05 1.15529402e+00] [ 1.80777033e-03 -9.73357321e-06 9.99998366e-01 3.43775021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:1.16, Z:0.34 [[ 9.99978269e-01 6.33984483e-03 -1.80769847e-03 1.65511935e+02] [-6.33982118e-03 9.99979903e-01 1.88147583e-05 1.15539476e+00] [ 1.80778142e-03 -7.35386438e-06 9.99998366e-01 3.44501803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.54, Y:1.16, Z:0.36 [[ 9.99954440e-01 9.37279011e-03 -1.80770663e-03 1.65540874e+02] [-9.37277290e-03 9.99956074e-01 1.79942206e-05 1.15599573e+00] [ 1.80779588e-03 -1.05017702e-06 9.99998366e-01 3.57709360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.57, Y:1.16, Z:0.36 [[ 9.99934835e-01 1.12719741e-02 -1.80770662e-03 1.65569544e+02] [-1.12719600e-02 9.99936469e-01 1.79950563e-05 1.15662210e+00] [ 1.80779462e-03 2.38251310e-06 9.99998366e-01 3.57628652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.60, Y:1.16, Z:0.36 [[ 9.99863220e-01 1.64400097e-02 -1.80767707e-03 1.65598881e+02] [-1.64399985e-02 9.99864854e-01 2.10764997e-05 1.15808190e+00] [ 1.80777927e-03 8.64459151e-06 9.99998366e-01 3.56139827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.63, Y:1.16, Z:0.36 [[ 9.99826039e-01 1.85640671e-02 -1.80768326e-03 1.65627925e+02] [-1.85640605e-02 9.99827673e-01 2.04204735e-05 1.15900346e+00] [ 1.80775083e-03 1.31410203e-05 9.99998366e-01 3.57510693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.66, Y:1.16, Z:0.36 [[ 9.99761272e-01 2.17745556e-02 -1.80766409e-03 1.65656299e+02] [-2.17745504e-02 9.99762906e-01 2.25294121e-05 1.16191596e+00] [ 1.80772607e-03 1.68370391e-05 9.99998366e-01 3.57534180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:165.69, Y:1.16, Z:0.36 [[ 9.99750624e-01 2.22580673e-02 -1.80765571e-03 1.65685313e+02] [-2.22580612e-02 9.99752258e-01 2.34848164e-05 1.16322648e+00] [ 1.80773060e-03 1.67559515e-05 9.99998366e-01 3.57628290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:1.16, Z:0.35 [[ 9.99755771e-01 2.20257032e-02 -1.80765558e-03 1.65713794e+02] [-2.20256967e-02 9.99757405e-01 2.35000783e-05 1.16452655e+00] [ 1.80773465e-03 1.63205346e-05 9.99998366e-01 3.46496828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.74, Y:1.17, Z:0.36 [[ 9.99730804e-01 2.31311953e-02 -1.80772765e-03 1.65743119e+02] [-2.31312069e-02 9.99732438e-01 1.45379974e-05 1.16825755e+00] [ 1.80758025e-03 2.72808385e-05 9.99998366e-01 3.58180510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:1.17, Z:0.36 [[ 9.99709113e-01 2.40504173e-02 -1.80770780e-03 1.65773158e+02] [-2.40504257e-02 9.99710747e-01 1.70936086e-05 1.16930517e+00] [ 1.80759602e-03 2.63875059e-05 9.99998366e-01 3.56892437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:1.17, Z:0.36 [[ 9.99737062e-01 2.28591292e-02 -1.80766771e-03 1.65801041e+02] [-2.28591263e-02 9.99738696e-01 2.22743628e-05 1.16962031e+00] [ 1.80770453e-03 1.90531983e-05 9.99998366e-01 3.57778320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.83, Y:1.17, Z:0.36 [[ 9.99730246e-01 2.31553027e-02 -1.80768095e-03 1.65829622e+02] [-2.31553037e-02 9.99731880e-01 2.04020545e-05 1.17112773e+00] [ 1.80766869e-03 2.14608503e-05 9.99998366e-01 3.57809121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:165.86, Y:1.17, Z:0.36 [[ 9.99741889e-01 2.26470146e-02 -1.80767648e-03 1.65858235e+02] [-2.26470136e-02 9.99743523e-01 2.10682663e-05 1.17202830e+00] [ 1.80768998e-03 1.98756453e-05 9.99998366e-01 3.57515254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:1.17, Z:0.36 [[ 9.99780980e-01 2.08500340e-02 -1.80768485e-03 1.65886634e+02] [-2.08500325e-02 9.99782614e-01 1.96936099e-05 1.17357476e+00] [ 1.80770250e-03 1.80009913e-05 9.99998366e-01 3.57885539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:1.17, Z:0.35 [[ 9.99815400e-01 1.91284570e-02 -1.80769210e-03 1.65915649e+02] [-1.91284550e-02 9.99817034e-01 1.83764973e-05 1.17413579e+00] [ 1.80771287e-03 1.62052519e-05 9.99998366e-01 3.45539201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.95, Y:1.17, Z:0.36 [[ 9.99829062e-01 1.84005137e-02 -1.80773879e-03 1.65945174e+02] [-1.84005269e-02 9.99830696e-01 9.29534853e-06 1.17480429e+00] [ 1.80760377e-03 2.39695868e-05 9.99998366e-01 3.56348631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:1.17, Z:0.36 [[ 9.99897102e-01 1.42308710e-02 -1.80771720e-03 1.65973483e+02] [-1.42308692e-02 9.99898736e-01 1.38725907e-05 1.17422337e+00] [ 1.80773156e-03 1.18542239e-05 9.99998366e-01 3.57168319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:1.17, Z:0.36 [[ 9.99943773e-01 1.04490959e-02 -1.80772228e-03 1.66001810e+02] [-1.04490901e-02 9.99945407e-01 1.26578293e-05 1.17203060e+00] [ 1.80775585e-03 6.23193534e-06 9.99998366e-01 3.58045193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.03, Y:1.17, Z:0.36 [[ 9.99993851e-01 3.00514815e-03 -1.80772814e-03 1.66029923e+02] [-3.00513317e-03 9.99995485e-01 1.10021189e-05 1.16831321e+00] [ 1.80775304e-03 -5.56958740e-06 9.99998366e-01 3.57732902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:1.17, Z:0.34 [[ 9.99998340e-01 -2.27288204e-04 -1.80775925e-03 1.66059756e+02] [ 2.27292556e-04 9.99999974e-01 2.20168578e-06 1.16707576e+00] [ 1.80775871e-03 -2.61257235e-06 9.99998366e-01 3.44069297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:1.16, Z:0.35 [[ 9.99994786e-01 -2.67594479e-03 -1.80774373e-03 1.66088782e+02] [ 2.67596094e-03 9.99996420e-01 6.51124339e-06 1.16498623e+00] [ 1.80771984e-03 -1.13486611e-05 9.99998366e-01 3.45240722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.12, Y:1.16, Z:0.34 [[ 9.99977242e-01 -6.49985242e-03 -1.80774454e-03 1.66117982e+02] [ 6.49987439e-03 9.99978876e-01 6.28008025e-06 1.15869986e+00] [ 1.80766553e-03 -1.80300497e-05 9.99998366e-01 3.44684658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:1.15, Z:0.35 [[ 9.99968834e-01 -7.68525525e-03 -1.80774493e-03 1.66147803e+02] [ 7.68527895e-03 9.99970468e-01 6.16442043e-06 1.15463365e+00] [ 1.80764417e-03 -2.00572524e-05 9.99998366e-01 3.45153677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.18, Y:1.15, Z:0.36 [[ 9.99967498e-01 -7.85719579e-03 -1.80774531e-03 1.66177838e+02] [ 7.85721957e-03 9.99969132e-01 6.05013628e-06 1.15103436e+00] [ 1.80764197e-03 -2.02537915e-05 9.99998366e-01 3.58395362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.21, Y:1.15, Z:0.35 [[ 9.99955192e-01 -9.29224811e-03 -1.80775126e-03 1.66208147e+02] [ 9.29227109e-03 9.99956826e-01 4.31706066e-06 1.14753721e+00] [ 1.80763310e-03 -2.11149820e-05 9.99998366e-01 3.45087256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:1.14, Z:0.34 [[ 9.99955774e-01 -9.22945997e-03 -1.80774299e-03 1.66238941e+02] [ 9.22948696e-03 9.99957407e-01 6.58769973e-06 1.13903888e+00] [ 1.80760519e-03 -2.32719487e-05 9.99998366e-01 3.44764677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.27, Y:1.13, Z:0.34 [[ 9.99962463e-01 -8.47372451e-03 -1.80774299e-03 1.66268486e+02] [ 8.47375026e-03 9.99964097e-01 6.58769973e-06 1.13473468e+00] [ 1.80762226e-03 -2.19058151e-05 9.99998366e-01 3.43953023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:166.30, Y:1.13, Z:0.36 [[ 9.99988022e-01 -4.54832124e-03 -1.80774340e-03 1.66297979e+02] [ 4.54834038e-03 9.99989656e-01 6.47360623e-06 1.12817890e+00] [ 1.80769525e-03 -1.46957610e-05 9.99998366e-01 3.58352027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:166.33, Y:1.13, Z:0.36 [[ 9.99987625e-01 -4.63475767e-03 -1.80774597e-03 1.66327132e+02] [ 4.63477564e-03 9.99989259e-01 5.74708301e-06 1.12803972e+00] [ 1.80769991e-03 -1.41255089e-05 9.99998366e-01 3.58404803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:1.13, Z:0.34 [[ 9.99992753e-01 -3.35064384e-03 -1.80774650e-03 1.66357445e+02] [ 3.35065943e-03 9.99994387e-01 5.59193952e-06 1.12541756e+00] [ 1.80771762e-03 -1.16490418e-05 9.99998366e-01 3.44676315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:1.12, Z:0.34 [[ 9.99997696e-01 -1.15741514e-03 -1.80774480e-03 1.66387292e+02] [ 1.15742806e-03 9.99999330e-01 6.09633904e-06 1.12309321e+00] [ 1.80773653e-03 -8.18865954e-06 9.99998366e-01 3.44587061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:1.12, Z:0.36 [[ 9.99983536e-01 5.44611741e-03 -1.80774519e-03 1.66416900e+02] [-5.44611550e-03 9.99985170e-01 5.97980347e-06 1.12056596e+00] [ 1.80775094e-03 3.86548405e-06 9.99998366e-01 3.57526794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:1.12, Z:0.35 [[ 9.99976600e-01 6.59781708e-03 -1.80773880e-03 1.66445896e+02] [-6.59781337e-03 9.99978234e-01 8.01757761e-06 1.12005725e+00] [ 1.80775235e-03 3.90973324e-06 9.99998366e-01 3.45237829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:166.47, Y:1.12, Z:0.36 [[ 9.99944059e-01 1.04216505e-02 -1.80774709e-03 1.66473956e+02] [-1.04216584e-02 9.99945693e-01 5.05360626e-06 1.11971524e+00] [ 1.80770158e-03 1.37863991e-05 9.99998366e-01 3.57375171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:1.12, Z:0.36 [[ 9.99932026e-01 1.15184451e-02 -1.80774833e-03 1.66502433e+02] [-1.15184556e-02 9.99933660e-01 4.55913744e-06 1.11960791e+00] [ 1.80768092e-03 1.62636414e-05 9.99998366e-01 3.57480105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:1.12, Z:0.34 [[ 9.99931454e-01 1.15679919e-02 -1.80774943e-03 1.66532328e+02] [-1.15680036e-02 9.99933088e-01 4.01347449e-06 1.12036764e+00] [ 1.80767490e-03 1.68988525e-05 9.99998366e-01 3.44779726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:1.12, Z:0.34 [[ 9.99929408e-01 1.17435443e-02 -1.80775026e-03 1.66561506e+02] [-1.17435570e-02 9.99931042e-01 3.59676338e-06 1.12155939e+00] [ 1.80766784e-03 1.76329088e-05 9.99998366e-01 3.44510978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:1.12, Z:0.34 [[ 9.99915734e-01 1.28552515e-02 -1.80775153e-03 1.66590295e+02] [-1.28552675e-02 9.99917368e-01 2.76937931e-06 1.12436449e+00] [ 1.80763775e-03 2.04699835e-05 9.99998366e-01 3.44821239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.62, Y:1.13, Z:0.34 [[ 9.99927049e-01 1.19427273e-02 -1.80775242e-03 1.66617946e+02] [-1.19427433e-02 9.99928683e-01 1.93609528e-06 1.12506481e+00] [ 1.80764662e-03 1.96535691e-05 9.99998366e-01 3.44921897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:1.13, Z:0.35 [[ 9.99931507e-01 1.15634626e-02 -1.80775294e-03 1.66646342e+02] [-1.15634797e-02 9.99933141e-01 9.87120785e-07 1.12847062e+00] [ 1.80764349e-03 1.99168612e-05 9.99998366e-01 3.45824197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.68, Y:1.13, Z:0.35 [[ 9.99933290e-01 1.14082143e-02 -1.80775301e-03 1.66675604e+02] [-1.14082327e-02 9.99934924e-01 1.62815976e-07 1.13076071e+00] [ 1.80763723e-03 2.04604619e-05 9.99998366e-01 3.46003640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:1.13, Z:0.35 [[ 9.99937787e-01 1.10070191e-02 -1.80775275e-03 1.66703639e+02] [-1.10070382e-02 9.99939421e-01 -6.06581020e-07 1.13293075e+00] [ 1.80763656e-03 2.05045469e-05 9.99998366e-01 3.46649913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:1.14, Z:0.35 [[ 9.99936359e-01 1.11359771e-02 -1.80775194e-03 1.66731964e+02] [-1.11359982e-02 9.99937993e-01 -1.55663065e-06 1.13540450e+00] [ 1.80762251e-03 2.16876538e-05 9.99998366e-01 3.46136738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:1.14, Z:0.35 [[ 9.99938204e-01 1.09690200e-02 -1.80775062e-03 1.66759684e+02] [-1.09690425e-02 9.99939838e-01 -2.50430150e-06 1.14010929e+00] [ 1.80761440e-03 2.23334402e-05 9.99998366e-01 3.46642919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:1.14, Z:0.35 [[ 9.99951647e-01 9.66617056e-03 -1.80774881e-03 1.66787582e+02] [-9.66619260e-03 9.99953281e-01 -3.45370879e-06 1.14185131e+00] [ 1.80763097e-03 2.09275900e-05 9.99998366e-01 3.48253033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.82, Y:1.15, Z:0.35 [[ 9.99972844e-01 7.14439505e-03 -1.80774651e-03 1.66815036e+02] [-7.14441467e-03 9.99974478e-01 -4.39794639e-06 1.14629996e+00] [ 1.80766895e-03 1.73131177e-05 9.99998366e-01 3.47870811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.85, Y:1.15, Z:0.36 [[ 9.99976421e-01 6.62489154e-03 -1.80774368e-03 1.66845111e+02] [-6.62491204e-03 9.99978055e-01 -5.35410596e-06 1.14855316e+00] [ 1.80766854e-03 1.73301226e-05 9.99998366e-01 3.61398482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:166.87, Y:1.15, Z:0.36 [[ 9.99982571e-01 5.62046512e-03 -1.80776004e-03 1.66874925e+02] [-5.62047424e-03 9.99984205e-01 3.61383253e-08 1.15002994e+00] [ 1.80773169e-03 1.01243310e-05 9.99998366e-01 3.59924876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:166.90, Y:1.15, Z:0.36 [[ 9.99995413e-01 2.43034176e-03 -1.80777174e-03 1.66903415e+02] [-2.43033956e-03 9.99997047e-01 3.41170489e-06 1.15321915e+00] [ 1.80777469e-03 9.81809945e-07 9.99998366e-01 3.60530261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:166.93, Y:1.16, Z:0.36 [[ 9.99997993e-01 8.64069924e-04 -1.80775944e-03 1.66932652e+02] [-8.64071331e-04 9.99999627e-01 2.79212735e-09 1.15527279e+00] [ 1.80775877e-03 1.55924099e-06 9.99998366e-01 3.61179866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:166.96, Y:1.16, Z:0.36 [[ 9.99995266e-01 -2.49004452e-03 -1.80775186e-03 1.66960955e+02] [ 2.49004489e-03 9.99996900e-01 -2.04282551e-06 1.15935636e+00] [ 1.80775134e-03 -2.45856745e-06 9.99998366e-01 3.63197567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.99, Y:1.16, Z:0.35 [[ 9.99990305e-01 -4.01517069e-03 -1.80774839e-03 1.66990294e+02] [ 4.01517195e-03 9.99991939e-01 -2.93413312e-06 1.16146787e+00] [ 1.80774560e-03 -4.32431596e-06 9.99998366e-01 3.48953748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:167.02, Y:1.16, Z:0.36 [[ 9.99987786e-01 -4.60004175e-03 -1.80773180e-03 1.67020030e+02] [ 4.60003636e-03 9.99989420e-01 -7.13716864e-06 1.16206270e+00] [ 1.80774550e-03 -1.17855054e-06 9.99998366e-01 3.61039289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.05, Y:1.16, Z:0.35 [[ 9.99973527e-01 -7.04820815e-03 -1.80772971e-03 1.67050064e+02] [ 7.04820583e-03 9.99975161e-01 -7.65156781e-06 1.16376489e+00] [ 1.80773874e-03 -5.08988581e-06 9.99998366e-01 3.49002313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:1.16, Z:0.35 [[ 9.99966491e-01 -7.98433643e-03 -1.80773061e-03 1.67080089e+02] [ 7.98433604e-03 9.99968125e-01 -7.43249657e-06 1.16493188e+00] [ 1.80773233e-03 -7.00128113e-06 9.99998366e-01 3.49693688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:167.11, Y:1.17, Z:0.36 [[ 9.99957100e-01 -9.08461493e-03 -1.80773012e-03 1.67111333e+02] [ 9.08461613e-03 9.99958734e-01 -7.54949704e-06 1.16743597e+00] [ 1.80772411e-03 -8.87336102e-06 9.99998366e-01 3.61189920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.14, Y:1.17, Z:0.35 [[ 9.99940381e-01 -1.07687760e-02 -1.80777110e-03 1.67141659e+02] [ 1.07687980e-02 9.99942015e-01 2.43071889e-06 1.16773943e+00] [ 1.80764010e-03 -2.18980958e-05 9.99998366e-01 3.49290124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.17, Y:1.17, Z:0.36 [[ 9.99932762e-01 -1.14544211e-02 -1.80773336e-03 1.67171103e+02] [ 1.14544269e-02 9.99934396e-01 -7.13328159e-06 1.16781155e+00] [ 1.80769648e-03 -1.35737477e-05 9.99998366e-01 3.62425117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.20, Y:1.17, Z:0.35 [[ 9.99924870e-01 -1.21238323e-02 -1.80770926e-03 1.67201680e+02] [ 1.21238283e-02 9.99926504e-01 -1.31824320e-05 1.17038498e+00] [ 1.80773623e-03 -8.73491507e-06 9.99998366e-01 3.50918515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:167.23, Y:1.17, Z:0.35 [[ 9.99928249e-01 -1.18418271e-02 -1.80773315e-03 1.67232578e+02] [ 1.18418335e-02 9.99929883e-01 -7.11178581e-06 1.17160046e+00] [ 1.80769061e-03 -1.42955995e-05 9.99998366e-01 3.51551456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.26, Y:1.17, Z:0.35 [[ 9.99935594e-01 -1.12044276e-02 -1.80773315e-03 1.67263371e+02] [ 1.12044331e-02 9.99937228e-01 -7.11178581e-06 1.17008780e+00] [ 1.80769936e-03 -1.31432973e-05 9.99998366e-01 3.49797990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:1.17, Z:0.35 [[ 9.99941421e-01 -1.06717422e-02 -1.80773315e-03 1.67293828e+02] [ 1.06717468e-02 9.99943055e-01 -7.11178581e-06 1.16953627e+00] [ 1.80770610e-03 -1.21803011e-05 9.99998366e-01 3.50057957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.32, Y:1.17, Z:0.35 [[ 9.99955663e-01 -9.24144833e-03 -1.80773315e-03 1.67324436e+02] [ 9.24145057e-03 9.99957297e-01 -7.11178581e-06 1.17018184e+00] [ 1.80772167e-03 -9.59460603e-06 9.99998366e-01 3.50709990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:167.35, Y:1.17, Z:0.36 [[ 9.99965696e-01 -8.08329888e-03 -1.80773315e-03 1.67353911e+02] [ 8.08329923e-03 9.99967330e-01 -7.11178581e-06 1.17224054e+00] [ 1.80773157e-03 -7.50090611e-06 9.99998366e-01 3.64605972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.39, Y:1.17, Z:0.35 [[ 9.99986379e-01 -4.89633227e-03 -1.80769235e-03 1.67385165e+02] [ 4.89630903e-03 9.99988013e-01 -1.72824879e-05 1.17322761e+00] [ 1.80775530e-03 8.43123216e-06 9.99998366e-01 3.51344114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:167.42, Y:1.17, Z:0.35 [[ 9.99993382e-01 -3.15734589e-03 -1.80773200e-03 1.67415006e+02] [ 3.15733856e-03 9.99995016e-01 -6.90810114e-06 1.17354021e+00] [ 1.80774480e-03 1.20043348e-06 9.99998366e-01 3.51329617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.44, Y:1.17, Z:0.36 [[ 9.99992956e-01 -3.28925006e-03 -1.80773155e-03 1.67444582e+02] [ 3.28924274e-03 9.99994590e-01 -7.02426150e-06 1.17389494e+00] [ 1.80774487e-03 1.07814417e-06 9.99998366e-01 3.62751000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:167.47, Y:1.17, Z:0.36 [[ 9.99993109e-01 -3.24240477e-03 -1.80770950e-03 1.67473724e+02] [ 3.24238727e-03 9.99994743e-01 -1.26139305e-05 1.17430435e+00] [ 1.80774090e-03 6.75254930e-06 9.99998366e-01 3.62872274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:167.50, Y:1.17, Z:0.36 [[ 9.99993842e-01 -3.00811195e-03 -1.80770894e-03 1.67503711e+02] [ 3.00809380e-03 9.99995476e-01 -1.27576792e-05 1.17493342e+00] [ 1.80773914e-03 7.31984258e-06 9.99998366e-01 3.64612233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:167.53, Y:1.18, Z:0.36 [[ 9.99997087e-01 -1.59929766e-03 -1.80769995e-03 1.67533077e+02] [ 1.59927278e-03 9.99998721e-01 -1.52107918e-05 1.17630997e+00] [ 1.80772197e-03 1.23197422e-05 9.99998366e-01 3.63330949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:167.56, Y:1.18, Z:0.35 [[ 9.99998016e-01 -8.37136848e-04 -1.80771551e-03 1.67563927e+02] [ 8.37118553e-04 9.99999650e-01 -1.08771617e-05 1.17777814e+00] [ 1.80772398e-03 9.36386788e-06 9.99998366e-01 3.52575720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.59, Y:1.18, Z:0.36 [[ 9.99998120e-01 7.01392617e-04 -1.80773081e-03 1.67592088e+02] [-7.01406095e-04 9.99999754e-01 -6.82179105e-06 1.17971629e+00] [ 1.80772558e-03 8.08973164e-06 9.99998366e-01 3.62959648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.62, Y:1.18, Z:0.36 [[ 9.99996248e-01 2.05803810e-03 -1.80772538e-03 1.67621092e+02] [-2.05805625e-03 9.99997882e-01 -8.17985988e-06 1.18259701e+00] [ 1.80770472e-03 1.19002297e-05 9.99998366e-01 3.63351048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:167.65, Y:1.18, Z:0.36 [[ 9.99998366e-01 1.11481927e-05 -1.80769661e-03 1.67649414e+02] [-1.11749080e-05 1.00000000e+00 -1.47685129e-05 1.18423827e+00] [ 1.80769645e-03 1.47886897e-05 9.99998366e-01 3.64984009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.68, Y:1.19, Z:0.36 [[ 9.99997621e-01 1.22123598e-03 -1.80760526e-03 1.67679280e+02] [-1.22130552e-03 9.99999254e-01 -3.73696602e-05 1.18675321e+00] [ 1.80755827e-03 3.95772096e-05 9.99998366e-01 3.64437754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.71, Y:1.19, Z:0.37 [[ 9.99998286e-01 -4.00431451e-04 -1.80763777e-03 1.67707821e+02] [ 4.00379527e-04 9.99999919e-01 -2.90866686e-05 1.18736524e+00] [ 1.80764927e-03 2.83628775e-05 9.99998366e-01 3.65603871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.74, Y:1.19, Z:0.35 [[ 9.99995660e-01 2.32637107e-03 -1.80761698e-03 1.67740935e+02] [-2.32643815e-03 9.99997293e-01 -3.50072521e-05 1.18838163e+00] [ 1.80753065e-03 3.92124093e-05 9.99998366e-01 3.53134712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.77, Y:1.19, Z:0.35 [[ 9.99997752e-01 1.10825375e-03 -1.80770833e-03 1.67769466e+02] [-1.10826572e-03 9.99999386e-01 -5.61916616e-06 1.18995731e+00] [ 1.80770099e-03 7.62257470e-06 9.99998366e-01 3.53127460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.80, Y:1.19, Z:0.35 [[ 9.99998100e-01 7.28937412e-04 -1.80770757e-03 1.67797810e+02] [-7.28949183e-04 9.99999734e-01 -5.85300402e-06 1.19013104e+00] [ 1.80770283e-03 7.17071986e-06 9.99998366e-01 3.53163845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:167.83, Y:1.19, Z:0.35 [[ 9.99997518e-01 1.30237558e-03 -1.80770678e-03 1.67826679e+02] [-1.30238872e-03 9.99999152e-01 -6.08818312e-06 1.19036228e+00] [ 1.80769732e-03 8.44250492e-06 9.99998366e-01 3.52475877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:167.86, Y:1.19, Z:0.37 [[ 9.99998269e-01 4.41719235e-04 -1.80770364e-03 1.67855368e+02] [-4.41732450e-04 9.99999902e-01 -6.91109482e-06 1.19423547e+00] [ 1.80770041e-03 7.70960421e-06 9.99998366e-01 3.66278019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.89, Y:1.20, Z:0.35 [[ 9.99997574e-01 1.25858560e-03 -1.80766158e-03 1.67886246e+02] [-1.25861970e-03 9.99999208e-01 -1.77260364e-05 1.19630633e+00] [ 1.80763783e-03 2.00011519e-05 9.99998366e-01 3.54110353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.92, Y:1.20, Z:0.35 [[ 9.99998034e-01 -8.15296308e-04 -1.80770266e-03 1.67915384e+02] [ 8.15285360e-04 9.99999668e-01 -6.79351329e-06 1.19714947e+00] [ 1.80770760e-03 5.31970642e-06 9.99998366e-01 3.53078677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:1.20, Z:0.35 [[ 9.99995748e-01 -2.28823863e-03 -1.80770174e-03 1.67945420e+02] [ 2.28822966e-03 9.99997382e-01 -7.03009262e-06 1.19699904e+00] [ 1.80771310e-03 2.89362600e-06 9.99998366e-01 3.51883056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:1.20, Z:0.36 [[ 9.99984372e-01 -5.29031387e-03 -1.80770128e-03 1.67975095e+02] [ 5.29030960e-03 9.99986006e-01 -7.14769438e-06 1.19695251e+00] [ 1.80771379e-03 -2.41571674e-06 9.99998366e-01 3.64826616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.01, Y:1.20, Z:0.35 [[ 9.99974278e-01 -6.94087813e-03 -1.80768676e-03 1.68005773e+02] [ 6.94087017e-03 9.99975912e-01 -1.06804196e-05 1.19759650e+00] [ 1.80771735e-03 -1.86677420e-06 9.99998366e-01 3.52352044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.04, Y:1.20, Z:0.35 [[ 9.99941599e-01 -1.06551014e-02 -1.80770083e-03 1.68036462e+02] [ 1.06551060e-02 9.99943233e-01 -7.09842684e-06 1.19758800e+00] [ 1.80767384e-03 -1.21632316e-05 9.99998366e-01 3.52776593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:1.20, Z:0.35 [[ 9.99936686e-01 -1.11065801e-02 -1.80770083e-03 1.68067406e+02] [ 1.11065854e-02 9.99938320e-01 -7.09842684e-06 1.19769893e+00] [ 1.80766817e-03 -1.29794062e-05 9.99998366e-01 3.53052421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:168.10, Y:1.20, Z:0.35 [[ 9.99922225e-01 -1.23400128e-02 -1.80770083e-03 1.68097654e+02] [ 1.23400201e-02 9.99923859e-01 -7.09842684e-06 1.19832567e+00] [ 1.80765078e-03 -1.52091898e-05 9.99998366e-01 3.53335304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.13, Y:1.20, Z:0.37 [[ 9.99952728e-01 -9.55371779e-03 -1.80770083e-03 1.68129284e+02] [ 9.55372057e-03 9.99954362e-01 -7.09842684e-06 1.19860368e+00] [ 1.80768615e-03 -1.01721773e-05 9.99998366e-01 3.65084603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.16, Y:1.20, Z:0.35 [[ 9.99947152e-01 -1.01205214e-02 -1.80774650e-03 1.68158757e+02] [ 1.01205464e-02 9.99948786e-01 4.63196563e-06 1.19924648e+00] [ 1.80760704e-03 -2.29271031e-05 9.99998366e-01 3.52300484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.19, Y:1.20, Z:0.37 [[ 9.99955378e-01 -9.27225241e-03 -1.80769745e-03 1.68189256e+02] [ 9.27225422e-03 9.99957012e-01 -7.38052804e-06 1.19977414e+00] [ 1.80768818e-03 -9.38123164e-06 9.99998366e-01 3.65380152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.22, Y:1.20, Z:0.37 [[ 9.99955403e-01 -9.26949835e-03 -1.80770549e-03 1.68220085e+02] [ 9.26950391e-03 9.99957037e-01 -5.30273443e-06 1.19987463e+00] [ 1.80767698e-03 -1.14540351e-05 9.99998366e-01 3.65435525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.25, Y:1.20, Z:0.35 [[ 9.99942096e-01 -1.06082945e-02 -1.80770547e-03 1.68251560e+02] [ 1.06083022e-02 9.99943730e-01 -5.30673847e-06 1.20098901e+00] [ 1.80766005e-03 -1.38702547e-05 9.99998366e-01 3.53259633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.28, Y:1.20, Z:0.35 [[ 9.99903845e-01 -1.37488917e-02 -1.80769952e-03 1.68281625e+02] [ 1.37489017e-02 9.99905479e-01 -6.87215918e-06 1.20006139e+00] [ 1.80762314e-03 -1.79823846e-05 9.99998366e-01 3.52740610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.31, Y:1.20, Z:0.36 [[ 9.99904271e-01 -1.37179371e-02 -1.80769952e-03 1.68312603e+02] [ 1.37179471e-02 9.99905905e-01 -6.87215918e-06 1.19811066e+00] [ 1.80762370e-03 -1.79264250e-05 9.99998366e-01 3.64098313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:168.34, Y:1.20, Z:0.36 [[ 9.99798081e-01 -2.00132286e-02 -1.80771994e-03 1.68343472e+02] [ 2.00132587e-02 9.99799715e-01 -1.45182827e-06 1.19539872e+00] [ 1.80738694e-03 -3.47268317e-05 9.99998366e-01 3.64048923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.38, Y:1.20, Z:0.35 [[ 9.99733213e-01 -2.30268515e-02 -1.80770092e-03 1.68375802e+02] [ 2.30268772e-02 9.99734846e-01 -6.63997456e-06 1.19586634e+00] [ 1.80737450e-03 -3.49875039e-05 9.99998366e-01 3.51115899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864000000002 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:168.43, Y:1.22, Z:0.35 [[ 9.99254490e-01 3.85641936e-02 -1.80770356e-03 1.68434294e+02] [-3.85642671e-02 9.99256122e-01 -5.82041395e-06 1.22083716e+00] [ 1.80613439e-03 7.55288376e-05 9.99998366e-01 3.52110114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.43, Y:1.19, Z:0.37 [[ 9.99573439e-01 -2.91491462e-02 -1.80765597e-03 1.68428780e+02] [ 2.91496460e-02 9.99575027e-01 2.50751170e-04 1.18837910e+00] [ 1.79957858e-03 -3.03336741e-04 9.99998335e-01 3.65403969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.46, Y:1.19, Z:0.35 [[ 9.99577152e-01 -2.90216361e-02 -1.80620101e-03 1.68462847e+02] [ 2.90216326e-02 9.99578783e-01 -2.81448473e-05 1.18583594e+00] [ 1.80625702e-03 -2.42859560e-05 9.99998368e-01 3.51446176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37864000000002 meters Centerline goodness : 0.925607 Centerline is valid? [True, False] Translation: X:168.46, Y:1.19, Z:0.35 [[ 9.99881389e-01 -1.53732217e-02 -9.33742431e-04 1.68463037e+02] [ 1.53673614e-02 9.99863980e-01 -5.98875564e-03 1.18886157e+00] [ 1.02568189e-03 5.97369615e-03 9.99981631e-01 3.50862539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:168.48, Y:1.19, Z:0.36 [[ 9.99980312e-01 -4.77900175e-03 -4.06663307e-03 1.68482644e+02] [ 4.76453210e-03 9.99982311e-01 -3.56042012e-03 1.18628521e+00] [ 4.08357639e-03 3.54097442e-03 9.99985393e-01 3.55369805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43864000000002 meters Centerline goodness : 0.931974 Centerline is valid? [True, False] Translation: X:168.48, Y:1.18, Z:0.36 [[ 9.99980330e-01 -4.76667272e-03 -4.07650839e-03 1.68482743e+02] [ 4.75506412e-03 9.99984626e-01 -2.85265047e-03 1.18324816e+00] [ 4.09004337e-03 2.83321030e-03 9.99987622e-01 3.55228201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:168.50, Y:1.18, Z:0.36 [[ 9.99962959e-01 1.75163387e-03 -8.42690590e-03 1.68503704e+02] [-1.79087734e-03 9.99987577e-01 -4.65163638e-03 1.18375029e+00] [ 8.41865326e-03 4.66655563e-03 9.99953674e-01 3.59351544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:1.17, Z:0.36 [[ 9.99965498e-01 1.27955882e-04 -8.30578693e-03 1.68532569e+02] [-1.26239188e-04 9.99999971e-01 2.07210423e-04 1.17294386e+00] [ 8.30581320e-03 -2.06154758e-04 9.99965485e-01 3.59876403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:1.17, Z:0.36 [[ 9.99965471e-01 -2.64022039e-04 -8.30587479e-03 1.68560449e+02] [ 2.65722496e-04 9.99999944e-01 2.03626593e-04 1.16871048e+00] [ 8.30582057e-03 -2.05826620e-04 9.99965485e-01 3.59264677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.59, Y:1.16, Z:0.36 [[ 9.99965121e-01 -8.76416087e-04 -8.30591196e-03 1.68588227e+02] [ 8.78124977e-04 9.99999594e-01 2.02099255e-04 1.16125153e+00] [ 8.30573146e-03 -2.09385835e-04 9.99965485e-01 3.58077805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.62, Y:1.16, Z:0.36 [[ 9.99965319e-01 -6.09635565e-04 -8.30594899e-03 1.68617302e+02] [ 6.11322530e-04 9.99999793e-01 2.00565838e-04 1.15764363e+00] [ 8.30582499e-03 -2.05636496e-04 9.99965485e-01 3.58984475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:1.15, Z:0.36 [[ 9.99962920e-01 2.27369659e-03 -8.30597351e-03 1.68645518e+02] [-2.27211751e-03 9.99997399e-01 1.99545113e-04 1.15126653e+00] [ 8.30640561e-03 -1.80665566e-04 9.99965485e-01 3.58995631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:1.15, Z:0.36 [[ 9.99956099e-01 4.33697603e-03 -8.30605878e-03 1.68673044e+02] [-4.33549811e-03 9.99990582e-01 1.95929970e-04 1.14806464e+00] [ 8.30683031e-03 -1.59910467e-04 9.99965485e-01 3.59667972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:168.70, Y:1.14, Z:0.37 [[ 9.99939453e-01 7.21793774e-03 -8.30615435e-03 1.68701516e+02] [-7.21659355e-03 9.99973942e-01 1.91791184e-04 1.14460627e+00] [ 8.30732224e-03 -1.31837432e-04 9.99965485e-01 3.72896696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.73, Y:1.14, Z:0.37 [[ 9.99927818e-01 8.68018507e-03 -8.30738123e-03 1.68729260e+02] [-8.67933902e-03 9.99962324e-01 1.37890983e-04 1.14030803e+00] [ 8.30826516e-03 -6.57784522e-05 9.99965484e-01 3.72206572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:1.14, Z:0.36 [[ 9.99859352e-01 1.45679084e-02 -8.30972924e-03 1.68763759e+02] [-1.45681345e-02 9.99893879e-01 3.33161551e-05 1.13785696e+00] [ 8.30933275e-03 8.77457842e-05 9.99965473e-01 3.58400642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.79, Y:1.13, Z:0.37 [[ 9.99816529e-01 1.72602460e-02 -8.30611721e-03 1.68790760e+02] [-1.72592576e-02 9.99851030e-01 1.90670384e-04 1.13310353e+00] [ 8.30817086e-03 -4.72779853e-05 9.99965485e-01 3.73375172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.82, Y:1.13, Z:0.36 [[ 9.99783433e-01 1.90806790e-02 -8.30757162e-03 1.68822553e+02] [-1.90802873e-02 9.99817947e-01 1.26416974e-04 1.13202246e+00] [ 8.30847132e-03 3.21212566e-05 9.99965484e-01 3.58523109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.85, Y:1.13, Z:0.36 [[ 9.99766826e-01 1.99324045e-02 -8.30616403e-03 1.68850472e+02] [-1.99315267e-02 9.99801330e-01 1.88456650e-04 1.13083582e+00] [ 8.30827024e-03 -2.28581768e-05 9.99965485e-01 3.59622706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:168.88, Y:1.13, Z:0.37 [[ 9.99746787e-01 2.09133455e-02 -8.30625988e-03 1.68877945e+02] [-2.09125375e-02 9.99781292e-01 1.84132637e-04 1.13112329e+00] [ 8.30829407e-03 -1.03810413e-05 9.99965485e-01 3.74495579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:1.13, Z:0.37 [[ 9.99751140e-01 2.07035732e-02 -8.30787276e-03 1.68904460e+02] [-2.07033675e-02 9.99785656e-01 1.10773813e-04 1.13135859e+00] [ 8.30838543e-03 6.12546970e-05 9.99965483e-01 3.74207715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:168.93, Y:1.13, Z:0.37 [[ 9.99682770e-01 2.37764535e-02 -8.30902465e-03 1.68934129e+02] [-2.37767947e-02 9.99717290e-01 5.77343608e-05 1.13180960e+00] [ 8.30804833e-03 1.39845927e-04 9.99965478e-01 3.73318971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.96, Y:1.14, Z:0.37 [[ 9.99616124e-01 2.64308447e-02 -8.30753532e-03 1.68962593e+02] [-2.64307056e-02 9.99650640e-01 1.26554886e-04 1.13643081e+00] [ 8.30797795e-03 9.30677154e-05 9.99965484e-01 3.72836243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.99, Y:1.14, Z:0.37 [[ 9.99589804e-01 2.74080266e-02 -8.30804438e-03 1.68991906e+02] [-2.74081171e-02 9.99624322e-01 1.02982634e-04 1.13815044e+00] [ 8.30774578e-03 1.24767462e-04 9.99965482e-01 3.73150663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:169.02, Y:1.14, Z:0.37 [[ 9.99582413e-01 2.76763017e-02 -8.30795853e-03 1.69020931e+02] [-2.76763688e-02 9.99616930e-01 1.06920425e-04 1.14053575e+00] [ 8.30773516e-03 1.23058348e-04 9.99965483e-01 3.74183523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:1.14, Z:0.36 [[ 9.99562670e-01 2.83804548e-02 -8.30773273e-03 1.69053004e+02] [-2.83804601e-02 9.99597187e-01 1.17281758e-04 1.14137767e+00] [ 8.30771477e-03 1.18546810e-04 9.99965483e-01 3.60914424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:169.08, Y:1.14, Z:0.38 [[ 9.99642798e-01 2.54024004e-02 -8.30632637e-03 1.69080910e+02] [-2.54017683e-02 9.99677307e-01 1.81606397e-04 1.14230419e+00] [ 8.30825921e-03 2.94538511e-05 9.99965485e-01 3.75929508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09864000000002 meters Centerline goodness : 0.956192 Centerline is valid? [True, True] Translation: X:169.15, Y:1.19, Z:0.36 [[ 9.92327915e-01 1.23354339e-01 -8.30755769e-03 1.69154336e+02] [-1.23357578e-01 9.92362279e-01 1.23399712e-04 1.18808035e+00] [ 8.25932877e-03 9.02347216e-04 9.99965484e-01 3.57285685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:169.13, Y:1.14, Z:0.37 [[ 9.99787644e-01 1.88823665e-02 -8.25363826e-03 1.69134490e+02] [-1.88663206e-02 9.99819979e-01 2.01765586e-03 1.13832816e+00] [ 8.29025055e-03 -1.86151162e-03 9.99963903e-01 3.73569521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:169.16, Y:1.14, Z:0.38 [[ 9.99817285e-01 1.72233193e-02 -8.29184455e-03 1.69164544e+02] [-1.72228178e-02 9.99851668e-01 1.31892805e-04 1.13951073e+00] [ 8.29288623e-03 1.09402215e-05 9.99965613e-01 3.77813709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:169.19, Y:1.14, Z:0.38 [[ 9.99799895e-01 1.82043786e-02 -8.29280317e-03 1.69193930e+02] [-1.82043016e-02 9.99834284e-01 8.47749884e-05 1.14123043e+00] [ 8.29297220e-03 6.62066657e-05 9.99965611e-01 3.77521623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:1.14, Z:0.36 [[ 9.99729675e-01 2.17211138e-02 -8.29282601e-03 1.69226074e+02] [-2.17211671e-02 9.99764064e-01 8.36591044e-05 1.14233475e+00] [ 8.29268661e-03 9.64933700e-05 9.99965610e-01 3.62978314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:169.25, Y:1.14, Z:0.38 [[ 9.99757021e-01 2.04244511e-02 -8.29102656e-03 1.69253857e+02] [-2.04237358e-02 9.99791399e-01 1.70938996e-04 1.14213747e+00] [ 8.29278838e-03 -1.56372464e-06 9.99965614e-01 3.77318075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:169.28, Y:1.14, Z:0.38 [[ 9.99720038e-01 2.21602828e-02 -8.29260861e-03 1.69282229e+02] [-2.21602737e-02 9.99754427e-01 9.29990096e-05 1.14037294e+00] [ 8.29263305e-03 9.07935031e-05 9.99965611e-01 3.77655916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:1.14, Z:0.36 [[ 9.99707366e-01 2.27249376e-02 -8.29219711e-03 1.69312900e+02] [-2.27247774e-02 9.99741752e-01 1.13556070e-04 1.13911687e+00] [ 8.29263622e-03 7.49154940e-05 9.99965613e-01 3.64557866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.34, Y:1.14, Z:0.36 [[ 9.99726036e-01 2.18885675e-02 -8.29112402e-03 1.69341606e+02] [-2.18879363e-02 9.99760416e-01 1.66873300e-04 1.13817341e+00] [ 8.29279022e-03 1.46480120e-05 9.99965614e-01 3.64912807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:169.37, Y:1.14, Z:0.38 [[ 9.99746852e-01 2.09162272e-02 -8.29119968e-03 1.69370898e+02] [-2.09155945e-02 9.99781232e-01 1.63025507e-04 1.13669106e+00] [ 8.29279570e-03 1.04311326e-05 9.99965614e-01 3.78932218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.40, Y:1.14, Z:0.37 [[ 9.99759218e-01 2.03163674e-02 -8.29158158e-03 1.69401109e+02] [-2.03158758e-02 9.99793601e-01 1.43522063e-04 1.13561643e+00] [ 8.29278606e-03 2.49632355e-05 9.99965614e-01 3.65846223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:169.43, Y:1.14, Z:0.38 [[ 9.99759536e-01 2.03008958e-02 -8.29121688e-03 1.69429848e+02] [-2.03002490e-02 9.99793916e-01 1.62168533e-04 1.13766199e+00] [ 8.29280035e-03 6.18423054e-06 9.99965614e-01 3.78468749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:169.46, Y:1.14, Z:0.38 [[ 9.99751252e-01 2.07045689e-02 -8.29188633e-03 1.69459430e+02] [-2.07042247e-02 9.99785636e-01 1.27354491e-04 1.13879164e+00] [ 8.29274567e-03 4.43542657e-05 9.99965614e-01 3.78397662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:169.49, Y:1.14, Z:0.38 [[ 9.99739262e-01 2.12757111e-02 -8.29167220e-03 1.69489732e+02] [-2.12752936e-02 9.99773646e-01 1.38567285e-04 1.13915303e+00] [ 8.29274346e-03 3.78766049e-05 9.99965614e-01 3.77697286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:169.52, Y:1.14, Z:0.38 [[ 9.99742219e-01 2.11363229e-02 -8.29167775e-03 1.69519918e+02] [-2.11359029e-02 9.99776602e-01 1.38276794e-04 1.13976337e+00] [ 8.29274807e-03 3.70109470e-05 9.99965614e-01 3.78258491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:169.55, Y:1.14, Z:0.37 [[ 9.99756962e-01 2.04270361e-02 -8.29177529e-03 1.69550836e+02] [-2.04266345e-02 9.99791346e-01 1.33127177e-04 1.13985658e+00] [ 8.29276456e-03 3.62782416e-05 9.99965614e-01 3.66659429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:169.58, Y:1.14, Z:0.38 [[ 9.99823658e-01 1.68495372e-02 -8.29130678e-03 1.69580232e+02] [-1.68488084e-02 9.99858036e-01 1.57751615e-04 1.14170424e+00] [ 8.29278776e-03 -1.80251583e-05 9.99965614e-01 3.80500720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.61, Y:1.14, Z:0.37 [[ 9.99863778e-01 1.42714158e-02 -8.29166184e-03 1.69610099e+02] [-1.42707544e-02 9.99898158e-01 1.38927819e-04 1.14101084e+00] [ 8.29280009e-03 -2.05806244e-05 9.99965614e-01 3.68292835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:169.64, Y:1.14, Z:0.38 [[ 9.99843883e-01 1.56032887e-02 -8.29137247e-03 1.69641105e+02] [-1.56025443e-02 9.99878261e-01 1.54461105e-04 1.14054117e+00] [ 8.29277318e-03 -2.50704842e-05 9.99965614e-01 3.81862390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:1.14, Z:0.37 [[ 9.99916659e-01 9.89650072e-03 -8.29061698e-03 1.69669875e+02] [-9.89522001e-03 9.99951022e-01 1.95483742e-04 1.14149252e+00] [ 8.29214553e-03 -1.13429971e-04 9.99965613e-01 3.68367948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.70, Y:1.14, Z:0.37 [[ 9.99928874e-01 8.57316819e-03 -8.29143711e-03 1.69697388e+02] [-8.57221730e-03 9.99963247e-01 1.50215437e-04 1.14217739e+00] [ 8.29242020e-03 -7.91287522e-05 9.99965614e-01 3.68202669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:1.14, Z:0.37 [[ 9.99946921e-01 6.11612052e-03 -8.29151183e-03 1.69725686e+02] [-6.11512037e-03 9.99981292e-01 1.45971023e-04 1.14122134e+00] [ 8.29224949e-03 -9.52596818e-05 9.99965614e-01 3.68925299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:169.75, Y:1.14, Z:0.37 [[ 9.99946096e-01 6.24941634e-03 -8.29158384e-03 1.69753694e+02] [-6.24845568e-03 9.99980468e-01 1.41759335e-04 1.14035436e+00] [ 8.29230780e-03 -8.99420999e-05 9.99965614e-01 3.69728814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:169.78, Y:1.14, Z:0.38 [[ 9.99945053e-01 6.41395927e-03 -8.29165393e-03 1.69782646e+02] [-6.41303931e-03 9.99979427e-01 1.37533617e-04 1.14027154e+00] [ 8.29236548e-03 -8.43513573e-05 9.99965614e-01 3.83970165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:169.81, Y:1.14, Z:0.39 [[ 9.99956988e-01 4.15479267e-03 -8.29211558e-03 1.69810446e+02] [-4.15402871e-03 9.99991366e-01 1.09352299e-04 1.14157882e+00] [ 8.29249832e-03 -7.49019090e-05 9.99965614e-01 3.85411948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:169.84, Y:1.14, Z:0.37 [[ 9.99958161e-01 3.86124049e-03 -8.29259705e-03 1.69841096e+02] [-3.86071448e-03 9.99992544e-01 7.94379253e-05 1.14069476e+00] [ 8.29284195e-03 -4.74192522e-05 9.99965613e-01 3.71019312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:169.87, Y:1.14, Z:0.37 [[ 9.99963605e-01 2.00923246e-03 -8.29170198e-03 1.69869489e+02] [-2.00818555e-03 9.99997975e-01 1.34583844e-04 1.13837658e+00] [ 8.29195560e-03 -1.17927670e-04 9.99965614e-01 3.70657112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:169.90, Y:1.14, Z:0.37 [[ 9.99964652e-01 1.39361436e-03 -8.29172715e-03 1.69897025e+02] [-1.39255930e-03 9.99999022e-01 1.33015037e-04 1.13842879e+00] [ 8.29190441e-03 -1.21463613e-04 9.99965614e-01 3.71305363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:169.93, Y:1.14, Z:0.37 [[ 9.99965618e-01 9.20312233e-05 -8.29179245e-03 1.69925905e+02] [-9.09662709e-05 9.99999988e-01 1.28811575e-04 1.13787398e+00] [ 8.29180420e-03 -1.28052872e-04 9.99965614e-01 3.70742035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:169.95, Y:1.14, Z:0.37 [[ 9.99965618e-01 -9.49475238e-05 -8.29180880e-03 1.69954365e+02] [ 9.60101058e-05 9.99999987e-01 1.27750436e-04 1.13738330e+00] [ 8.29179656e-03 -1.28542141e-04 9.99965614e-01 3.70978247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:169.98, Y:1.13, Z:0.37 [[ 9.99961036e-01 -3.02847978e-03 -8.29183240e-03 1.69982913e+02] [ 3.02963033e-03 9.99995403e-01 1.26200006e-04 1.13377148e+00] [ 8.29141208e-03 -1.51316275e-04 9.99965614e-01 3.71408411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:170.01, Y:1.13, Z:0.39 [[ 9.99958589e-01 -3.75035687e-03 -8.29184796e-03 1.70011617e+02] [ 3.75152369e-03 9.99992955e-01 1.25169099e-04 1.13117329e+00] [ 8.29132011e-03 -1.56270979e-04 9.99965614e-01 3.85534918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:170.04, Y:1.13, Z:0.37 [[ 9.99928283e-01 -8.64089413e-03 -8.29235878e-03 1.70042671e+02] [ 8.64194289e-03 9.99962654e-01 9.06493486e-05 1.12746490e+00] [ 8.29126580e-03 -1.62304939e-04 9.99965614e-01 3.71741074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:170.07, Y:1.13, Z:0.37 [[ 9.99915490e-01 -1.00128510e-02 -8.29188480e-03 1.70071306e+02] [ 1.00142124e-02 9.99949849e-01 1.22684604e-04 1.12524908e+00] [ 8.29024053e-03 -2.05710932e-04 9.99965614e-01 3.70702824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:170.10, Y:1.12, Z:0.37 [[ 9.99899204e-01 -1.15250059e-02 -8.29189984e-03 1.70099665e+02] [ 1.15264108e-02 9.99933561e-01 1.21659311e-04 1.12214927e+00] [ 8.28994681e-03 -2.17222892e-04 9.99965614e-01 3.71216774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:170.13, Y:1.12, Z:0.37 [[ 9.99869375e-01 -1.38736224e-02 -8.29191452e-03 1.70128842e+02] [ 1.38750997e-02 9.99903729e-01 1.20650516e-04 1.11653243e+00] [ 8.28944239e-03 -2.35685896e-04 9.99965614e-01 3.72043092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:170.16, Y:1.11, Z:0.39 [[ 9.99858888e-01 -1.46098409e-02 -8.29192921e-03 1.70156926e+02] [ 1.46113350e-02 9.99893242e-01 1.19632432e-04 1.11379359e+00] [ 8.28929616e-03 -2.40771706e-04 9.99965614e-01 3.86474887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:170.18, Y:1.11, Z:0.39 [[ 9.99827588e-01 -1.66139448e-02 -8.29284060e-03 1.70184853e+02] [ 1.66149748e-02 9.99861960e-01 5.53111312e-05 1.10828684e+00] [ 8.29077692e-03 -1.93086932e-04 9.99965612e-01 3.86866672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:170.21, Y:1.10, Z:0.39 [[ 9.99818346e-01 -1.71609612e-02 -8.29313637e-03 1.70214725e+02] [ 1.71618369e-02 9.99852724e-01 3.44279152e-05 1.10499516e+00] [ 8.29132418e-03 -1.76747115e-04 9.99965611e-01 3.87411245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26864 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:170.24, Y:1.10, Z:0.39 [[ 9.99820987e-01 -1.70064179e-02 -8.29307157e-03 1.70244113e+02] [ 1.70073254e-02 9.99855364e-01 3.89019401e-05 1.10043371e+00] [ 8.29121051e-03 -1.79937943e-04 9.99965611e-01 3.87846247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:170.28, Y:1.10, Z:0.37 [[ 9.99829595e-01 -1.64926034e-02 -8.29311931e-03 1.70276786e+02] [ 1.64934662e-02 9.99863973e-01 3.56460240e-05 1.09844426e+00] [ 8.29140333e-03 -1.72422233e-04 9.99965611e-01 3.74418862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32864 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:170.30, Y:1.10, Z:0.39 [[ 9.99852494e-01 -1.50411919e-02 -8.29177447e-03 1.70304746e+02] [ 1.50427446e-02 9.99886844e-01 1.24916849e-04 1.09573098e+00] [ 8.28895730e-03 -2.49629468e-04 9.99965615e-01 3.88057401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35864 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:170.34, Y:1.09, Z:0.37 [[ 9.99863100e-01 -1.43181501e-02 -8.29287121e-03 1.70336606e+02] [ 1.43190673e-02 9.99897476e-01 5.12406492e-05 1.09130838e+00] [ 8.29128731e-03 -1.69979815e-04 9.99965612e-01 3.74786685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:170.36, Y:1.09, Z:0.37 [[ 9.99874779e-01 -1.34785852e-02 -8.29175219e-03 1.70364409e+02] [ 1.34800873e-02 9.99909132e-01 1.25295839e-04 1.08954906e+00] [ 8.28930992e-03 -2.37053693e-04 9.99965615e-01 3.74910918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41864 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:170.39, Y:1.08, Z:0.39 [[ 9.99909608e-01 -1.05840890e-02 -8.29177479e-03 1.70392222e+02] [ 1.05854792e-02 9.99943965e-01 1.23781737e-04 1.08410782e+00] [ 8.29000004e-03 -2.11542957e-04 9.99965615e-01 3.86386187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44864 meters Centerline goodness : 0.997199 Centerline is valid? [True, True] Translation: X:170.42, Y:1.08, Z:0.37 [[ 9.99899391e-01 -1.15084292e-02 -8.29235851e-03 1.70423796e+02] [ 1.15095216e-02 9.99933760e-01 8.40316953e-05 1.07998129e+00] [ 8.29084215e-03 -1.79464321e-04 9.99965614e-01 3.74421953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:170.45, Y:1.08, Z:0.37 [[ 9.99904306e-01 -1.10735852e-02 -8.29181069e-03 1.70452949e+02] [ 1.10749727e-02 9.99938663e-01 1.21437590e-04 1.07717332e+00] [ 8.28995734e-03 -2.13257546e-04 9.99965615e-01 3.74611794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50864 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:170.48, Y:1.08, Z:0.39 [[ 9.99927647e-01 -8.71467356e-03 -8.29182562e-03 1.70480895e+02] [ 8.71597151e-03 9.99962008e-01 1.20409128e-04 1.07533964e+00] [ 8.29046127e-03 -1.92671732e-04 9.99965615e-01 3.87579312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53864000000002 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:170.51, Y:1.07, Z:0.38 [[ 9.99926901e-01 -8.79914077e-03 -8.29259968e-03 1.70511785e+02] [ 8.79999213e-03 9.99961277e-01 6.61813621e-05 1.07397632e+00] [ 8.29169623e-03 -1.39151336e-04 9.99965614e-01 3.76023185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864000000002 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:170.54, Y:1.07, Z:0.38 [[ 9.99930151e-01 -8.42254905e-03 -8.29183900e-03 1.70540315e+02] [ 8.42382634e-03 9.99964512e-01 1.19128647e-04 1.07109928e+00] [ 8.29054137e-03 -1.88969338e-04 9.99965615e-01 3.75924003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59864000000002 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:170.57, Y:1.07, Z:0.39 [[ 9.99943549e-01 -6.64416708e-03 -8.29185368e-03 1.70570078e+02] [ 6.64537472e-03 9.99977912e-01 1.18097739e-04 1.06648775e+00] [ 8.29088587e-03 -1.73193547e-04 9.99965615e-01 3.87256637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864000000002 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:170.60, Y:1.07, Z:0.38 [[ 9.99932421e-01 -8.14840320e-03 -8.29199621e-03 1.70600595e+02] [ 8.14957808e-03 9.99966786e-01 1.07909207e-04 1.06527269e+00] [ 8.29084151e-03 -1.75478185e-04 9.99965615e-01 3.75235548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65864000000002 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:170.63, Y:1.06, Z:0.39 [[ 9.99940676e-01 -7.06327112e-03 -8.29189802e-03 1.70629556e+02] [ 7.06446739e-03 9.99975040e-01 1.14989440e-04 1.06203818e+00] [ 8.29087885e-03 -1.73560461e-04 9.99965615e-01 3.86608870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864000000002 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:170.66, Y:1.06, Z:0.39 [[ 9.99932067e-01 -8.19175429e-03 -8.29198563e-03 1.70657974e+02] [ 8.19293622e-03 9.99966431e-01 1.08579867e-04 1.05984957e+00] [ 8.29081782e-03 -1.76508200e-04 9.99965615e-01 3.88312335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71864 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:170.69, Y:1.06, Z:0.38 [[ 9.99917260e-01 -9.83427863e-03 -8.29212945e-03 1.70688394e+02] [ 9.83542987e-03 9.99951626e-01 9.80663762e-05 1.05878826e+00] [ 8.29076392e-03 -1.79614920e-04 9.99965615e-01 3.76197814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:170.72, Y:1.06, Z:0.38 [[ 9.99923007e-01 -9.23166046e-03 -8.29190469e-03 1.70717648e+02] [ 9.23292606e-03 9.99957369e-01 1.14363185e-04 1.05790449e+00] [ 8.29049543e-03 -1.90912923e-04 9.99965615e-01 3.76743404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77864 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:170.75, Y:1.06, Z:0.38 [[ 9.99921643e-01 -9.37823288e-03 -8.29191882e-03 1.70745969e+02] [ 9.37949495e-03 9.99956005e-01 1.13328873e-04 1.05676335e+00] [ 8.29049120e-03 -1.91094003e-04 9.99965615e-01 3.76865491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:170.77, Y:1.05, Z:0.39 [[ 9.99944753e-01 -6.46027345e-03 -8.29193279e-03 1.70774781e+02] [ 6.46142669e-03 9.99979118e-01 1.12297773e-04 1.05368149e+00] [ 8.29103416e-03 -1.65869284e-04 9.99965615e-01 3.88458685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83864 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:170.80, Y:1.05, Z:0.38 [[ 9.99937446e-01 -7.50640947e-03 -8.29209140e-03 1.70804520e+02] [ 7.50749940e-03 9.99971813e-01 1.00323033e-04 1.05292554e+00] [ 8.29110461e-03 -1.62569629e-04 9.99965615e-01 3.76060423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:170.83, Y:1.05, Z:0.39 [[ 9.99947033e-01 -6.09699050e-03 -8.29198281e-03 1.70833332e+02] [ 6.09810072e-03 9.99981401e-01 1.08613580e-04 1.05264154e+00] [ 8.29116636e-03 -1.59173173e-04 9.99965615e-01 3.88425649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89864 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:170.86, Y:1.05, Z:0.39 [[ 9.99951188e-01 -5.37256020e-03 -8.29205570e-03 1.70862867e+02] [ 5.37359918e-03 9.99985557e-01 1.03022758e-04 1.05224387e+00] [ 8.29138244e-03 -1.47575913e-04 9.99965615e-01 3.89429412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92864 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:170.89, Y:1.05, Z:0.38 [[ 9.99938211e-01 -7.40383446e-03 -8.29195030e-03 1.70892431e+02] [ 7.40501129e-03 9.99972576e-01 1.11231220e-04 1.05077512e+00] [ 8.29089936e-03 -1.72626333e-04 9.99965615e-01 3.77645127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95864 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:170.92, Y:1.05, Z:0.38 [[ 9.99930672e-01 -8.36019925e-03 -8.29201295e-03 1.70920875e+02] [ 8.36136845e-03 9.99965037e-01 1.06345739e-04 1.05052551e+00] [ 8.29083397e-03 -1.75670941e-04 9.99965615e-01 3.78825438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98864 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:170.95, Y:1.05, Z:0.38 [[ 9.99927362e-01 -8.74717843e-03 -8.29202605e-03 1.70949526e+02] [ 8.74835239e-03 9.99961727e-01 1.05314627e-04 1.05101023e+00] [ 8.29078748e-03 -1.77848543e-04 9.99965615e-01 3.78997945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01864 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:170.98, Y:1.05, Z:0.38 [[ 9.99918567e-01 -9.70058176e-03 -8.29203916e-03 1.70978540e+02] [ 9.70177984e-03 9.99952931e-01 1.04271896e-04 1.05080939e+00] [ 8.29063737e-03 -1.84710943e-04 9.99965615e-01 3.79074637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04864 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:171.01, Y:1.05, Z:0.38 [[ 9.99894818e-01 -1.18993451e-02 -8.29205215e-03 1.71007481e+02] [ 1.19006101e-02 9.99929180e-01 1.03228577e-04 1.04681224e+00] [ 8.29023655e-03 -2.01898198e-04 9.99965615e-01 3.78743887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07864 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:171.04, Y:1.04, Z:0.38 [[ 9.99884079e-01 -1.27698739e-02 -8.29206491e-03 1.71036756e+02] [ 1.27711602e-02 9.99918440e-01 1.02193485e-04 1.04489451e+00] [ 8.29008361e-03 -2.08080928e-04 9.99965615e-01 3.79711354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10864 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:171.07, Y:1.04, Z:0.39 [[ 9.99841686e-01 -1.57430783e-02 -8.29207742e-03 1.71065278e+02] [ 1.57444583e-02 9.99876043e-01 1.01167990e-04 1.04299519e+00] [ 8.28945686e-03 -2.31706241e-04 9.99965615e-01 3.92458988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13864 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:171.10, Y:1.04, Z:0.38 [[ 9.99823976e-01 -1.68300021e-02 -8.29264038e-03 1.71096907e+02] [ 1.68310330e-02 9.99858347e-01 5.45367192e-05 1.04178986e+00] [ 8.29054785e-03 -1.94100824e-04 9.99965614e-01 3.81152472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16864 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:171.12, Y:1.04, Z:0.38 [[ 9.99811308e-01 -1.75667082e-02 -8.29206023e-03 1.71124716e+02] [ 1.75681560e-02 9.99845663e-01 1.01795498e-04 1.03998824e+00] [ 8.28899224e-03 -2.47452498e-04 9.99965615e-01 3.81417794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19864 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:171.15, Y:1.04, Z:0.38 [[ 9.99794858e-01 -1.84792490e-02 -8.29207881e-03 1.71153116e+02] [ 1.84807155e-02 9.99829212e-01 1.00258530e-04 1.03517038e+00] [ 8.28880992e-03 -2.53481512e-04 9.99965615e-01 3.81687867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22864 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:171.18, Y:1.03, Z:0.38 [[ 9.99792112e-01 -1.86272170e-02 -8.29209098e-03 1.71181925e+02] [ 1.86286801e-02 9.99826466e-01 9.92420749e-05 1.03240157e+00] [ 8.28880341e-03 -2.53692154e-04 9.99965615e-01 3.82409587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25864 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:171.21, Y:1.03, Z:0.38 [[ 9.99794479e-01 -1.84997420e-02 -8.29210304e-03 1.71209779e+02] [ 1.85011923e-02 9.99828833e-01 9.82237923e-05 1.03159754e+00] [ 8.28886659e-03 -2.51617398e-04 9.99965615e-01 3.82033690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864000000002 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:171.24, Y:1.03, Z:0.39 [[ 9.99850459e-01 -1.51756456e-02 -8.29212086e-03 1.71240130e+02] [ 1.51769690e-02 9.99884818e-01 9.66951451e-05 1.03094173e+00] [ 8.28969835e-03 -2.22529947e-04 9.99965615e-01 3.92791209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31864000000002 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:171.27, Y:1.03, Z:0.38 [[ 9.99821509e-01 -1.69764569e-02 -8.29160424e-03 1.71268866e+02] [ 1.69782088e-02 9.99855850e-01 1.40948224e-04 1.02851418e+00] [ 8.28801620e-03 -2.81699655e-04 9.99965614e-01 3.82360134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864000000002 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:171.30, Y:1.03, Z:0.38 [[ 9.99814408e-01 -1.73893612e-02 -8.29213224e-03 1.71297256e+02] [ 1.73907444e-02 9.99848765e-01 9.47312326e-05 1.02745081e+00] [ 8.28923086e-03 -2.38920004e-04 9.99965615e-01 3.82659294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37864000000002 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:171.33, Y:1.03, Z:0.38 [[ 9.99831028e-01 -1.64059514e-02 -8.29214377e-03 1.71325456e+02] [ 1.64072923e-02 9.99865387e-01 9.37107293e-05 1.02543356e+00] [ 8.28949013e-03 -2.29746522e-04 9.99965615e-01 3.82571800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864000000002 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:171.35, Y:1.02, Z:0.38 [[ 9.99832740e-01 -1.63013081e-02 -8.29216082e-03 1.71354251e+02] [ 1.63026327e-02 9.99867099e-01 9.21773647e-05 1.02439875e+00] [ 8.28955617e-03 -2.27345999e-04 9.99965615e-01 3.82864773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43864000000002 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:171.38, Y:1.02, Z:0.38 [[ 9.99844220e-01 -1.55812861e-02 -8.29216931e-03 1.71382384e+02] [ 1.55825796e-02 9.99878580e-01 9.14065896e-05 1.02359181e+00] [ 8.28973825e-03 -2.20605739e-04 9.99965615e-01 3.83184270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:171.41, Y:1.02, Z:0.38 [[ 9.99884369e-01 -1.27471054e-02 -8.29218629e-03 1.71411312e+02] [ 1.27482886e-02 9.99918733e-01 8.98400234e-05 1.02360236e+00] [ 8.29036721e-03 -1.95540819e-04 9.99965615e-01 3.83173393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:171.44, Y:1.02, Z:0.38 [[ 9.99897757e-01 -1.16496480e-02 -8.29219735e-03 1.71439904e+02] [ 1.16507849e-02 9.99932123e-01 8.88064358e-05 1.02372744e+00] [ 8.29059994e-03 -1.85407964e-04 9.99965615e-01 3.83124945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:171.47, Y:1.02, Z:0.38 [[ 9.99923123e-01 -9.21882108e-03 -8.29220836e-03 1.71468238e+02] [ 9.21986578e-03 9.99957492e-01 8.77663669e-05 1.02384581e+00] [ 8.29104678e-03 -1.64212668e-04 9.99965615e-01 3.82026765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:171.50, Y:1.02, Z:0.38 [[ 9.99917639e-01 -9.79561951e-03 -8.29222202e-03 1.71496972e+02] [ 9.79667318e-03 9.99952008e-01 8.64566899e-05 1.02365479e+00] [ 8.29097716e-03 -1.67685758e-04 9.99965615e-01 3.81415273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:171.53, Y:1.02, Z:0.38 [[ 9.99920122e-01 -9.53876232e-03 -8.29223287e-03 1.71526026e+02] [ 9.53979842e-03 9.99954491e-01 8.54032215e-05 1.02366358e+00] [ 8.29104086e-03 -1.64502630e-04 9.99965615e-01 3.81436389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:171.55, Y:1.02, Z:0.38 [[ 9.99898998e-01 -1.15426313e-02 -8.29224346e-03 1.71553542e+02] [ 1.15437277e-02 9.99933365e-01 8.43621931e-05 1.02389988e+00] [ 8.29071715e-03 -1.80077073e-04 9.99965615e-01 3.83514570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:171.58, Y:1.02, Z:0.38 [[ 9.99886502e-01 -1.25786343e-02 -8.29225901e-03 1.71582126e+02] [ 1.25797534e-02 9.99920868e-01 8.28045426e-05 1.02424174e+00] [ 8.29056126e-03 -1.87109718e-04 9.99965615e-01 3.84454248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.61, Y:1.03, Z:0.38 [[ 9.99878994e-01 -1.31618813e-02 -8.29226925e-03 1.71611039e+02] [ 1.31630118e-02 9.99913360e-01 8.17667675e-05 1.02543116e+00] [ 8.29047460e-03 -1.90908111e-04 9.99965615e-01 3.84061002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:1.03, Z:0.38 [[ 9.99866965e-01 -1.40459799e-02 -8.29227930e-03 1.71639058e+02] [ 1.40471322e-02 9.99901331e-01 8.07339286e-05 1.02579651e+00] [ 8.29032712e-03 -1.97205932e-04 9.99965615e-01 3.83928821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:1.03, Z:0.38 [[ 9.99880592e-01 -1.30399521e-02 -8.29229405e-03 1.71668165e+02] [ 1.30410571e-02 9.99914959e-01 7.91896310e-05 1.02551637e+00] [ 8.29055623e-03 -1.87320455e-04 9.99965615e-01 3.83623343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:1.02, Z:0.38 [[ 9.99889260e-01 -1.23574131e-02 -8.29230377e-03 1.71696134e+02] [ 1.23584861e-02 9.99923628e-01 7.81586676e-05 1.02462260e+00] [ 8.29070463e-03 -1.80630333e-04 9.99965615e-01 3.83952636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.72, Y:1.02, Z:0.38 [[ 9.99883869e-01 -1.27861339e-02 -8.29231812e-03 1.71724456e+02] [ 1.27872087e-02 9.99918237e-01 7.66047227e-05 1.02423094e+00] [ 8.29066064e-03 -1.82631429e-04 9.99965615e-01 3.84461862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.75, Y:1.02, Z:0.39 [[ 9.99877574e-01 -1.32692743e-02 -8.29232988e-03 1.71752447e+02] [ 1.32703549e-02 9.99911942e-01 7.53106433e-05 1.02332758e+00] [ 8.29060035e-03 -1.85343584e-04 9.99965615e-01 3.85124666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:1.02, Z:0.38 [[ 9.99885418e-01 -1.26644011e-02 -8.29234375e-03 1.71781697e+02] [ 1.26654480e-02 9.99919787e-01 7.37503959e-05 1.02278491e+00] [ 8.29074460e-03 -1.78768194e-04 9.99965615e-01 3.84095777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:1.02, Z:0.38 [[ 9.99898775e-01 -1.15618774e-02 -8.29235289e-03 1.71810484e+02] [ 1.15628778e-02 9.99933145e-01 7.27085830e-05 1.02252057e+00] [ 8.29095785e-03 -1.68584686e-04 9.99965615e-01 3.84671561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:1.02, Z:0.38 [[ 9.99896585e-01 -1.17497378e-02 -8.29236186e-03 1.71838960e+02] [ 1.17507360e-02 9.99930955e-01 7.16702153e-05 1.02222596e+00] [ 8.29094721e-03 -1.69104159e-04 9.99965615e-01 3.84907782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:1.02, Z:0.39 [[ 9.99943326e-01 -6.67699213e-03 -8.29237503e-03 1.71867322e+02] [ 6.67780309e-03 9.99977701e-01 7.01122653e-05 1.02403009e+00] [ 8.29172198e-03 -1.25483139e-04 9.99965615e-01 3.85449017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:1.03, Z:0.38 [[ 9.99959200e-01 -3.58262778e-03 -8.29240840e-03 1.71896534e+02] [ 3.58329756e-03 9.99993578e-01 6.59149358e-05 1.02566486e+00] [ 8.29211899e-03 -9.56264132e-05 9.99965615e-01 3.84481055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:1.03, Z:0.38 [[ 9.99965297e-01 -8.00259502e-04 -8.29241669e-03 1.71924093e+02] [ 8.00824835e-04 9.99999677e-01 6.48545183e-05 1.02760609e+00] [ 8.29236211e-03 -7.14930409e-05 9.99965615e-01 3.84502244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.95, Y:1.03, Z:0.38 [[ 9.99956360e-01 4.30276069e-03 -8.29244809e-03 1.71952973e+02] [-4.30240647e-03 9.99990743e-01 6.05551623e-05 1.03215752e+00] [ 8.29263188e-03 -2.48750374e-05 9.99965615e-01 3.84722415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:1.03, Z:0.38 [[ 9.99950458e-01 5.50607831e-03 -8.29247374e-03 1.71981947e+02] [-5.50579651e-03 9.99984841e-01 5.68110767e-05 1.03403609e+00] [ 8.29266084e-03 -1.11515891e-05 9.99965615e-01 3.83938417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:1.04, Z:0.38 [[ 9.99952672e-01 5.08809159e-03 -8.29249780e-03 1.72010172e+02] [-5.08782661e-03 9.99987056e-01 5.30499788e-05 1.03575144e+00] [ 8.29266038e-03 -1.08566771e-05 9.99965615e-01 3.84394303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:1.04, Z:0.40 [[ 9.99961910e-01 2.72255584e-03 -8.29252320e-03 1.72038728e+02] [-2.72224537e-03 9.99996293e-01 4.87272259e-05 1.03926659e+00] [ 8.29262513e-03 -2.61510870e-05 9.99965615e-01 3.98839079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.07, Y:1.04, Z:0.39 [[ 9.99963852e-01 1.87744740e-03 -8.29279830e-03 1.72070043e+02] [-1.87750822e-03 9.99998237e-01 4.50881834e-07 1.04053641e+00] [ 8.29278453e-03 1.51189314e-05 9.99965614e-01 3.85500517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.10, Y:1.04, Z:0.39 [[ 9.99962706e-01 -2.41235789e-03 -8.29254631e-03 1.72098406e+02] [ 2.41282180e-03 9.99997088e-01 4.59396659e-05 1.04457278e+00] [ 8.29241134e-03 -6.59463892e-05 9.99965615e-01 3.85849042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.13, Y:1.05, Z:0.39 [[ 9.99957611e-01 -4.00125883e-03 -8.29255206e-03 1.72127688e+02] [ 4.00176856e-03 9.99991992e-01 4.48764413e-05 1.04665052e+00] [ 8.29230609e-03 -7.80594131e-05 9.99965615e-01 3.86718264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.16, Y:1.05, Z:0.39 [[ 9.99951044e-01 -5.39844238e-03 -8.29255761e-03 1.72156331e+02] [ 5.39899144e-03 9.99985424e-01 4.38260767e-05 1.04883462e+00] [ 8.29220015e-03 -8.85953787e-05 9.99965615e-01 3.86352341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.18, Y:1.05, Z:0.40 [[ 9.99943265e-01 -6.68580907e-03 -8.29256308e-03 1.72184932e+02] [ 6.68639360e-03 9.99977645e-01 4.27664388e-05 1.05175747e+00] [ 8.29209177e-03 -9.82113531e-05 9.99965615e-01 3.99587276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.22, Y:1.05, Z:0.40 [[ 9.99944326e-01 -6.52489416e-03 -8.29277371e-03 1.72215093e+02] [ 6.52512369e-03 9.99978711e-01 6.21425297e-07 1.05203515e+00] [ 8.29259311e-03 -5.47327649e-05 9.99965614e-01 3.99559596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:1.05, Z:0.39 [[ 9.99932805e-01 -8.10032684e-03 -8.29279140e-03 1.72246510e+02] [ 8.10058176e-03 9.99967190e-01 -2.84995554e-06 1.05228615e+00] [ 8.29254239e-03 -6.43266706e-05 9.99965614e-01 3.86772142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.28, Y:1.05, Z:0.39 [[ 9.99929879e-01 -8.45404192e-03 -8.29255690e-03 1.72275221e+02] [ 8.45468666e-03 9.99964258e-01 4.26956889e-05 1.05317956e+00] [ 8.29189956e-03 -1.12803665e-04 9.99965615e-01 3.88047482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.30, Y:1.05, Z:0.39 [[ 9.99911707e-01 -1.03832404e-02 -8.29256219e-03 1.72303489e+02] [ 1.03839428e-02 9.99946085e-01 4.16427765e-05 1.05476067e+00] [ 8.29168271e-03 -1.27748591e-04 9.99965615e-01 3.87475724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.33, Y:1.05, Z:0.40 [[ 9.99900658e-01 -1.13976974e-02 -8.29256980e-03 1.72333051e+02] [ 1.13984216e-02 9.99935035e-01 4.00685643e-05 1.05442086e+00] [ 8.29157438e-03 -1.34586790e-04 9.99965615e-01 4.00564092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:1.05, Z:0.39 [[ 9.99895797e-01 -1.18164135e-02 -8.29265857e-03 1.72364052e+02] [ 1.18169975e-02 9.99930177e-01 2.14291748e-05 1.05390471e+00] [ 8.29182634e-03 -1.19421267e-04 9.99965615e-01 3.88611936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:172.39, Y:1.05, Z:0.40 [[ 9.99898884e-01 -1.15522507e-02 -8.29256507e-03 1.72394215e+02] [ 1.15529842e-02 9.99933261e-01 4.05503871e-05 1.05463901e+00] [ 8.29154319e-03 -1.36350160e-04 9.99965615e-01 4.02075261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:1.05, Z:0.39 [[ 9.99886016e-01 -1.26170723e-02 -8.29247076e-03 1.72424599e+02] [ 1.26180051e-02 9.99920388e-01 6.01696381e-05 1.05479354e+00] [ 8.29105142e-03 -1.64797218e-04 9.99965615e-01 3.88593860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:172.45, Y:1.06, Z:0.40 [[ 9.99912711e-01 -1.02861004e-02 -8.29257060e-03 1.72454175e+02] [ 1.02867764e-02 9.99947089e-01 3.88708840e-05 1.05571035e+00] [ 8.29173200e-03 -1.24171311e-04 9.99965615e-01 4.01989156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:172.48, Y:1.06, Z:0.40 [[ 9.99918865e-01 -9.66940052e-03 -8.29256409e-03 1.72482319e+02] [ 9.67006693e-03 9.99953243e-01 4.02691193e-05 1.05649375e+00] [ 8.29178698e-03 -1.20455502e-04 9.99965615e-01 4.03105826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:172.51, Y:1.06, Z:0.40 [[ 9.99942830e-01 -6.75053017e-03 -8.29258358e-03 1.72511335e+02] [ 6.75106046e-03 9.99977211e-01 3.59571399e-05 1.06065088e+00] [ 8.29215187e-03 -9.19388174e-05 9.99965615e-01 4.04416204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:1.06, Z:0.39 [[ 9.99948832e-01 -5.79344829e-03 -8.29272975e-03 1.72542188e+02] [ 5.79368290e-03 9.99983216e-01 4.26771806e-06 1.06293523e+00] [ 8.29256584e-03 -5.23129462e-05 9.99965615e-01 3.88603326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:1.07, Z:0.39 [[ 9.99954039e-01 -4.81183251e-03 -8.29257573e-03 1.72570940e+02] [ 4.81231256e-03 9.99988420e-01 3.79365367e-05 1.06515492e+00] [ 8.29229716e-03 -7.78412594e-05 9.99965615e-01 3.89704753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.60, Y:1.07, Z:0.39 [[ 9.99956524e-01 -4.26411186e-03 -8.29258041e-03 1.72599681e+02] [ 4.26456435e-03 9.99990906e-01 3.68836220e-05 1.06897623e+00] [ 8.29234772e-03 -7.22462612e-05 9.99965615e-01 3.88683097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.63, Y:1.07, Z:0.39 [[ 9.99953707e-01 -4.88025893e-03 -8.29258497e-03 1.72628767e+02] [ 4.88072386e-03 9.99988089e-01 3.58283378e-05 1.07130405e+00] [ 8.29231134e-03 -7.63004965e-05 9.99965615e-01 3.88180637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:172.66, Y:1.07, Z:0.40 [[ 9.99934647e-01 -7.86991053e-03 -8.29258939e-03 1.72657034e+02] [ 7.87046950e-03 9.99969027e-01 3.47738436e-05 1.07474714e+00] [ 8.29205888e-03 -1.00038143e-04 9.99965615e-01 4.04374954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:172.69, Y:1.08, Z:0.40 [[ 9.99916972e-01 -9.86301467e-03 -8.29274796e-03 1.72686447e+02] [ 9.86330923e-03 9.99951356e-01 -5.37771960e-06 1.07529206e+00] [ 8.29239761e-03 -7.64166644e-05 9.99965615e-01 4.04480676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.72, Y:1.08, Z:0.39 [[ 9.99893968e-01 -1.19700368e-02 -8.29284022e-03 1.72717724e+02] [ 1.19702116e-02 9.99928354e-01 -2.85565749e-05 1.07674750e+00] [ 8.29258789e-03 -7.07135049e-05 9.99965613e-01 3.89323806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.74, Y:1.08, Z:0.40 [[ 9.99866921e-01 -1.40489748e-02 -8.29256341e-03 1.72743794e+02] [ 1.40497541e-02 9.99901297e-01 3.57160161e-05 1.07697738e+00] [ 8.29124314e-03 -1.52219740e-04 9.99965615e-01 4.02732827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87864000000002 meters Centerline goodness : 0.987351 Centerline is valid? [True, True] Translation: X:172.80, Y:1.11, Z:0.39 [[ 9.97417584e-01 7.13399632e-02 -8.29289353e-03 1.72800598e+02] [-7.13428538e-02 9.97451851e-01 -5.28834596e-05 1.11453323e+00] [ 8.26798930e-03 6.44385583e-04 9.99965612e-01 3.86025467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:172.80, Y:1.07, Z:0.40 [[ 9.99836204e-01 -1.60908287e-02 -8.28554239e-03 1.72803096e+02] [ 1.60998129e-02 9.99869871e-01 1.01877035e-03 1.07333424e+00] [ 8.26807134e-03 -1.15199916e-03 9.99965155e-01 4.04950247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:172.83, Y:1.07, Z:0.41 [[ 9.99840565e-01 -1.58162878e-02 -8.28792459e-03 1.72832509e+02] [ 1.58168363e-02 9.99874906e-01 6.26124261e-07 1.07355842e+00] [ 8.28687792e-03 -1.31714771e-04 9.99965655e-01 4.06631787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.86, Y:1.07, Z:0.39 [[ 9.99824713e-01 -1.67885009e-02 -8.28793579e-03 1.72862969e+02] [ 1.67890424e-02 9.99859054e-01 -4.23388146e-06 1.07169953e+00] [ 8.28683871e-03 -1.34913366e-04 9.99965654e-01 3.91075465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.89, Y:1.07, Z:0.39 [[ 9.99816370e-01 -1.72782150e-02 -8.28788012e-03 1.72891408e+02] [ 1.72789698e-02 9.99850707e-01 1.94665538e-05 1.07099805e+00] [ 8.28630645e-03 -1.62669009e-04 9.99965655e-01 3.90927153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:172.92, Y:1.07, Z:0.41 [[ 9.99811988e-01 -1.75299404e-02 -8.28788239e-03 1.72919054e+02] [ 1.75306953e-02 9.99846325e-01 1.84473141e-05 1.07133499e+00] [ 8.28628537e-03 -1.63736187e-04 9.99965655e-01 4.06324513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:1.07, Z:0.39 [[ 9.99803264e-01 -1.80205907e-02 -8.28800824e-03 1.72950778e+02] [ 1.80208329e-02 9.99837611e-01 -4.54554976e-05 1.07145612e+00] [ 8.28748149e-03 -1.03910257e-04 9.99965653e-01 3.93277151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:172.98, Y:1.07, Z:0.41 [[ 9.99775095e-01 -1.95210136e-02 -8.28786921e-03 1.72978345e+02] [ 1.95218343e-02 9.99809431e-01 1.81250255e-05 1.07004746e+00] [ 8.28593598e-03 -1.79915358e-04 9.99965655e-01 4.08347391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:1.07, Z:0.39 [[ 9.99763226e-01 -2.01196517e-02 -8.28804907e-03 1.73011030e+02] [ 2.01197465e-02 9.99797575e-01 -7.19547022e-05 1.06843932e+00] [ 8.28781906e-03 -9.48157808e-05 9.99965651e-01 3.94295271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:173.04, Y:1.07, Z:0.41 [[ 9.99788029e-01 -1.88470100e-02 -8.28783067e-03 1.73040373e+02] [ 1.88478209e-02 9.99822364e-01 1.97430178e-05 1.06761032e+00] [ 8.28598635e-03 -1.75946381e-04 9.99965655e-01 4.08895747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:173.07, Y:1.07, Z:0.40 [[ 9.99777812e-01 -1.93813948e-02 -8.28781596e-03 1.73070631e+02] [ 1.93822792e-02 9.99812146e-01 2.63884085e-05 1.06800183e+00] [ 8.28574761e-03 -1.87019308e-04 9.99965655e-01 3.95183003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:173.10, Y:1.07, Z:0.41 [[ 9.99817084e-01 -1.72368767e-02 -8.28783311e-03 1.73100469e+02] [ 1.72376248e-02 9.99851421e-01 1.88428675e-05 1.06728702e+00] [ 8.28627692e-03 -1.61701979e-04 9.99965655e-01 4.09957968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:173.13, Y:1.07, Z:0.41 [[ 9.99827975e-01 -1.65931270e-02 -8.28785002e-03 1.73130154e+02] [ 1.65937837e-02 9.99862314e-01 1.04792544e-05 1.06674551e+00] [ 8.28653502e-03 -1.48004242e-04 9.99965655e-01 4.09883797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:1.07, Z:0.40 [[ 9.99826183e-01 -1.67007550e-02 -8.28788071e-03 1.73160502e+02] [ 1.67012797e-02 9.99860524e-01 -5.89399098e-06 1.06661204e+00] [ 8.28682319e-03 -1.32525248e-04 9.99965655e-01 3.96621047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:1.07, Z:0.40 [[ 9.99828508e-01 -1.65609776e-02 -8.28783831e-03 1.73189278e+02] [ 1.65616793e-02 9.99862846e-01 1.60305143e-05 1.06609614e+00] [ 8.28643612e-03 -1.53288285e-04 9.99965655e-01 3.96662866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:173.22, Y:1.06, Z:0.40 [[ 9.99799186e-01 -1.82455068e-02 -8.28784019e-03 1.73217869e+02] [ 1.82462577e-02 9.99833523e-01 1.49925277e-05 1.06366455e+00] [ 8.28618691e-03 -1.66211585e-04 9.99965655e-01 3.99015816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.25, Y:1.06, Z:0.40 [[ 9.99779864e-01 -1.92752385e-02 -8.28784192e-03 1.73247026e+02] [ 1.92760162e-02 9.99814200e-01 1.39645600e-05 1.06218707e+00] [ 8.28603287e-03 -1.73718061e-04 9.99965655e-01 3.99717855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:1.06, Z:0.40 [[ 9.99765440e-01 -2.00094068e-02 -8.28784352e-03 1.73275711e+02] [ 2.00102012e-02 9.99799776e-01 1.29364105e-05 1.06061145e+00] [ 8.28592525e-03 -1.78774793e-04 9.99965655e-01 4.00967883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:1.06, Z:0.40 [[ 9.99771374e-01 -1.97106669e-02 -8.28784499e-03 1.73304287e+02] [ 1.97114426e-02 9.99805711e-01 1.19138542e-05 1.06014211e+00] [ 8.28599992e-03 -1.75276512e-04 9.99965655e-01 4.01491276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.33, Y:1.06, Z:0.40 [[ 9.99809029e-01 -1.76979476e-02 -8.28784634e-03 1.73333310e+02] [ 1.76986456e-02 9.99843367e-01 1.08857043e-05 1.06024098e+00] [ 8.28635554e-03 -1.57567281e-04 9.99965655e-01 4.01804348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:173.36, Y:1.06, Z:0.40 [[ 9.99890907e-01 -1.22264621e-02 -8.28784757e-03 1.73361974e+02] [ 1.22269637e-02 9.99925248e-01 9.85359986e-06 1.06170350e+00] [ 8.28710756e-03 -1.11187736e-04 9.99965655e-01 4.03283577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:1.06, Z:0.40 [[ 9.99910735e-01 -1.04801682e-02 -8.28784867e-03 1.73390130e+02] [ 1.04806012e-02 9.99945077e-01 8.81827345e-06 1.06283547e+00] [ 8.28730106e-03 -9.56791231e-05 9.99965655e-01 4.03413401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:1.06, Z:0.40 [[ 9.99930959e-01 -8.33002420e-03 -8.28785005e-03 1.73418844e+02] [ 8.33037030e-03 9.99965302e-01 7.23996541e-06 1.06434581e+00] [ 8.28750217e-03 -7.62803255e-05 9.99965655e-01 4.04077351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:173.45, Y:1.06, Z:0.41 [[ 9.99925398e-01 -8.97276450e-03 -8.28785084e-03 1.73447452e+02] [ 8.97312391e-03 9.99959741e-01 6.18172660e-06 1.06427655e+00] [ 8.28746171e-03 -8.05491780e-05 9.99965655e-01 4.05694289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:173.48, Y:1.06, Z:0.41 [[ 9.99918342e-01 -9.72731026e-03 -8.28785149e-03 1.73476476e+02] [ 9.72768687e-03 9.99952685e-01 5.12960203e-06 1.06423848e+00] [ 8.28740946e-03 -8.57508073e-05 9.99965655e-01 4.06829640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:173.50, Y:1.06, Z:0.41 [[ 9.99897687e-01 -1.16587478e-02 -8.28785201e-03 1.73503982e+02] [ 1.16591820e-02 9.99932029e-01 4.07215906e-06 1.06429981e+00] [ 8.28724121e-03 -1.00701317e-04 9.99965655e-01 4.06611061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:173.53, Y:1.06, Z:0.41 [[ 9.99896367e-01 -1.17714088e-02 -8.28785249e-03 1.73531627e+02] [ 1.17718337e-02 9.99930710e-01 2.48882734e-06 1.06441773e+00] [ 8.28724892e-03 -1.00051791e-04 9.99965655e-01 4.06710793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.56, Y:1.07, Z:0.41 [[ 9.99914312e-01 -1.01330957e-02 -8.28785266e-03 1.73559970e+02] [ 1.01334513e-02 9.99948655e-01 9.14053855e-07 1.06653596e+00] [ 8.28741786e-03 -8.48985271e-05 9.99965655e-01 4.08403105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:173.59, Y:1.07, Z:0.41 [[ 9.99935157e-01 -7.80982125e-03 -8.28785264e-03 1.73589131e+02] [ 7.81008837e-03 9.99969501e-01 -1.35526039e-07 1.06894418e+00] [ 8.28760093e-03 -6.45933443e-05 9.99965655e-01 4.09506287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.62, Y:1.07, Z:0.41 [[ 9.99950418e-01 -5.52019137e-03 -8.28785249e-03 1.73618234e+02] [ 5.52037105e-03 9.99984763e-01 -1.19635211e-06 1.07102955e+00] [ 8.28773281e-03 -4.45557282e-05 9.99965655e-01 4.10236015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.65, Y:1.07, Z:0.41 [[ 9.99949325e-01 -5.71486880e-03 -8.28785220e-03 1.73646703e+02] [ 5.71504632e-03 9.99983669e-01 -2.26400871e-06 1.07098619e+00] [ 8.28772979e-03 -4.51015652e-05 9.99965655e-01 4.10472100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:1.07, Z:0.41 [[ 9.99958885e-01 -3.67971608e-03 -8.28785144e-03 1.73675124e+02] [ 3.67981033e-03 9.99993229e-01 -3.87752931e-06 1.07353228e+00] [ 8.28780960e-03 -2.66203515e-05 9.99965655e-01 4.10889292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:1.07, Z:0.41 [[ 9.99953926e-01 -4.84319637e-03 -8.28785080e-03 1.73704149e+02] [ 4.84332166e-03 9.99988271e-01 -4.95332317e-06 1.07347734e+00] [ 8.28777758e-03 -3.51876324e-05 9.99965655e-01 4.10753080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:1.07, Z:0.41 [[ 9.99940807e-01 -7.04945582e-03 -8.28785003e-03 1.73733130e+02] [ 7.04964805e-03 9.99975151e-01 -6.01936116e-06 1.07303859e+00] [ 8.28768652e-03 -5.24074209e-05 9.99965655e-01 4.11460692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:173.76, Y:1.07, Z:0.41 [[ 9.99923874e-01 -9.14095211e-03 -8.28784912e-03 1.73761846e+02] [ 9.14120736e-03 9.99958218e-01 -7.08278652e-06 1.07295470e+00] [ 8.28756758e-03 -6.86787000e-05 9.99965655e-01 4.11727360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:1.07, Z:0.41 [[ 9.99906886e-01 -1.08412034e-02 -8.28784806e-03 1.73791097e+02] [ 1.08415082e-02 9.99941229e-01 -8.15389054e-06 1.07313690e+00] [ 8.28744938e-03 -8.16996415e-05 9.99965655e-01 4.11880073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:1.07, Z:0.41 [[ 9.99869792e-01 -1.38459924e-02 -8.28784690e-03 1.73820102e+02] [ 1.38463917e-02 9.99904134e-01 -9.20522825e-06 1.07310864e+00] [ 8.28717983e-03 -1.05552744e-04 9.99965655e-01 4.12891340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.85, Y:1.07, Z:0.41 [[ 9.99855954e-01 -1.48115761e-02 -8.28784560e-03 1.73849152e+02] [ 1.48119998e-02 9.99890296e-01 -1.02530543e-05 1.07304122e+00] [ 8.28708826e-03 -1.12507990e-04 9.99965655e-01 4.13273646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:1.07, Z:0.41 [[ 9.99832930e-01 -1.62918502e-02 -8.28784416e-03 1.73877602e+02] [ 1.62923161e-02 9.99867271e-01 -1.13079257e-05 1.07179161e+00] [ 8.28692835e-03 -1.23722140e-04 9.99965655e-01 4.12635133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:1.07, Z:0.41 [[ 9.99809966e-01 -1.76449496e-02 -8.28784261e-03 1.73906450e+02] [ 1.76454533e-02 9.99844307e-01 -1.23476320e-05 1.07045000e+00] [ 8.28677013e-03 -1.33897455e-04 9.99965655e-01 4.14427270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:173.94, Y:1.07, Z:0.41 [[ 9.99806316e-01 -1.78505482e-02 -8.28784138e-03 1.73935174e+02] [ 1.78510526e-02 9.99840657e-01 -1.31252308e-05 1.06740104e+00] [ 8.28675507e-03 -1.34824003e-04 9.99965655e-01 4.13096990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:1.07, Z:0.41 [[ 9.99812215e-01 -1.75170346e-02 -8.28783958e-03 1.73964290e+02] [ 1.75175188e-02 9.99846556e-01 -1.41773538e-05 1.06642416e+00] [ 8.28681621e-03 -1.31007694e-04 9.99965655e-01 4.13231355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:1.06, Z:0.41 [[ 9.99839473e-01 -1.58852064e-02 -8.28783767e-03 1.73993544e+02] [ 1.58856259e-02 9.99873815e-01 -1.52168745e-05 1.06450688e+00] [ 8.28703360e-03 -1.16443057e-04 9.99965655e-01 4.13017606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.02, Y:1.06, Z:0.41 [[ 9.99855447e-01 -1.48457814e-02 -8.28783565e-03 1.74022163e+02] [ 1.48461567e-02 9.99889790e-01 -1.62467099e-05 1.06340775e+00] [ 8.28716344e-03 -1.06798145e-04 9.99965655e-01 4.13431131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:1.06, Z:0.41 [[ 9.99897049e-01 -1.17133752e-02 -8.28783348e-03 1.74050495e+02] [ 1.17136342e-02 9.99931393e-01 -1.72889122e-05 1.06320629e+00] [ 8.28746739e-03 -7.97935177e-05 9.99965655e-01 4.13176757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.08, Y:1.06, Z:0.41 [[ 9.99911758e-01 -1.03820974e-02 -8.28783117e-03 1.74079128e+02] [ 1.03823020e-02 9.99946102e-01 -1.83336234e-05 1.06359900e+00] [ 8.28757482e-03 -6.77147608e-05 9.99965655e-01 4.13090556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:1.06, Z:0.41 [[ 9.99926219e-01 -8.88073789e-03 -8.28782872e-03 1.74107599e+02] [ 8.88088227e-03 9.99960564e-01 -1.93816362e-05 1.06463855e+00] [ 8.28767400e-03 -5.42230250e-05 9.99965655e-01 4.13031704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:1.07, Z:0.41 [[ 9.99947849e-01 -5.96753764e-03 -8.28782613e-03 1.74136302e+02] [ 5.96757326e-03 9.99982194e-01 -2.04314014e-05 1.06734790e+00] [ 8.28780048e-03 -2.90278737e-05 9.99965655e-01 4.11779348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:1.07, Z:0.41 [[ 9.99952206e-01 -5.18631569e-03 -8.28782337e-03 1.74165248e+02] [ 5.18631565e-03 9.99986551e-01 -2.14966282e-05 1.06861963e+00] [ 8.28782339e-03 -2.14876673e-05 9.99965655e-01 4.12371998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.19, Y:1.07, Z:0.41 [[ 9.99948654e-01 -5.83100275e-03 -8.28782048e-03 1.74194114e+02] [ 5.83101605e-03 9.99982999e-01 -2.25590527e-05 1.07035285e+00] [ 8.28781112e-03 -2.57685198e-05 9.99965655e-01 4.12189638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:1.07, Z:0.41 [[ 9.99943599e-01 -6.64162375e-03 -8.28781746e-03 1.74222740e+02] [ 6.64165612e-03 9.99977944e-01 -2.36172872e-05 1.07185639e+00] [ 8.28779152e-03 -3.14288784e-05 9.99965655e-01 4.12202883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:1.07, Z:0.41 [[ 9.99942097e-01 -6.86403893e-03 -8.28781432e-03 1.74251233e+02] [ 6.86407020e-03 9.99976442e-01 -2.46721548e-05 1.07407213e+00] [ 8.28778842e-03 -3.22174131e-05 9.99965655e-01 4.12063493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:1.08, Z:0.41 [[ 9.99939952e-01 -7.16969321e-03 -8.28781102e-03 1.74280165e+02] [ 7.16972617e-03 9.99974297e-01 -2.57345781e-05 1.07866561e+00] [ 8.28778251e-03 -3.36883027e-05 9.99965655e-01 4.12576145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:1.08, Z:0.41 [[ 9.99943426e-01 -6.66765584e-03 -8.28780760e-03 1.74307974e+02] [ 6.66766279e-03 9.99977771e-01 -2.67920154e-05 1.08115852e+00] [ 8.28780201e-03 -2.84698067e-05 9.99965655e-01 4.12745917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:1.09, Z:0.41 [[ 9.99950169e-01 -5.56524931e-03 -8.28780214e-03 1.74336347e+02] [ 5.56520519e-03 9.99984514e-01 -2.83857726e-05 1.08688293e+00] [ 8.28783177e-03 -1.77389614e-05 9.99965655e-01 4.13179226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:1.09, Z:0.41 [[ 9.99956406e-01 -4.30091292e-03 -8.28779836e-03 1.74365151e+02] [ 4.30081654e-03 9.99990751e-01 -2.94518039e-05 1.08927998e+00] [ 8.28784837e-03 -6.19378022e-06 9.99965655e-01 4.12625277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:1.09, Z:0.41 [[ 9.99958249e-01 -3.84880994e-03 -8.28779440e-03 1.74394418e+02] [ 3.84868913e-03 9.99992593e-01 -3.05255514e-05 1.09120305e+00] [ 8.28785050e-03 -1.37286732e-06 9.99965655e-01 4.12676422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.42, Y:1.10, Z:0.41 [[ 9.99960477e-01 -3.21810033e-03 -8.28779033e-03 1.74422963e+02] [ 3.21794900e-03 9.99994822e-01 -3.15940106e-05 1.09513029e+00] [ 8.28784908e-03 4.92307533e-06 9.99965655e-01 4.13854000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:1.10, Z:0.41 [[ 9.99958827e-01 -3.69543348e-03 -8.28778614e-03 1.74451145e+02] [ 3.69528974e-03 9.99993172e-01 -3.26566241e-05 1.09688426e+00] [ 8.28785023e-03 2.02950841e-06 9.99965655e-01 4.13928170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:1.10, Z:0.41 [[ 9.99957097e-01 -4.13722775e-03 -8.28777950e-03 1.74480327e+02] [ 4.13708587e-03 9.99991442e-01 -3.42624648e-05 1.09790032e+00] [ 8.28785032e-03 -2.62606550e-08 9.99965655e-01 4.13778614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:174.51, Y:1.10, Z:0.41 [[ 9.99952869e-01 -5.05699076e-03 -8.28777494e-03 1.74509655e+02] [ 5.05687161e-03 9.99987213e-01 -3.53327448e-05 1.09927131e+00] [ 8.28784764e-03 -6.57913429e-06 9.99965655e-01 4.12286797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:1.10, Z:0.41 [[ 9.99953176e-01 -4.99590576e-03 -8.28777144e-03 1.74538321e+02] [ 4.99577786e-03 9.99987520e-01 -3.61346540e-05 1.10033664e+00] [ 8.28784854e-03 -5.27090308e-06 9.99965655e-01 4.12804936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:1.10, Z:0.43 [[ 9.99955675e-01 -4.46772437e-03 -8.28776669e-03 1.74568810e+02] [ 4.46756956e-03 9.99990020e-01 -3.71928820e-05 1.10101711e+00] [ 8.28785015e-03 1.65059267e-07 9.99965655e-01 4.26162207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:174.60, Y:1.10, Z:0.43 [[ 9.99951202e-01 -5.37644893e-03 -8.28782492e-03 1.74597308e+02] [ 5.37642780e-03 9.99985547e-01 -2.48296296e-05 1.10018683e+00] [ 8.28783863e-03 -1.97304744e-05 9.99965655e-01 4.25297495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:1.10, Z:0.41 [[ 9.99952566e-01 -5.11670051e-03 -8.28767766e-03 1.74627574e+02] [ 5.11641440e-03 9.99986910e-01 -5.57239360e-05 1.09959295e+00] [ 8.28785430e-03 1.33180994e-05 9.99965655e-01 4.12800163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:1.10, Z:0.41 [[ 9.99943152e-01 -6.70863931e-03 -8.28775125e-03 1.74656062e+02] [ 6.70853187e-03 9.99977497e-01 -4.07633906e-05 1.09789943e+00] [ 8.28783821e-03 -1.48375701e-05 9.99965655e-01 4.12752126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:1.10, Z:0.41 [[ 9.99938884e-01 -7.31718847e-03 -8.28774586e-03 1.74685106e+02] [ 7.31709308e-03 9.99973229e-01 -4.18318441e-05 1.09646514e+00] [ 8.28783007e-03 -1.88129203e-05 9.99965655e-01 4.12998749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:1.09, Z:0.41 [[ 9.99934545e-01 -7.88795485e-03 -8.28774037e-03 1.74714415e+02] [ 7.88787028e-03 9.99968889e-01 -4.28918559e-05 1.09424146e+00] [ 8.28782086e-03 -2.24835725e-05 9.99965655e-01 4.12315554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:1.09, Z:0.41 [[ 9.99940594e-01 -7.07975785e-03 -8.28772924e-03 1.74743160e+02] [ 7.07962850e-03 9.99974938e-01 -4.49446243e-05 1.09374772e+00] [ 8.28783973e-03 -1.37320899e-05 9.99965655e-01 4.12691544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:174.77, Y:1.09, Z:0.41 [[ 9.99946733e-01 -6.15177926e-03 -8.28772334e-03 1.74771863e+02] [ 6.15160923e-03 9.99981078e-01 -4.60070363e-05 1.09334754e+00] [ 8.28784954e-03 -4.97824974e-06 9.99965655e-01 4.13504210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:1.09, Z:0.41 [[ 9.99952891e-01 -5.05259187e-03 -8.28771731e-03 1.74800942e+02] [ 5.05237529e-03 9.99987236e-01 -4.70686459e-05 1.09114337e+00] [ 8.28784934e-03 5.19377037e-06 9.99965655e-01 4.14345018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:1.09, Z:0.41 [[ 9.99954612e-01 -4.69981458e-03 -8.28771110e-03 1.74829717e+02] [ 4.69957703e-03 9.99988956e-01 -4.81370949e-05 1.08920850e+00] [ 8.28784581e-03 9.18617331e-06 9.99965655e-01 4.13520560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:1.09, Z:0.41 [[ 9.99951222e-01 -5.37276603e-03 -8.28770475e-03 1.74857516e+02] [ 5.37254272e-03 9.99985567e-01 -4.92073658e-05 1.08895355e+00] [ 8.28784951e-03 4.67891775e-06 9.99965655e-01 4.14089727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:1.09, Z:0.41 [[ 9.99945378e-01 -6.36821561e-03 -8.28769492e-03 1.74886028e+02] [ 6.36801322e-03 9.99979723e-01 -5.08101616e-05 1.08811387e+00] [ 8.28785044e-03 -1.96876452e-06 9.99965655e-01 4.13749307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.91, Y:1.08, Z:0.41 [[ 9.99932502e-01 -8.14288247e-03 -8.28768823e-03 1.74914932e+02] [ 8.14273217e-03 9.99966846e-01 -5.18788041e-05 1.08476822e+00] [ 8.28783591e-03 -1.56091232e-05 9.99965655e-01 4.14135577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:1.08, Z:0.41 [[ 9.99920852e-01 -9.46597447e-03 -8.28768145e-03 1.74943763e+02] [ 9.46586081e-03 9.99955196e-01 -5.29404091e-05 1.08330002e+00] [ 8.28781127e-03 -2.55138201e-05 9.99965655e-01 4.14904455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:174.97, Y:1.08, Z:0.43 [[ 9.99926012e-01 -8.90421348e-03 -8.28767456e-03 1.74974417e+02] [ 8.90407176e-03 9.99960357e-01 -5.39984328e-05 1.08205131e+00] [ 8.28782682e-03 -1.97996115e-05 9.99965655e-01 4.31269405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:175.00, Y:1.08, Z:0.43 [[ 9.99929269e-01 -8.53025829e-03 -8.28801686e-03 1.75003985e+02] [ 8.53054069e-03 9.99963614e-01 -1.27819357e-06 1.08082379e+00] [ 8.28772620e-03 -6.94231619e-05 9.99965654e-01 4.29917359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:175.03, Y:1.08, Z:0.42 [[ 9.99910178e-01 -1.05329423e-02 -8.28812478e-03 1.75032342e+02] [ 1.05334266e-02 9.99944522e-01 1.47825701e-05 1.07887801e+00] [ 8.28750927e-03 -1.02083597e-04 9.99965653e-01 4.15132385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:175.06, Y:1.07, Z:0.41 [[ 9.99918822e-01 -9.67811490e-03 -8.28760479e-03 1.75061629e+02] [ 9.67796103e-03 9.99953166e-01 -5.86712551e-05 1.07496850e+00] [ 8.28778448e-03 -2.15406240e-05 9.99965655e-01 4.14609537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:175.09, Y:1.07, Z:0.41 [[ 9.99919153e-01 -9.64383267e-03 -8.28759712e-03 1.75089987e+02] [ 9.64366881e-03 9.99953497e-01 -5.97354528e-05 1.07265068e+00] [ 8.28778780e-03 -2.01922185e-05 9.99965655e-01 4.14518679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:175.12, Y:1.07, Z:0.42 [[ 9.99914100e-01 -1.01542597e-02 -8.28758531e-03 1.75119207e+02] [ 1.01541002e-02 9.99948444e-01 -6.13318714e-05 1.06799545e+00] [ 8.28778081e-03 -2.28263684e-05 9.99965655e-01 4.15456227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:175.15, Y:1.07, Z:0.42 [[ 9.99911922e-01 -1.03665109e-02 -8.28757725e-03 1.75148193e+02] [ 1.03663497e-02 9.99946266e-01 -6.24021258e-05 1.06579000e+00] [ 8.28777882e-03 -2.35152944e-05 9.99965655e-01 4.16186089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:175.18, Y:1.06, Z:0.43 [[ 9.99935389e-01 -7.78031340e-03 -8.28756907e-03 1.75179246e+02] [ 7.78005457e-03 9.99969733e-01 -6.34705565e-05 1.06210600e+00] [ 8.28781205e-03 -1.01128392e-06 9.99965655e-01 4.29902951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:175.21, Y:1.06, Z:0.43 [[ 9.99927661e-01 -8.71656383e-03 -8.28823302e-03 1.75208327e+02] [ 8.71705057e-03 9.99962006e-01 2.26027481e-05 1.05996560e+00] [ 8.28772109e-03 -9.48500594e-05 9.99965652e-01 4.27341798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:175.24, Y:1.06, Z:0.42 [[ 9.99905888e-01 -1.09325083e-02 -8.28826240e-03 1.75236411e+02] [ 1.09331009e-02 9.99940232e-01 2.61916660e-05 1.05651144e+00] [ 8.28748068e-03 -1.16805610e-04 9.99965651e-01 4.16631129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:175.27, Y:1.06, Z:0.43 [[ 9.99932797e-01 -8.10685167e-03 -8.28740443e-03 1.75267997e+02] [ 8.10653138e-03 9.99967139e-01 -7.22398869e-05 1.05576058e+00] [ 8.28771773e-03 5.05292809e-06 9.99965656e-01 4.29781336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48864 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:175.30, Y:1.06, Z:0.43 [[ 9.99939509e-01 -7.23086352e-03 -8.28817071e-03 1.75297015e+02] [ 7.23123763e-03 9.99973854e-01 1.51710745e-05 1.05545477e+00] [ 8.28784430e-03 -7.51038887e-05 9.99965652e-01 4.30694985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:175.33, Y:1.06, Z:0.43 [[ 9.99952802e-01 -5.06965953e-03 -8.28807167e-03 1.75325668e+02] [ 5.06986888e-03 9.99987148e-01 4.24941841e-06 1.05518408e+00] [ 8.28794361e-03 -4.62686545e-05 9.99965653e-01 4.29717518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:175.36, Y:1.06, Z:0.43 [[ 9.99961102e-01 -3.01768674e-03 -8.28782567e-03 1.75355538e+02] [ 3.01761206e-03 9.99995447e-01 -2.15151679e-05 1.05523922e+00] [ 8.28785286e-03 -3.49511174e-06 9.99965655e-01 4.29917794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:175.38, Y:1.06, Z:0.42 [[ 9.99954365e-01 -4.75091502e-03 -8.28832172e-03 1.75382749e+02] [ 4.75132648e-03 9.99988712e-01 2.99536415e-05 1.05563609e+00] [ 8.28808586e-03 -6.93327970e-05 9.99965651e-01 4.17641746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:175.41, Y:1.06, Z:0.43 [[ 9.99963011e-01 -2.30180207e-03 -8.28718208e-03 1.75414655e+02] [ 2.30119031e-03 9.99997349e-01 -8.33550349e-05 1.05634248e+00] [ 8.28735198e-03 6.42815686e-05 9.99965657e-01 4.30237884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:175.44, Y:1.06, Z:0.42 [[ 9.99954837e-01 -4.65086411e-03 -8.28809445e-03 1.75442890e+02] [ 4.65107224e-03 9.99989184e-01 5.83694611e-06 1.05620921e+00] [ 8.28797765e-03 -4.43852085e-05 9.99965653e-01 4.18882955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:175.47, Y:1.06, Z:0.43 [[ 9.99962651e-01 -2.45371246e-03 -8.28708666e-03 1.75474170e+02] [ 2.45306314e-03 9.99996987e-01 -8.85172349e-05 1.05731881e+00] [ 8.28727888e-03 6.81851820e-05 9.99965658e-01 4.32583701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:175.50, Y:1.06, Z:0.43 [[ 9.99963472e-01 -2.08980234e-03 -8.28781250e-03 1.75503970e+02] [ 2.08970516e-03 9.99997816e-01 -2.03860701e-05 1.05862399e+00] [ 8.28783701e-03 3.06624094e-06 9.99965655e-01 4.31070190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:175.53, Y:1.06, Z:0.43 [[ 9.99962379e-01 -2.55943226e-03 -8.28792574e-03 1.75532251e+02] [ 2.55943511e-03 9.99996725e-01 -1.02624328e-05 1.05876177e+00] [ 8.28792486e-03 -1.09503614e-05 9.99965655e-01 4.31303573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:175.56, Y:1.06, Z:0.43 [[ 9.99960464e-01 -3.22199824e-03 -8.28787971e-03 1.75559815e+02] [ 3.22199110e-03 9.99994809e-01 -1.42135354e-05 1.06177841e+00] [ 8.28788249e-03 -1.24905011e-05 9.99965655e-01 4.31283855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864000000002 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:175.59, Y:1.06, Z:0.43 [[ 9.99955275e-01 -4.55645002e-03 -8.28769428e-03 1.75589037e+02] [ 4.55636422e-03 9.99989619e-01 -2.92333185e-05 1.06260486e+00] [ 8.28774145e-03 -8.52974264e-06 9.99965656e-01 4.31359117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81864000000002 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:175.62, Y:1.06, Z:0.43 [[ 9.99947526e-01 -6.02155435e-03 -8.28771045e-03 1.75617980e+02] [ 6.02152938e-03 9.99981870e-01 -2.79665054e-05 1.06389219e+00] [ 8.28772860e-03 -2.19396541e-05 9.99965656e-01 4.31331946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864000000002 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:175.65, Y:1.07, Z:0.43 [[ 9.99936401e-01 -7.64932525e-03 -8.28747125e-03 1.75646268e+02] [ 7.64920943e-03 9.99970743e-01 -4.56728742e-05 1.06525747e+00] [ 8.28757816e-03 -1.77226338e-05 9.99965657e-01 4.31699687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87864000000002 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:175.67, Y:1.07, Z:0.43 [[ 9.99893561e-01 -1.20078437e-02 -8.28727703e-03 1.75673914e+02] [ 1.20077599e-02 9.99927902e-01 -5.98646403e-05 1.06777161e+00] [ 8.28739838e-03 -3.96533645e-05 9.99965658e-01 4.30779438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864000000002 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:175.70, Y:1.07, Z:0.43 [[ 9.99840286e-01 -1.58344903e-02 -8.28688016e-03 1.75702822e+02] [ 1.58343050e-02 9.99874626e-01 -8.79810620e-05 1.06938460e+00] [ 8.28723433e-03 -4.32499776e-05 9.99965659e-01 4.31579440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93864000000002 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:175.73, Y:1.07, Z:0.43 [[ 9.99814709e-01 -1.73745608e-02 -8.28692221e-03 1.75731066e+02] [ 1.73744524e-02 9.99849049e-01 -8.50697721e-05 1.07051279e+00] [ 8.28714934e-03 -5.89267264e-05 9.99965659e-01 4.32133905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:175.76, Y:1.07, Z:0.42 [[ 9.99783988e-01 -1.90605682e-02 -8.28681958e-03 1.75760428e+02] [ 1.90604598e-02 9.99818329e-01 -9.20743723e-05 1.07201890e+00] [ 8.28706909e-03 -6.58961079e-05 9.99965659e-01 4.18597027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:175.79, Y:1.07, Z:0.42 [[ 9.99775171e-01 -1.95177617e-02 -8.28637335e-03 1.75788697e+02] [ 1.95174184e-02 9.99809510e-01 -1.22306688e-04 1.07482213e+00] [ 8.28718203e-03 -3.94494254e-05 9.99965660e-01 4.20213907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:175.82, Y:1.08, Z:0.42 [[ 9.99778066e-01 -1.93688974e-02 -8.28635747e-03 1.75817745e+02] [ 1.93685401e-02 9.99812405e-01 -1.23373343e-04 1.07639442e+00] [ 8.28719259e-03 -3.71486846e-05 9.99965660e-01 4.19930487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05864 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:175.85, Y:1.08, Z:0.43 [[ 9.99807168e-01 -1.78034559e-02 -8.28634146e-03 1.75847789e+02] [ 1.78030360e-02 9.99841506e-01 -1.24439187e-04 1.07770816e+00] [ 8.28724357e-03 -2.31068443e-05 9.99965660e-01 4.34489750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:175.88, Y:1.08, Z:0.42 [[ 9.99828673e-01 -1.65516495e-02 -8.28664280e-03 1.75877495e+02] [ 1.65513538e-02 9.99863012e-01 -1.04265801e-04 1.08079123e+00] [ 8.28723339e-03 -3.29072188e-05 9.99965660e-01 4.20929112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11864 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:175.91, Y:1.08, Z:0.43 [[ 9.99865642e-01 -1.41433495e-02 -8.28632505e-03 1.75907576e+02] [ 1.41427969e-02 9.99899978e-01 -1.25281813e-04 1.08270883e+00] [ 8.28726814e-03 8.07316815e-06 9.99965660e-01 4.34353091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:175.94, Y:1.08, Z:0.43 [[ 9.99861465e-01 -1.44353570e-02 -8.28677657e-03 1.75936623e+02] [ 1.44350611e-02 9.99895805e-01 -9.55219901e-05 1.08400167e+00] [ 8.28729202e-03 -2.41113688e-05 9.99965660e-01 4.34500398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:175.97, Y:1.09, Z:0.44 [[ 9.99839929e-01 -1.58572096e-02 -8.28644997e-03 1.75965005e+02] [ 1.58567876e-02 9.99874266e-01 -1.16621794e-04 1.08554087e+00] [ 8.28725739e-03 -1.47933509e-05 9.99965660e-01 4.35362037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:175.99, Y:1.09, Z:0.44 [[ 9.99826088e-01 -1.67072925e-02 -8.28615653e-03 1.75993888e+02] [ 1.67067452e-02 9.99860423e-01 -1.35273497e-04 1.08681077e+00] [ 8.28726003e-03 -3.18473388e-06 9.99965660e-01 4.36634463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:176.02, Y:1.09, Z:0.44 [[ 9.99826248e-01 -1.66979403e-02 -8.28564387e-03 1.76023805e+02] [ 1.66971212e-02 9.99860579e-01 -1.68019237e-04 1.08856767e+00] [ 8.28729425e-03 2.96436432e-05 9.99965659e-01 4.35788027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:176.05, Y:1.09, Z:0.44 [[ 9.99845821e-01 -1.54817368e-02 -8.28553623e-03 1.76053131e+02] [ 1.54808182e-02 9.99880150e-01 -1.74997433e-04 1.08976737e+00] [ 8.28725247e-03 4.67035719e-05 9.99965659e-01 4.35798264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29864 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:176.08, Y:1.09, Z:0.44 [[ 9.99819193e-01 -1.71151659e-02 -8.28572584e-03 1.76080664e+02] [ 1.71144066e-02 9.99853525e-01 -1.62540310e-04 1.09115988e+00] [ 8.28729409e-03 2.07056409e-05 9.99965660e-01 4.37159968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32864 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:176.11, Y:1.09, Z:0.44 [[ 9.99835273e-01 -1.61488070e-02 -8.28506274e-03 1.76109791e+02] [ 1.61476564e-02 9.99869597e-01 -2.05753797e-04 1.09389470e+00] [ 8.28730502e-03 7.19355581e-05 9.99965657e-01 4.35172548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:176.14, Y:1.10, Z:0.44 [[ 9.99851350e-01 -1.51207747e-02 -8.28490624e-03 1.76138859e+02] [ 1.51195052e-02 9.99885670e-01 -2.15845748e-04 1.09506326e+00] [ 8.28722279e-03 9.05499795e-05 9.99965656e-01 4.36374274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:176.17, Y:1.10, Z:0.42 [[ 9.99883755e-01 -1.27998400e-02 -8.28501240e-03 1.76170583e+02] [ 1.27985487e-02 9.99918073e-01 -2.08851297e-04 1.09557877e+00] [ 8.28700690e-03 1.02790884e-04 9.99965657e-01 4.23894384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:176.20, Y:1.10, Z:0.42 [[ 9.99868636e-01 -1.39300911e-02 -8.28627951e-03 1.76199475e+02] [ 1.39295372e-02 9.99902972e-01 -1.24558685e-04 1.09590684e+00] [ 8.28721062e-03 9.11828372e-06 9.99965660e-01 4.24566825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:176.23, Y:1.10, Z:0.43 [[ 9.99853762e-01 -1.49596861e-02 -8.28626336e-03 1.76227790e+02] [ 1.49591587e-02 9.99888098e-01 -1.25624324e-04 1.09658715e+00] [ 8.28721540e-03 1.65042409e-06 9.99965660e-01 4.25845915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:176.25, Y:1.10, Z:0.44 [[ 9.99756392e-01 -2.04571479e-02 -8.28624284e-03 1.76253793e+02] [ 2.04567982e-02 9.99790730e-01 -1.26963377e-04 1.09635784e+00] [ 8.28710608e-03 -4.25775502e-05 9.99965660e-01 4.38736424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.29, Y:1.09, Z:0.43 [[ 9.99779521e-01 -1.92944791e-02 -8.28445554e-03 1.76287202e+02] [ 1.92931369e-02 9.99813841e-01 -2.41911989e-04 1.09421082e+00] [ 8.28758088e-03 8.20255180e-05 9.99965654e-01 4.25763298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.31, Y:1.09, Z:0.44 [[ 9.99707372e-01 -2.27268495e-02 -8.28621958e-03 1.76314169e+02] [ 2.27265970e-02 9.99741710e-01 -1.24641282e-04 1.09323611e+00] [ 8.28691203e-03 -6.37127647e-05 9.99965661e-01 4.40368892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:1.09, Z:0.43 [[ 9.99719460e-01 -2.21892133e-02 -8.28495462e-03 1.76346211e+02] [ 2.21882491e-02 9.99753789e-01 -2.08292598e-04 1.09249972e+00] [ 8.28753662e-03 2.44055263e-05 9.99965657e-01 4.27198396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:1.09, Z:0.43 [[ 9.99661256e-01 -2.46720789e-02 -8.28622751e-03 1.76375198e+02] [ 2.46719197e-02 9.99695594e-01 -1.21444129e-04 1.08924428e+00] [ 8.28670142e-03 -8.30341494e-05 9.99965661e-01 4.27128788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.40, Y:1.09, Z:0.44 [[ 9.99608482e-01 -2.67249046e-02 -8.28621201e-03 1.76404348e+02] [ 2.67248073e-02 9.99642821e-01 -1.22492719e-04 1.08560047e+00] [ 8.28652596e-03 -9.90026582e-05 9.99965661e-01 4.39365071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:1.08, Z:0.43 [[ 9.99626504e-01 -2.60422616e-02 -8.28572753e-03 1.76435598e+02] [ 2.60418686e-02 9.99660841e-01 -1.55336879e-04 1.08368057e+00] [ 8.28696267e-03 -6.04969661e-05 9.99965661e-01 4.28299032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.46, Y:1.08, Z:0.43 [[ 9.99629740e-01 -2.59176018e-02 -8.28621625e-03 1.76464024e+02] [ 2.59174792e-02 9.99664078e-01 -1.22196099e-04 1.08221830e+00] [ 8.28659976e-03 -9.26069825e-05 9.99965661e-01 4.28090664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:1.08, Z:0.43 [[ 9.99631451e-01 -2.58515265e-02 -8.28620063e-03 1.76492884e+02] [ 2.58513929e-02 9.99665789e-01 -1.23246443e-04 1.08101516e+00] [ 8.28661740e-03 -9.10088072e-05 9.99965661e-01 4.27850457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:176.52, Y:1.08, Z:0.44 [[ 9.99628856e-01 -2.59516605e-02 -8.28618481e-03 1.76520498e+02] [ 2.59515216e-02 9.99663195e-01 -1.24300913e-04 1.07926983e+00] [ 8.28661980e-03 -9.07843248e-05 9.99965661e-01 4.40560190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.55, Y:1.08, Z:0.43 [[ 9.99693832e-01 -2.33151446e-02 -8.28525295e-03 1.76551490e+02] [ 2.33144006e-02 9.99728165e-01 -1.86373996e-04 1.07758252e+00] [ 8.28734607e-03 -6.84877279e-06 9.99965659e-01 4.28805300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:1.08, Z:0.43 [[ 9.99707766e-01 -2.27095062e-02 -8.28620166e-03 1.76580640e+02] [ 2.27092761e-02 9.99742104e-01 -1.21870597e-04 1.07562911e+00] [ 8.28683230e-03 -6.63386594e-05 9.99965661e-01 4.29130317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:176.61, Y:1.07, Z:0.44 [[ 9.99649123e-01 -2.51589060e-02 -8.28618588e-03 1.76607833e+02] [ 2.51587512e-02 9.99683461e-01 -1.22934613e-04 1.07359682e+00] [ 8.28665588e-03 -8.55786110e-05 9.99965661e-01 4.41892320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:176.64, Y:1.07, Z:0.44 [[ 9.99697471e-01 -2.31587693e-02 -8.28485302e-03 1.76638065e+02] [ 2.31578210e-02 9.99731800e-01 -2.10385730e-04 1.07230726e+00] [ 8.28750329e-03 1.84629392e-05 9.99965658e-01 4.42784174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:1.07, Z:0.43 [[ 9.99706946e-01 -2.27458181e-02 -8.28555825e-03 1.76668852e+02] [ 2.27452446e-02 9.99741280e-01 -1.63455765e-04 1.07311475e+00] [ 8.28713255e-03 -2.50491858e-05 9.99965661e-01 4.29426150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:1.07, Z:0.43 [[ 9.99709872e-01 -2.26166261e-02 -8.28616411e-03 1.76697703e+02] [ 2.26163879e-02 9.99744209e-01 -1.22462024e-04 1.07278811e+00] [ 8.28681426e-03 -6.49766076e-05 9.99965662e-01 4.28705312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:1.07, Z:0.43 [[ 9.99708178e-01 -2.26913888e-02 -8.28614833e-03 1.76726168e+02] [ 2.26911444e-02 9.99742515e-01 -1.23520842e-04 1.07191231e+00] [ 8.28681763e-03 -6.45373926e-05 9.99965662e-01 4.29594005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:1.07, Z:0.43 [[ 9.99726722e-01 -2.18591054e-02 -8.28613229e-03 1.76754997e+02] [ 2.18588235e-02 9.99761060e-01 -1.24587467e-04 1.07164249e+00] [ 8.28687577e-03 -5.65716830e-05 9.99965662e-01 4.30093011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:1.07, Z:0.44 [[ 9.99766044e-01 -1.99799272e-02 -8.28611618e-03 1.76782983e+02] [ 1.99795720e-02 9.99800381e-01 -1.25649867e-04 1.07215202e+00] [ 8.28697258e-03 -3.99325844e-05 9.99965662e-01 4.42836198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:1.07, Z:0.44 [[ 9.99796855e-01 -1.83736009e-02 -8.28605534e-03 1.76811613e+02] [ 1.83731578e-02 9.99831191e-01 -1.29605647e-04 1.07442464e+00] [ 8.28703790e-03 -2.26616841e-05 9.99965662e-01 4.42446661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:1.08, Z:0.43 [[ 9.99802122e-01 -1.80848020e-02 -8.28597813e-03 1.76841500e+02] [ 1.80843075e-02 9.99836456e-01 -1.34604785e-04 1.07651056e+00] [ 8.28705731e-03 -1.52680266e-05 9.99965662e-01 4.28817875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:1.08, Z:0.43 [[ 9.99822692e-01 -1.69093234e-02 -8.28606497e-03 1.76870434e+02] [ 1.69088347e-02 9.99857027e-01 -1.29027886e-04 1.07896430e+00] [ 8.28706206e-03 -1.11026945e-05 9.99965662e-01 4.28392851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:1.08, Z:0.44 [[ 9.99844046e-01 -1.55957002e-02 -8.28604827e-03 1.76899465e+02] [ 1.55951576e-02 9.99878380e-01 -1.30091885e-04 1.08096585e+00] [ 8.28706939e-03 8.49367870e-07 9.99965662e-01 4.42861984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:1.08, Z:0.44 [[ 9.99873668e-01 -1.35642906e-02 -8.28606586e-03 1.76928691e+02] [ 1.35636875e-02 9.99908001e-01 -1.28978311e-04 1.08499888e+00] [ 8.28705304e-03 1.65724094e-05 9.99965662e-01 4.41622417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.96, Y:1.09, Z:0.43 [[ 9.99878163e-01 -1.32287628e-02 -8.28609447e-03 1.76959055e+02] [ 1.32281630e-02 9.99912496e-01 -1.27188712e-04 1.08850415e+00] [ 8.28705195e-03 1.75634076e-05 9.99965662e-01 4.29135773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:1.09, Z:0.43 [[ 9.99884112e-01 -1.27712136e-02 -8.28601381e-03 1.76987747e+02] [ 1.27705562e-02 9.99918444e-01 -1.32242324e-04 1.09484407e+00] [ 8.28702694e-03 2.64099937e-05 9.99965662e-01 4.28911346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:1.10, Z:0.43 [[ 9.99880965e-01 -1.30152923e-02 -8.28599647e-03 1.77016100e+02] [ 1.30146344e-02 9.99915297e-01 -1.33320351e-04 1.09790972e+00] [ 8.28702982e-03 2.54652671e-05 9.99965662e-01 4.28792087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:1.10, Z:0.43 [[ 9.99878050e-01 -1.32373862e-02 -8.28597907e-03 1.77045150e+02] [ 1.32367270e-02 9.99912382e-01 -1.34393242e-04 1.10060225e+00] [ 8.28703208e-03 2.46976102e-05 9.99965662e-01 4.29131208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:1.11, Z:0.44 [[ 9.99839103e-01 -1.59094450e-02 -8.28596132e-03 1.77074367e+02] [ 1.59088686e-02 9.99873437e-01 -1.35478523e-04 1.10554910e+00] [ 8.28706801e-03 3.63645544e-06 9.99965662e-01 4.39276178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:1.11, Z:0.44 [[ 9.99802166e-01 -1.80822619e-02 -8.28613539e-03 1.77102403e+02] [ 1.80818472e-02 9.99836502e-01 -1.24964158e-04 1.10810972e+00] [ 8.28704026e-03 -2.48891979e-05 9.99965662e-01 4.44397462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:177.13, Y:1.11, Z:0.44 [[ 9.99707943e-01 -2.27019292e-02 -8.28556386e-03 1.77132281e+02] [ 2.27013879e-02 9.99742278e-01 -1.59378680e-04 1.11135409e+00] [ 8.28704669e-03 -2.87616669e-05 9.99965661e-01 4.43666806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:1.11, Z:0.43 [[ 9.99655771e-01 -2.48935288e-02 -8.28563793e-03 1.77162824e+02] [ 2.48930997e-02 9.99690107e-01 -1.54936603e-04 1.11266617e+00] [ 8.28692718e-03 -5.13719408e-05 9.99965662e-01 4.28452352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:1.11, Z:0.43 [[ 9.99572465e-01 -2.80397863e-02 -8.28593423e-03 1.77192103e+02] [ 2.80396138e-02 9.99606803e-01 -1.37018436e-04 1.11286601e+00] [ 8.28651819e-03 -9.53745395e-05 9.99965662e-01 4.29543376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.22, Y:1.11, Z:0.43 [[ 9.99431307e-01 -3.26864864e-02 -8.28591698e-03 1.77221364e+02] [ 3.26864649e-02 9.99465645e-01 -1.38053705e-04 1.11225901e+00] [ 8.28600185e-03 -1.32862139e-04 9.99965662e-01 4.30532854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:1.11, Z:0.43 [[ 9.99383459e-01 -3.41181076e-02 -8.28589970e-03 1.77250675e+02] [ 3.41181267e-02 9.99417798e-01 -1.39083119e-04 1.11205053e+00] [ 8.28582088e-03 -1.43702007e-04 9.99965662e-01 4.30044717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:1.11, Z:0.43 [[ 9.99329253e-01 -3.56705549e-02 -8.28588240e-03 1.77279548e+02] [ 3.56706189e-02 9.99363591e-01 -1.40106177e-04 1.11017878e+00] [ 8.28560686e-03 -1.55550352e-04 9.99965662e-01 4.30896759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:1.11, Z:0.43 [[ 9.99319911e-01 -3.59313225e-02 -8.28586496e-03 1.77309130e+02] [ 3.59313870e-02 9.99354249e-01 -1.41129978e-04 1.10940155e+00] [ 8.28558535e-03 -1.56688624e-04 9.99965662e-01 4.31161320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:1.11, Z:0.43 [[ 9.99317695e-01 -3.59929126e-02 -8.28585626e-03 1.77339273e+02] [ 3.59929750e-02 9.99352033e-01 -1.41638978e-04 1.10990032e+00] [ 8.28558530e-03 -1.56690281e-04 9.99965662e-01 4.31411219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:1.11, Z:0.43 [[ 9.99318947e-01 -3.59581248e-02 -8.28584750e-03 1.77368421e+02] [ 3.59581817e-02 9.99353285e-01 -1.42149634e-04 1.10929921e+00] [ 8.28560036e-03 -1.55891187e-04 9.99965662e-01 4.32297949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:1.11, Z:0.43 [[ 9.99358830e-01 -3.48320700e-02 -8.28583427e-03 1.77397273e+02] [ 3.48320819e-02 9.99393169e-01 -1.42916846e-04 1.10681921e+00] [ 8.28578425e-03 -1.45787646e-04 9.99965662e-01 4.32473188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:1.11, Z:0.43 [[ 9.99348993e-01 -3.51131814e-02 -8.28581642e-03 1.77426210e+02] [ 3.51131944e-02 9.99383331e-01 -1.43943992e-04 1.10501896e+00] [ 8.28576115e-03 -1.47091199e-04 9.99965662e-01 4.31560772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:1.10, Z:0.43 [[ 9.99343369e-01 -3.52728825e-02 -8.28579849e-03 1.77454961e+02] [ 3.52728925e-02 9.99377707e-01 -1.44969278e-04 1.10084968e+00] [ 8.28575578e-03 -1.47389993e-04 9.99965662e-01 4.30997807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:1.10, Z:0.43 [[ 9.99314731e-01 -3.60751284e-02 -8.28578039e-03 1.77483685e+02] [ 3.60751575e-02 9.99349069e-01 -1.45996420e-04 1.10013761e+00] [ 8.28565376e-03 -1.53014459e-04 9.99965662e-01 4.30798280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.51, Y:1.10, Z:0.43 [[ 9.99343508e-01 -3.52689506e-02 -8.28576225e-03 1.77512521e+02] [ 3.52689435e-02 9.99377846e-01 -1.47018541e-04 1.10056094e+00] [ 8.28579242e-03 -1.45308057e-04 9.99965662e-01 4.32270633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:1.10, Z:0.43 [[ 9.99383886e-01 -3.41056455e-02 -8.28574396e-03 1.77541029e+02] [ 3.41055900e-02 9.99418224e-01 -1.48042327e-04 1.10101469e+00] [ 8.28597259e-03 -1.34639070e-04 9.99965662e-01 4.32479941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:1.10, Z:0.43 [[ 9.99420137e-01 -3.30263022e-02 -8.28572534e-03 1.77570018e+02] [ 3.30262010e-02 9.99454475e-01 -1.49077388e-04 1.10059324e+00] [ 8.28612874e-03 -1.24655087e-04 9.99965662e-01 4.34177301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:1.10, Z:0.43 [[ 9.99445260e-01 -3.22570766e-02 -8.28570667e-03 1.77598896e+02] [ 3.22569404e-02 9.99479598e-01 -1.50107714e-04 1.10067414e+00] [ 8.28623681e-03 -1.17247104e-04 9.99965662e-01 4.33465413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:1.10, Z:0.43 [[ 9.99481645e-01 -3.11092937e-02 -8.28568765e-03 1.77627787e+02] [ 3.11091094e-02 9.99515983e-01 -1.51150419e-04 1.10073925e+00] [ 8.28637942e-03 -1.06688294e-04 9.99965662e-01 4.33778613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:1.10, Z:0.43 [[ 9.99464412e-01 -3.16581136e-02 -8.28566853e-03 1.77656324e+02] [ 3.16579395e-02 9.99498750e-01 -1.52191392e-04 1.09889442e+00] [ 8.28633343e-03 -1.10197313e-04 9.99965662e-01 4.31736700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:1.10, Z:0.43 [[ 9.99428364e-01 -3.27764061e-02 -8.28564931e-03 1.77685409e+02] [ 3.27762618e-02 9.99462702e-01 -1.53230823e-04 1.09813772e+00] [ 8.28621980e-03 -1.18429380e-04 9.99965662e-01 4.31961124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.71, Y:1.10, Z:0.43 [[ 9.99334136e-01 -3.55335372e-02 -8.28562999e-03 1.77714357e+02] [ 3.55334792e-02 9.99368475e-01 -1.54268348e-04 1.09694170e+00] [ 8.28587910e-03 -1.40251634e-04 9.99965662e-01 4.33001312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:1.10, Z:0.43 [[ 9.99290697e-01 -3.67348737e-02 -8.28561063e-03 1.77743653e+02] [ 3.67348484e-02 9.99325036e-01 -1.55300931e-04 1.09590505e+00] [ 8.28572310e-03 -1.49179874e-04 9.99965662e-01 4.33007605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:1.09, Z:0.43 [[ 9.99260867e-01 -3.75375583e-02 -8.28559126e-03 1.77772418e+02] [ 3.75375520e-02 9.99295206e-01 -1.56327869e-04 1.09416827e+00] [ 8.28561979e-03 -1.54808490e-04 9.99965662e-01 4.32436689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:1.09, Z:0.43 [[ 9.99162973e-01 -4.00587329e-02 -8.28557152e-03 1.77801713e+02] [ 4.00588046e-02 9.99197312e-01 -1.57367106e-04 1.09012719e+00] [ 8.28522471e-03 -1.74674705e-04 9.99965662e-01 4.32264253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:1.09, Z:0.43 [[ 9.99113151e-01 -4.12826898e-02 -8.28555192e-03 1.77830110e+02] [ 4.12827951e-02 9.99147489e-01 -1.58392541e-04 1.08893569e+00] [ 8.28502727e-03 -1.83798671e-04 9.99965662e-01 4.32747266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:1.08, Z:0.43 [[ 9.99040512e-01 -4.30047086e-02 -8.28553737e-03 1.77858562e+02] [ 4.30048668e-02 9.99074850e-01 -1.59150016e-04 1.08475579e+00] [ 8.28471620e-03 -1.97321118e-04 9.99965662e-01 4.31749942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:1.08, Z:0.43 [[ 9.99025093e-01 -4.33614369e-02 -8.28551761e-03 1.77887764e+02] [ 4.33615989e-02 9.99059431e-01 -1.60172285e-04 1.08220340e+00] [ 8.28466980e-03 -1.99257160e-04 9.99965662e-01 4.32670208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:1.08, Z:0.43 [[ 9.99031231e-01 -4.32197804e-02 -8.28550277e-03 1.77916709e+02] [ 4.32199312e-02 9.99065569e-01 -1.60935998e-04 1.08068295e+00] [ 8.28471616e-03 -1.97318771e-04 9.99965662e-01 4.33233387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:1.08, Z:0.43 [[ 9.99072043e-01 -4.22658762e-02 -8.28548269e-03 1.77945284e+02] [ 4.22659857e-02 9.99106381e-01 -1.61963104e-04 1.07686104e+00] [ 8.28492414e-03 -1.88381284e-04 9.99965662e-01 4.33440419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:1.07, Z:0.43 [[ 9.99095471e-01 -4.17084134e-02 -8.28546255e-03 1.77973699e+02] [ 4.17084953e-02 9.99129809e-01 -1.62986855e-04 1.07459689e+00] [ 8.28505054e-03 -1.82734747e-04 9.99965662e-01 4.34540726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:1.07, Z:0.44 [[ 9.99180880e-01 -3.96095897e-02 -8.28544231e-03 1.78002686e+02] [ 3.96095910e-02 9.99215219e-01 -1.64009679e-04 1.06956962e+00] [ 8.28543640e-03 -1.64307645e-04 9.99965662e-01 4.35176542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:1.07, Z:0.44 [[ 9.99246392e-01 -3.79209786e-02 -8.28542192e-03 1.78031538e+02] [ 3.79209133e-02 9.99280730e-01 -1.65033426e-04 1.06844782e+00] [ 8.28572069e-03 -1.49281711e-04 9.99965662e-01 4.36447792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.06, Y:1.07, Z:0.44 [[ 9.99314427e-01 -3.60836392e-02 -8.28540122e-03 1.78060059e+02] [ 3.60835022e-02 9.99348765e-01 -1.66065983e-04 1.06770097e+00] [ 8.28599774e-03 -1.33014161e-04 9.99965662e-01 4.36541502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.09, Y:1.07, Z:0.45 [[ 9.99383137e-01 -3.41276636e-02 -8.28538028e-03 1.78088956e+02] [ 3.41274508e-02 9.99417475e-01 -1.67104428e-04 1.06512189e+00] [ 8.28625672e-03 -1.15757560e-04 9.99965662e-01 4.47931191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.12, Y:1.06, Z:0.44 [[ 9.99525751e-01 -2.96586178e-02 -8.28493928e-03 1.78119663e+02] [ 2.96580719e-02 9.99560085e-01 -1.88776581e-04 1.06277684e+00] [ 8.28689346e-03 -5.70282711e-05 9.99965661e-01 4.37904901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:1.06, Z:0.44 [[ 9.99572595e-01 -2.80353193e-02 -8.28536397e-03 1.78148669e+02] [ 2.80348913e-02 9.99606931e-01 -1.67808041e-04 1.06190488e+00] [ 8.28681180e-03 -6.45429589e-05 9.99965662e-01 4.37829904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:1.06, Z:0.45 [[ 9.99563511e-01 -2.83573573e-02 -8.28534221e-03 1.78177397e+02] [ 2.83569316e-02 9.99597847e-01 -1.68875375e-04 1.06089541e+00] [ 8.28679910e-03 -6.61452195e-05 9.99965662e-01 4.50764335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:1.06, Z:0.45 [[ 9.99584156e-01 -2.76203159e-02 -8.28446066e-03 1.78206512e+02] [ 2.76195099e-02 9.99618486e-01 -2.11702099e-04 1.06105710e+00] [ 8.28714731e-03 -1.71986795e-05 9.99965661e-01 4.52769431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:178.24, Y:1.06, Z:0.45 [[ 9.99631465e-01 -2.58516518e-02 -8.28406037e-03 1.78236537e+02] [ 2.58506244e-02 9.99665790e-01 -2.31085958e-04 1.06264204e+00] [ 8.28726570e-03 1.68526611e-05 9.99965660e-01 4.52752885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.27, Y:1.06, Z:0.45 [[ 9.99665691e-01 -2.44923420e-02 -8.28438479e-03 1.78265938e+02] [ 2.44914000e-02 9.99700018e-01 -2.15152564e-04 1.06301729e+00] [ 8.28716921e-03 1.21844544e-05 9.99965661e-01 4.52855928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:1.06, Z:0.44 [[ 9.99683264e-01 -2.37641199e-02 -8.28476837e-03 1.78295751e+02] [ 2.37633097e-02 9.99717593e-01 -1.96233063e-04 1.06273334e+00] [ 8.28709200e-03 -7.02607293e-07 9.99965661e-01 4.40099218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:1.06, Z:0.45 [[ 9.99650237e-01 -2.51148740e-02 -8.28533823e-03 1.78323688e+02] [ 2.51143429e-02 9.99684571e-01 -1.68154965e-04 1.06224787e+00] [ 8.28694798e-03 -3.99846744e-05 9.99965662e-01 4.53346255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:1.06, Z:0.44 [[ 9.99667514e-01 -2.44176972e-02 -8.28479578e-03 1.78353749e+02] [ 2.44169225e-02 9.99701844e-01 -1.94666835e-04 1.06326749e+00] [ 8.28707894e-03 -7.68710552e-06 9.99965662e-01 4.40497792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:1.07, Z:0.44 [[ 9.99698344e-01 -2.31208764e-02 -8.28531243e-03 1.78382171e+02] [ 2.31202666e-02 9.99732677e-01 -1.69397425e-04 1.06562484e+00] [ 8.28701419e-03 -2.22123068e-05 9.99965662e-01 4.40506162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.41, Y:1.07, Z:0.44 [[ 9.99731906e-01 -2.16210511e-02 -8.28529029e-03 1.78411031e+02] [ 2.16203807e-02 9.99766238e-01 -1.70473710e-04 1.06673468e+00] [ 8.28703932e-03 -8.70312354e-06 9.99965662e-01 4.41027384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.44, Y:1.07, Z:0.45 [[ 9.99780838e-01 -1.92257697e-02 -8.28526787e-03 1.78440617e+02] [ 1.92250082e-02 9.99815168e-01 -1.71556192e-04 1.06867658e+00] [ 8.28703479e-03 1.22342509e-05 9.99965662e-01 4.52334742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:1.07, Z:0.44 [[ 9.99786486e-01 -1.89297138e-02 -8.28541727e-03 1.78470674e+02] [ 1.89290015e-02 9.99820817e-01 -1.64383368e-04 1.06994183e+00] [ 8.28704440e-03 7.51359356e-06 9.99965662e-01 4.40906585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:1.07, Z:0.44 [[ 9.99783593e-01 -1.90819657e-02 -8.28525252e-03 1.78499479e+02] [ 1.90811930e-02 9.99817923e-01 -1.72305502e-04 1.07079658e+00] [ 8.28703189e-03 1.41757111e-05 9.99965662e-01 4.40966275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:178.53, Y:1.07, Z:0.45 [[ 9.99744419e-01 -2.10345335e-02 -8.28522972e-03 1.78527480e+02] [ 2.10338188e-02 9.99778750e-01 -1.73395094e-04 1.07139409e+00] [ 8.28704389e-03 -9.19243459e-07 9.99965662e-01 4.54784290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:1.07, Z:0.44 [[ 9.99743960e-01 -2.10565514e-02 -8.28473830e-03 1.78558148e+02] [ 2.10556447e-02 9.99778286e-01 -1.96659936e-04 1.07253044e+00] [ 8.28704244e-03 2.21690771e-05 9.99965662e-01 4.42058643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:1.07, Z:0.44 [[ 9.99705709e-01 -2.28002257e-02 -8.28520899e-03 1.78586732e+02] [ 2.27995643e-02 9.99740041e-01 -1.74284527e-04 1.07425160e+00] [ 8.28702890e-03 -1.46659188e-05 9.99965662e-01 4.42328975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:1.08, Z:0.44 [[ 9.99696579e-01 -2.31970843e-02 -8.28518582e-03 1.78615930e+02] [ 2.31964274e-02 9.99730911e-01 -1.75378762e-04 1.07531242e+00] [ 8.28702465e-03 -1.68611629e-05 9.99965662e-01 4.42090518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:1.08, Z:0.44 [[ 9.99709812e-01 -2.26196176e-02 -8.28516238e-03 1.78644691e+02] [ 2.26189318e-02 9.99744144e-01 -1.76479404e-04 1.07802210e+00] [ 8.28703447e-03 -1.09733314e-05 9.99965662e-01 4.41222762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.67, Y:1.08, Z:0.44 [[ 9.99727081e-01 -2.18430949e-02 -8.28513910e-03 1.78673110e+02] [ 2.18423735e-02 9.99761411e-01 -1.77565415e-04 1.08044738e+00] [ 8.28704094e-03 -3.45014854e-06 9.99965662e-01 4.41617028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:178.70, Y:1.08, Z:0.46 [[ 9.99737990e-01 -2.13379632e-02 -8.28511580e-03 1.78702829e+02] [ 2.13372154e-02 9.99772320e-01 -1.78646213e-04 1.08264124e+00] [ 8.28704139e-03 1.81810533e-06 9.99965662e-01 4.56274766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:178.73, Y:1.09, Z:0.46 [[ 9.99757822e-01 -2.03874610e-02 -8.28540853e-03 1.78731409e+02] [ 2.03867922e-02 9.99792154e-01 -1.65184490e-04 1.08666616e+00] [ 8.28705413e-03 -3.76841567e-06 9.99965662e-01 4.57902200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:1.09, Z:0.44 [[ 9.99746109e-01 -2.09540225e-02 -8.28531926e-03 1.78761204e+02] [ 2.09533393e-02 9.99780440e-01 -1.69256465e-04 1.08858359e+00] [ 8.28704674e-03 -4.39161378e-06 9.99965662e-01 4.43158146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:1.09, Z:0.44 [[ 9.99678589e-01 -2.39598774e-02 -8.28506370e-03 1.78789732e+02] [ 2.39592005e-02 9.99712921e-01 -1.80957246e-04 1.08993183e+00] [ 8.28702094e-03 -1.76044184e-05 9.99965662e-01 4.42628802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:178.82, Y:1.09, Z:0.44 [[ 9.99615807e-01 -2.64498705e-02 -8.28503990e-03 1.78818313e+02] [ 2.64492702e-02 9.99650140e-01 -1.82040532e-04 1.09009128e+00] [ 8.28695624e-03 -3.71626654e-05 9.99965662e-01 4.43095894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.85, Y:1.09, Z:0.46 [[ 9.99554703e-01 -2.86662467e-02 -8.28501605e-03 1.78847862e+02] [ 2.86657135e-02 9.99589037e-01 -1.83119258e-04 1.09058054e+00] [ 8.28686056e-03 -5.44581813e-05 9.99965662e-01 4.56179535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:178.88, Y:1.09, Z:0.46 [[ 9.99518460e-01 -2.99033955e-02 -8.28461449e-03 1.78877084e+02] [ 2.99027556e-02 9.99552792e-01 -2.01123244e-04 1.09154288e+00] [ 8.28692382e-03 -4.67064078e-05 9.99965662e-01 4.57778250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:1.09, Z:0.44 [[ 9.99413468e-01 -3.32277026e-02 -8.28491476e-03 1.78907928e+02] [ 3.32272891e-02 9.99447804e-01 -1.87585517e-04 1.09124318e+00] [ 8.28657290e-03 -8.78097659e-05 9.99965662e-01 4.42814620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:1.09, Z:0.44 [[ 9.99388157e-01 -3.39804459e-02 -8.28499046e-03 1.78936839e+02] [ 3.39800865e-02 9.99422493e-01 -1.84180380e-04 1.09077131e+00] [ 8.28646435e-03 -9.74570024e-05 9.99965662e-01 4.43270944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:1.09, Z:0.44 [[ 9.99345338e-01 -3.52172626e-02 -8.28496693e-03 1.78965568e+02] [ 3.52169370e-02 9.99379674e-01 -1.85232925e-04 1.09125072e+00] [ 8.28635094e-03 -1.06659498e-04 9.99965662e-01 4.44576050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:1.09, Z:0.44 [[ 9.99343738e-01 -3.52626303e-02 -8.28494310e-03 1.78994797e+02] [ 3.52622974e-02 9.99378074e-01 -1.86292387e-04 1.09189781e+00] [ 8.28635965e-03 -1.05975998e-04 9.99965662e-01 4.44756881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:1.09, Z:0.45 [[ 9.99279850e-01 -3.70289206e-02 -8.28491936e-03 1.79023912e+02] [ 3.70286398e-02 9.99314187e-01 -1.87342568e-04 1.08983796e+00] [ 8.28617455e-03 -1.19571641e-04 9.99965662e-01 4.45224907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.05, Y:1.09, Z:0.45 [[ 9.99243963e-01 -3.79850443e-02 -8.28489560e-03 1.79053192e+02] [ 3.79847876e-02 9.99278300e-01 -1.88387498e-04 1.08938632e+00] [ 8.28607229e-03 -1.26454930e-04 9.99965662e-01 4.45258575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.08, Y:1.09, Z:0.46 [[ 9.99132623e-01 -4.08088611e-02 -8.28487176e-03 1.79080565e+02] [ 4.08086928e-02 9.99166960e-01 -1.89429914e-04 1.08909909e+00] [ 8.28570056e-03 -1.48829180e-04 9.99965662e-01 4.58621464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:1.09, Z:0.46 [[ 9.99152794e-01 -4.03125138e-02 -8.28224577e-03 1.79109369e+02] [ 4.03113801e-02 9.99187120e-01 -3.03852255e-04 1.08888807e+00] [ 8.28776234e-03 -3.02739276e-05 9.99965655e-01 4.58905906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.14, Y:1.09, Z:0.45 [[ 9.99261571e-01 -3.75195114e-02 -8.28247784e-03 1.79142267e+02] [ 3.75183671e-02 9.99295895e-01 -2.93550925e-04 1.08811411e+00] [ 8.28765999e-03 -1.74108853e-05 9.99965657e-01 4.45272288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.17, Y:1.09, Z:0.46 [[ 9.99262484e-01 -3.74946411e-02 -8.28492948e-03 1.79169487e+02] [ 3.74944216e-02 9.99296820e-01 -1.81872792e-04 1.08556762e+00] [ 8.28592294e-03 -1.28899981e-04 9.99965663e-01 4.57418927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.20, Y:1.09, Z:0.45 [[ 9.99368628e-01 -3.45504620e-02 -8.28319850e-03 1.79200848e+02] [ 3.45494909e-02 9.99402954e-01 -2.60348838e-04 1.08676761e+00] [ 8.28724822e-03 -2.59958294e-05 9.99965660e-01 4.45598783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.23, Y:1.09, Z:0.45 [[ 9.99364245e-01 -3.46765781e-02 -8.28492404e-03 1.79230159e+02] [ 3.46762636e-02 9.99398581e-01 -1.81648846e-04 1.08730828e+00] [ 8.28624029e-03 -1.05756849e-04 9.99965663e-01 4.45836587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:179.26, Y:1.09, Z:0.46 [[ 9.99435576e-01 -3.25559501e-02 -8.28490086e-03 1.79257293e+02] [ 3.25555540e-02 9.99469911e-01 -1.82699810e-04 1.08744001e+00] [ 8.28645709e-03 -8.71228480e-05 9.99965663e-01 4.59378583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:1.09, Z:0.45 [[ 9.99506293e-01 -3.03075706e-02 -8.28380220e-03 1.79288763e+02] [ 3.03066878e-02 9.99540620e-01 -2.32106417e-04 1.08793408e+00] [ 8.28703136e-03 -1.90627828e-05 9.99965662e-01 4.47031522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.32, Y:1.09, Z:0.45 [[ 9.99533677e-01 -2.93902802e-02 -8.28488490e-03 1.79317490e+02] [ 2.93897719e-02 9.99568011e-01 -1.83123242e-04 1.08864305e+00] [ 8.28668796e-03 -6.04530300e-05 9.99965663e-01 4.47635385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:1.09, Z:0.45 [[ 9.99537473e-01 -2.92609271e-02 -8.28486127e-03 1.79346266e+02] [ 2.92604055e-02 9.99571806e-01 -1.84186089e-04 1.09094307e+00] [ 8.28670319e-03 -5.83175022e-05 9.99965663e-01 4.48271282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.37, Y:1.09, Z:0.46 [[ 9.99424468e-01 -3.28952043e-02 -8.28483727e-03 1.79372547e+02] [ 3.28947987e-02 9.99458803e-01 -1.85259454e-04 1.09208302e+00] [ 8.28644768e-03 -8.73752228e-05 9.99965663e-01 4.59997442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:1.09, Z:0.45 [[ 9.99440476e-01 -3.24057631e-02 -8.28258786e-03 1.79404271e+02] [ 3.24045092e-02 9.99474795e-01 -2.85576743e-04 1.09261604e+00] [ 8.28749214e-03 1.70237608e-05 9.99965658e-01 4.47183198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:179.43, Y:1.09, Z:0.46 [[ 9.99350638e-01 -3.50665622e-02 -8.28484764e-03 1.79432033e+02] [ 3.50662447e-02 9.99384973e-01 -1.83617085e-04 1.09275683e+00] [ 8.28619106e-03 -1.07020644e-04 9.99965663e-01 4.59821616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.46, Y:1.09, Z:0.45 [[ 9.99280639e-01 -3.70079100e-02 -8.28367991e-03 1.79463445e+02] [ 3.70072241e-02 9.99314970e-01 -2.36121691e-04 1.09353792e+00] [ 8.28674372e-03 -7.06041648e-05 9.99965662e-01 4.47625757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:1.09, Z:0.45 [[ 9.99226974e-01 -3.84293678e-02 -8.28484592e-03 1.79492671e+02] [ 3.84291671e-02 9.99261310e-01 -1.83469741e-04 1.09349960e+00] [ 8.28577661e-03 -1.35051815e-04 9.99965663e-01 4.46838874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:1.09, Z:0.45 [[ 9.99205046e-01 -3.89953657e-02 -8.28482271e-03 1.79521115e+02] [ 3.89951759e-02 9.99239382e-01 -1.84511564e-04 1.09260986e+00] [ 8.28571622e-03 -1.38703233e-04 9.99965663e-01 4.47035198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:1.09, Z:0.45 [[ 9.99202875e-01 -3.90509547e-02 -8.28479933e-03 1.79549723e+02] [ 3.90507581e-02 9.99237211e-01 -1.85555706e-04 1.09265141e+00] [ 8.28572590e-03 -1.38119899e-04 9.99965663e-01 4.46749353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:1.09, Z:0.45 [[ 9.99219414e-01 -3.86254556e-02 -8.28477562e-03 1.79578658e+02] [ 3.86252356e-02 9.99253750e-01 -1.86608227e-04 1.09252853e+00] [ 8.28580093e-03 -1.33538847e-04 9.99965663e-01 4.46620283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:1.09, Z:0.45 [[ 9.99226645e-01 -3.84379367e-02 -8.28475212e-03 1.79607435e+02] [ 3.84377017e-02 9.99260981e-01 -1.87645827e-04 1.09258953e+00] [ 8.28584225e-03 -1.30946120e-04 9.99965663e-01 4.48049075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:1.09, Z:0.45 [[ 9.99261609e-01 -3.75179996e-02 -8.28472836e-03 1.79636683e+02] [ 3.75177244e-02 9.99295945e-01 -1.88689186e-04 1.09320262e+00] [ 8.28597469e-03 -1.22274295e-04 9.99965663e-01 4.48184329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.67, Y:1.09, Z:0.45 [[ 9.99292706e-01 -3.66804015e-02 -8.28470419e-03 1.79665975e+02] [ 3.66800888e-02 9.99327041e-01 -1.89744258e-04 1.09345466e+00] [ 8.28608882e-03 -1.14273632e-04 9.99965663e-01 4.47687328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:1.09, Z:0.45 [[ 9.99257611e-01 -3.76243380e-02 -8.28468008e-03 1.79695050e+02] [ 3.76240490e-02 9.99291947e-01 -1.90791092e-04 1.09275057e+00] [ 8.28599248e-03 -1.21053759e-04 9.99965663e-01 4.47140695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.72, Y:1.09, Z:0.45 [[ 9.99235610e-01 -3.82041811e-02 -8.28465571e-03 1.79723933e+02] [ 3.82039033e-02 9.99269946e-01 -1.91843598e-04 1.09258189e+00] [ 8.28593669e-03 -1.24809231e-04 9.99965663e-01 4.47631669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:179.75, Y:1.09, Z:0.46 [[ 9.99250586e-01 -3.78104707e-02 -8.28463128e-03 1.79754755e+02] [ 3.78101707e-02 9.99284921e-01 -1.92892770e-04 1.09292382e+00] [ 8.28600049e-03 -1.20495110e-04 9.99965663e-01 4.62457362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:179.78, Y:1.09, Z:0.45 [[ 9.99119165e-01 -4.11368954e-02 -8.28547793e-03 1.79784403e+02] [ 4.11370121e-02 9.99153503e-01 -1.56408452e-04 1.09252647e+00] [ 8.28489845e-03 -1.84569123e-04 9.99965663e-01 4.49096932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:1.09, Z:0.45 [[ 9.99050477e-01 -4.27727585e-02 -8.28464341e-03 1.79813258e+02] [ 4.27726335e-02 9.99084814e-01 -1.92351480e-04 1.08909160e+00] [ 8.28528882e-03 -1.62187179e-04 9.99965663e-01 4.48573391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:1.09, Z:0.45 [[ 9.99046002e-01 -4.28771646e-02 -8.28461901e-03 1.79841716e+02] [ 4.28770345e-02 9.99080338e-01 -1.93396563e-04 1.08774760e+00] [ 8.28529226e-03 -1.62007833e-04 9.99965663e-01 4.48667536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:1.09, Z:0.45 [[ 9.99079121e-01 -4.20983939e-02 -8.28459443e-03 1.79870142e+02] [ 4.20982284e-02 9.99113458e-01 -1.94443978e-04 1.08710440e+00] [ 8.28543557e-03 -1.54501830e-04 9.99965663e-01 4.48665278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:1.09, Z:0.45 [[ 9.99109321e-01 -4.13754916e-02 -8.28456975e-03 1.79899069e+02] [ 4.13752926e-02 9.99143657e-01 -1.95489832e-04 1.08642906e+00] [ 8.28556381e-03 -1.47460784e-04 9.99965663e-01 4.49476266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.93, Y:1.08, Z:0.46 [[ 9.99263002e-01 -3.74809303e-02 -8.28454496e-03 1.79929580e+02] [ 3.74805887e-02 9.99297337e-01 -1.96534717e-04 1.08331118e+00] [ 8.28609002e-03 -1.14119751e-04 9.99965663e-01 4.62801531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:1.08, Z:0.45 [[ 9.99342498e-01 -3.52977176e-02 -8.28509949e-03 1.79958414e+02] [ 3.52974945e-02 9.99376834e-01 -1.73186801e-04 1.08163600e+00] [ 8.28604960e-03 -1.19370323e-04 9.99965663e-01 4.49236143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:1.08, Z:0.46 [[ 9.99423607e-01 -3.29214209e-02 -8.28449606e-03 1.79988317e+02] [ 3.29209074e-02 9.99457940e-01 -1.98385656e-04 1.08118063e+00] [ 8.28653651e-03 -7.44618198e-05 9.99965663e-01 4.61635204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:1.08, Z:0.45 [[ 9.99444539e-01 -3.22795991e-02 -8.28496323e-03 1.80017722e+02] [ 3.22792251e-02 9.99478874e-01 -1.78891943e-04 1.08102461e+00] [ 8.28642028e-03 -8.86396177e-05 9.99965663e-01 4.48568457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.05, Y:1.08, Z:0.46 [[ 9.99509626e-01 -3.01972764e-02 -8.28444291e-03 1.80047376e+02] [ 3.01966525e-02 9.99543957e-01 -2.00401767e-04 1.08013220e+00] [ 8.28671643e-03 -4.98589488e-05 9.99965663e-01 4.61710382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:1.08, Z:0.46 [[ 9.99590547e-01 -2.73880597e-02 -8.28447692e-03 1.80077314e+02] [ 2.73873510e-02 9.99624876e-01 -1.99002551e-04 1.07966223e+00] [ 8.28681951e-03 -2.79688079e-05 9.99965663e-01 4.62634592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:1.08, Z:0.45 [[ 9.99654599e-01 -2.49407368e-02 -8.28506419e-03 1.80106299e+02] [ 2.49401428e-02 9.99688931e-01 -1.75015344e-04 1.07959876e+00] [ 8.28685198e-03 -3.16757901e-05 9.99965663e-01 4.49562904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.14, Y:1.08, Z:0.46 [[ 9.99704992e-01 -2.28319519e-02 -8.28434829e-03 1.80135904e+02] [ 2.28310447e-02 9.99739317e-01 -2.04076986e-04 1.07911634e+00] [ 8.28684818e-03 1.48764557e-05 9.99965663e-01 4.61963685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:1.08, Z:0.46 [[ 9.99744713e-01 -2.10206694e-02 -8.28490908e-03 1.80165136e+02] [ 2.10198886e-02 9.99779041e-01 -1.81312606e-04 1.07911970e+00] [ 8.28688977e-03 7.11845284e-06 9.99965663e-01 4.63355916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:1.08, Z:0.46 [[ 9.99779122e-01 -1.93152033e-02 -8.28435773e-03 1.80195974e+02] [ 1.93141802e-02 9.99813443e-01 -2.03489441e-04 1.07937799e+00] [ 8.28674267e-03 4.34389166e-05 9.99965663e-01 4.63286461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:180.22, Y:1.08, Z:0.46 [[ 9.99755539e-01 -2.04992514e-02 -8.28506647e-03 1.80224750e+02] [ 2.04985052e-02 9.99789868e-01 -1.74975977e-04 1.07908857e+00] [ 8.28691239e-03 5.10172340e-06 9.99965663e-01 4.64532768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:1.08, Z:0.45 [[ 9.99761128e-01 -2.02251086e-02 -8.28445450e-03 1.80254874e+02] [ 2.02241512e-02 9.99795451e-01 -1.99329999e-04 1.07968073e+00] [ 8.28679140e-03 3.17363240e-05 9.99965663e-01 4.52766978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:1.08, Z:0.45 [[ 9.99764028e-01 -2.00813221e-02 -8.28424379e-03 1.80283931e+02] [ 2.00802901e-02 9.99798349e-01 -2.07733247e-04 1.08016426e+00] [ 8.28674482e-03 4.13342091e-05 9.99965663e-01 4.52901156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:1.08, Z:0.45 [[ 9.99759346e-01 -2.03130950e-02 -8.28421599e-03 1.80313225e+02] [ 2.03120618e-02 9.99793667e-01 -2.08835906e-04 1.08103717e+00] [ 8.28674879e-03 4.05161411e-05 9.99965663e-01 4.53563735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:1.08, Z:0.45 [[ 9.99759664e-01 -2.02974313e-02 -8.28418819e-03 1.80342473e+02] [ 2.02963885e-02 9.99793985e-01 -2.09932777e-04 1.08206845e+00] [ 8.28674262e-03 4.17432201e-05 9.99965663e-01 4.54054033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:1.08, Z:0.45 [[ 9.99774908e-01 -1.95321549e-02 -8.28416001e-03 1.80370906e+02] [ 1.95310767e-02 9.99809228e-01 -2.11039109e-04 1.08357389e+00] [ 8.28670167e-03 4.91930410e-05 9.99965663e-01 4.54620488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:1.09, Z:0.47 [[ 9.99777458e-01 -1.94012077e-02 -8.28413185e-03 1.80398906e+02] [ 1.94001159e-02 9.99811778e-01 -2.12138753e-04 1.08516400e+00] [ 8.28668834e-03 5.13784247e-05 9.99965663e-01 4.66087421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:1.09, Z:0.46 [[ 9.99803119e-01 -1.80304854e-02 -8.28406045e-03 1.80427802e+02] [ 1.80293236e-02 9.99837435e-01 -2.14909584e-04 1.08706243e+00] [ 8.28658868e-03 6.55112654e-05 9.99965663e-01 4.55369862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:1.09, Z:0.47 [[ 9.99810278e-01 -1.76290285e-02 -8.28406894e-03 1.80455857e+02] [ 1.76278556e-02 9.99844594e-01 -2.14581941e-04 1.09090696e+00] [ 8.28656442e-03 6.85108588e-05 9.99965663e-01 4.67257772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:1.10, Z:0.46 [[ 9.99832885e-01 -1.62967440e-02 -8.28362073e-03 1.80485594e+02] [ 1.62953835e-02 9.99867195e-01 -2.31707184e-04 1.09526217e+00] [ 8.28629669e-03 9.66836863e-05 9.99965663e-01 4.56893580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:180.51, Y:1.10, Z:0.47 [[ 9.99809889e-01 -1.76510956e-02 -8.28403504e-03 1.80513968e+02] [ 1.76499133e-02 9.99844205e-01 -2.15802792e-04 1.09693940e+00] [ 8.28655359e-03 6.95492648e-05 9.99965664e-01 4.68816533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:1.10, Z:0.46 [[ 9.99811934e-01 -1.75351675e-02 -8.28337578e-03 1.80543637e+02] [ 1.75337729e-02 9.99846243e-01 -2.40960979e-04 1.09865532e+00] [ 8.28632744e-03 9.56768323e-05 9.99965663e-01 4.57175729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:1.10, Z:0.46 [[ 9.99763658e-01 -2.00998138e-02 -8.28400573e-03 1.80572508e+02] [ 2.00987065e-02 9.99797977e-01 -2.16902021e-04 1.10168698e+00] [ 8.28669186e-03 5.03529582e-05 9.99965664e-01 4.56677199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:1.10, Z:0.46 [[ 9.99726550e-01 -2.18677900e-02 -8.28397689e-03 1.80601054e+02] [ 2.18667343e-02 9.99760871e-01 -2.17998009e-04 1.10303810e+00] [ 8.28676308e-03 3.67948758e-05 9.99965664e-01 4.55975431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:1.10, Z:0.47 [[ 9.99613139e-01 -2.65508606e-02 -8.28394805e-03 1.80628599e+02] [ 2.65499566e-02 9.99647464e-01 -2.19088482e-04 1.10285422e+00] [ 8.28684464e-03 -9.34735873e-07 9.99965664e-01 4.68037148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:1.10, Z:0.46 [[ 9.99619921e-01 -2.62947684e-02 -8.28247078e-03 1.80659912e+02] [ 2.62933928e-02 9.99654231e-01 -2.74945601e-04 1.10326193e+00] [ 8.28683659e-03 5.70668421e-05 9.99965662e-01 4.55126857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:180.69, Y:1.10, Z:0.47 [[ 9.99543683e-01 -2.90482533e-02 -8.28396362e-03 1.80688277e+02] [ 2.90474417e-02 9.99578010e-01 -2.18294783e-04 1.10368156e+00] [ 8.28680896e-03 -2.24327785e-05 9.99965664e-01 4.68633319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:1.10, Z:0.47 [[ 9.99541966e-01 -2.91076398e-02 -8.28271824e-03 1.80716894e+02] [ 2.91064415e-02 9.99576283e-01 -2.65207440e-04 1.10455813e+00] [ 8.28692827e-03 2.40055118e-05 9.99965663e-01 4.67822968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:1.10, Z:0.46 [[ 9.99509296e-01 -3.02085431e-02 -8.28314319e-03 1.80747032e+02] [ 3.02075160e-02 9.99543618e-01 -2.49110525e-04 1.10468067e+00] [ 8.28688818e-03 -1.22489465e-06 9.99965663e-01 4.56527601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:1.10, Z:0.46 [[ 9.99500501e-01 -3.04979326e-02 -8.28393717e-03 1.80776021e+02] [ 3.04971642e-02 9.99534829e-01 -2.19089602e-04 1.10243465e+00] [ 8.28676551e-03 -3.36564248e-05 9.99965664e-01 4.57933623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:1.10, Z:0.46 [[ 9.99501985e-01 -3.04492877e-02 -8.28390834e-03 1.80804901e+02] [ 3.04485087e-02 9.99536312e-01 -2.20174614e-04 1.10224555e+00] [ 8.28677135e-03 -3.21676908e-05 9.99965664e-01 4.57891742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.83, Y:1.10, Z:0.46 [[ 9.99561152e-01 -2.84408116e-02 -8.28387947e-03 1.80832463e+02] [ 2.84399546e-02 9.99595478e-01 -2.21255251e-04 1.10353714e+00] [ 8.28682114e-03 -1.44350024e-05 9.99965664e-01 4.58512632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:180.86, Y:1.10, Z:0.47 [[ 9.99556662e-01 -2.85982051e-02 -8.28383564e-03 1.80859430e+02] [ 2.85973401e-02 9.99590988e-01 -2.22884444e-04 1.10439877e+00] [ 8.28682154e-03 -1.41100338e-05 9.99965664e-01 4.71486640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:180.89, Y:1.10, Z:0.47 [[ 9.99618732e-01 -2.63399410e-02 -8.28243907e-03 1.80888445e+02] [ 2.63385710e-02 9.99653042e-01 -2.74456204e-04 1.10448015e+00] [ 8.28679457e-03 5.62039530e-05 9.99965662e-01 4.72226292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:1.10, Z:0.46 [[ 9.99711693e-01 -2.25371653e-02 -8.28297125e-03 1.80919066e+02] [ 2.25358282e-02 9.99746004e-01 -2.54740869e-04 1.10327060e+00] [ 8.28660854e-03 6.80038085e-05 9.99965663e-01 4.60066388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:180.95, Y:1.10, Z:0.46 [[ 9.99735279e-01 -2.14651013e-02 -8.28381418e-03 1.80948136e+02] [ 2.14639862e-02 9.99769597e-01 -2.23498390e-04 1.10464094e+00] [ 8.28670298e-03 4.56355521e-05 9.99965664e-01 4.60103978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:1.11, Z:0.46 [[ 9.99822131e-01 -1.69435996e-02 -8.28378456e-03 1.80976796e+02] [ 1.69423203e-02 9.99856443e-01 -2.24590741e-04 1.10751232e+00] [ 8.28640075e-03 8.42042618e-05 9.99965664e-01 4.60382183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.01, Y:1.11, Z:0.46 [[ 9.99853775e-01 -1.49602365e-02 -8.28375498e-03 1.81005451e+02] [ 1.49588801e-02 9.99888084e-01 -2.25676571e-04 1.10859647e+00] [ 8.28620407e-03 1.01727873e-04 9.99965664e-01 4.60862357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:1.11, Z:0.46 [[ 9.99850798e-01 -1.51578709e-02 -8.28372503e-03 1.81033920e+02] [ 1.51565123e-02 9.99885108e-01 -2.26770614e-04 1.10933135e+00] [ 8.28621066e-03 1.01184399e-04 9.99965664e-01 4.61098404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:181.06, Y:1.11, Z:0.46 [[ 9.99865974e-01 -1.41214390e-02 -8.28367988e-03 1.81061741e+02] [ 1.41200313e-02 9.99900281e-01 -2.28407977e-04 1.11014435e+00] [ 8.28607930e-03 1.11411545e-04 9.99965664e-01 4.61437990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:181.09, Y:1.11, Z:0.48 [[ 9.99883754e-01 -1.28007430e-02 -8.28363446e-03 1.81091115e+02] [ 1.27992764e-02 9.99918059e-01 -2.30043755e-04 1.11318496e+00] [ 8.28590042e-03 1.23992487e-04 9.99965664e-01 4.76070744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:181.12, Y:1.12, Z:0.46 [[ 9.99885538e-01 -1.26607134e-02 -8.28355927e-03 1.81121901e+02] [ 1.26592195e-02 9.99919842e-01 -2.32750335e-04 1.11688455e+00] [ 8.28584206e-03 1.27860299e-04 9.99965664e-01 4.62852361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:181.15, Y:1.12, Z:0.46 [[ 9.99885392e-01 -1.26721654e-02 -8.28362338e-03 1.81151082e+02] [ 1.26706910e-02 9.99919697e-01 -2.30445473e-04 1.11963779e+00] [ 8.28587843e-03 1.25459829e-04 9.99965664e-01 4.63391528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:181.18, Y:1.12, Z:0.46 [[ 9.99877067e-01 -1.33128792e-02 -8.28359288e-03 1.81180188e+02] [ 1.33114177e-02 9.99911372e-01 -2.31536950e-04 1.12213282e+00] [ 8.28594114e-03 1.21242121e-04 9.99965664e-01 4.63342170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:181.21, Y:1.12, Z:0.46 [[ 9.99876750e-01 -1.33366581e-02 -8.28356228e-03 1.81208012e+02] [ 1.33351884e-02 9.99911055e-01 -2.32626527e-04 1.12438660e+00] [ 8.28592796e-03 1.22134992e-04 9.99965664e-01 4.62834853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60864 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:181.24, Y:1.13, Z:0.47 [[ 9.99861055e-01 -1.44655881e-02 -8.28351597e-03 1.81236808e+02] [ 1.44641436e-02 9.99895361e-01 -2.34263858e-04 1.12960234e+00] [ 8.28603796e-03 1.14417343e-04 9.99965664e-01 4.74838339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:181.27, Y:1.13, Z:0.46 [[ 9.99876695e-01 -1.33414126e-02 -8.28264032e-03 1.81268332e+02] [ 1.33396728e-02 9.99910987e-01 -2.65268291e-04 1.13330403e+00] [ 8.28544212e-03 1.54747870e-04 9.99965663e-01 4.63638416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:181.30, Y:1.14, Z:0.46 [[ 9.99857210e-01 -1.47289827e-02 -8.28352991e-03 1.81297278e+02] [ 1.47275516e-02 9.99891516e-01 -2.33742888e-04 1.13936158e+00] [ 8.28607407e-03 1.11713398e-04 9.99965664e-01 4.63546418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69864 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:181.33, Y:1.14, Z:0.48 [[ 9.99835464e-01 -1.61377805e-02 -8.28349894e-03 1.81326316e+02] [ 1.61363886e-02 9.99869772e-01 -2.34835201e-04 1.14246737e+00] [ 8.28620992e-03 1.01130804e-04 9.99965664e-01 4.77277234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72864 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:181.36, Y:1.15, Z:0.48 [[ 9.99810383e-01 -1.76234164e-02 -8.28336216e-03 1.81355564e+02] [ 1.76220356e-02 9.99844691e-01 -2.39656194e-04 1.14888136e+00] [ 8.28629925e-03 9.36410476e-05 9.99965664e-01 4.76752825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75864 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:181.39, Y:1.15, Z:0.48 [[ 9.99800408e-01 -1.81806189e-02 -8.28305506e-03 1.81385756e+02] [ 1.81791671e-02 9.99834714e-01 -2.50536344e-04 1.15233130e+00] [ 8.28624089e-03 9.99072970e-05 9.99965664e-01 4.77449696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864000000002 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:181.42, Y:1.16, Z:0.46 [[ 9.99777837e-01 -1.93816853e-02 -8.28408233e-03 1.81415031e+02] [ 1.93805754e-02 9.99812156e-01 -2.14246762e-04 1.15541271e+00] [ 8.28667868e-03 5.36488825e-05 9.99965663e-01 4.63329953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81864000000002 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:181.45, Y:1.16, Z:0.48 [[ 9.99705931e-01 -2.27911457e-02 -8.28345111e-03 1.81445161e+02] [ 2.27899695e-02 9.99740247e-01 -2.36367880e-04 1.15931304e+00] [ 8.28668655e-03 4.75187732e-05 9.99965664e-01 4.76765976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864000000002 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:181.47, Y:1.16, Z:0.48 [[ 9.99651356e-01 -2.50706521e-02 -8.28427798e-03 1.81474153e+02] [ 2.50697932e-02 9.99685682e-01 -2.07523098e-04 1.16128063e+00] [ 8.28687682e-03 -2.34389754e-07 9.99965663e-01 4.76897442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87864000000002 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:181.50, Y:1.16, Z:0.48 [[ 9.99507073e-01 -3.02817851e-02 -8.28394283e-03 1.81503059e+02] [ 3.02810086e-02 9.99541401e-01 -2.19181484e-04 1.16344397e+00] [ 8.28678103e-03 -3.17726996e-05 9.99965664e-01 4.78752174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864000000002 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:181.53, Y:1.16, Z:0.48 [[ 9.99402622e-01 -3.35525129e-02 -8.28425370e-03 1.81532214e+02] [ 3.35519381e-02 9.99436954e-01 -2.08390511e-04 1.16399911e+00] [ 8.28658131e-03 -6.96867449e-05 9.99965663e-01 4.79070329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93864000000002 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:181.56, Y:1.16, Z:0.46 [[ 9.99240443e-01 -3.80776969e-02 -8.28410646e-03 1.81561373e+02] [ 3.80772355e-02 9.99274776e-01 -2.13466393e-04 1.16416864e+00] [ 8.28622694e-03 -1.02131619e-04 9.99965663e-01 4.64042072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:181.59, Y:1.16, Z:0.46 [[ 9.99047813e-01 -4.28352025e-02 -8.28329283e-03 1.81590402e+02] [ 4.28346731e-02 9.99082145e-01 -2.41386573e-04 1.16430210e+00] [ 8.28602981e-03 -1.13655413e-04 9.99965664e-01 4.64157745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99864 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:181.62, Y:1.16, Z:0.46 [[ 9.98974280e-01 -4.45171374e-02 -8.28326188e-03 1.81619079e+02] [ 4.45166571e-02 9.99008613e-01 -2.42444033e-04 1.16449626e+00] [ 8.28584287e-03 -1.26547775e-04 9.99965664e-01 4.64537736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:181.65, Y:1.16, Z:0.47 [[ 9.98844075e-01 -4.73487189e-02 -8.28323126e-03 1.81647534e+02] [ 4.73483272e-02 9.98878409e-01 -2.43485471e-04 1.16131047e+00] [ 8.28546959e-03 -1.48993125e-04 9.99965664e-01 4.66808457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05864 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:181.68, Y:1.16, Z:0.47 [[ 9.98775719e-01 -4.87693677e-02 -8.28320042e-03 1.81676388e+02] [ 4.87690162e-02 9.98810054e-01 -2.44530187e-04 1.16004850e+00] [ 8.28526944e-03 -1.59732723e-04 9.99965664e-01 4.67594986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:181.71, Y:1.16, Z:0.48 [[ 9.98744665e-01 -4.94012540e-02 -8.28316987e-03 1.81705894e+02] [ 4.94009157e-02 9.98778999e-01 -2.45560952e-04 1.15932926e+00] [ 8.28518713e-03 -1.63943485e-04 9.99965664e-01 4.81919125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11864 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:181.73, Y:1.16, Z:0.48 [[ 9.98680619e-01 -5.06794895e-02 -8.28310819e-03 1.81734834e+02] [ 5.06791780e-02 9.98714954e-01 -2.47640311e-04 1.15655704e+00] [ 8.28501431e-03 -1.72467535e-04 9.99965664e-01 4.80898011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14864 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:181.77, Y:1.16, Z:0.47 [[ 9.98753822e-01 -4.92159482e-02 -8.28206069e-03 1.81765963e+02] [ 4.92152915e-02 9.98788153e-01 -2.83196218e-04 1.15554038e+00] [ 8.28596187e-03 -1.24760726e-04 9.99965663e-01 4.69749468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17864 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:181.80, Y:1.16, Z:0.47 [[ 9.98793869e-01 -4.83962170e-02 -8.28326468e-03 1.81795120e+02] [ 4.83958738e-02 9.98828204e-01 -2.41982900e-04 1.15634173e+00] [ 8.28526944e-03 -1.59184795e-04 9.99965664e-01 4.70576689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20864 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:181.82, Y:1.16, Z:0.48 [[ 9.98896538e-01 -4.62287137e-02 -8.28323428e-03 1.81824739e+02] [ 4.62282874e-02 9.98930872e-01 -2.43019361e-04 1.15694482e+00] [ 8.28561291e-03 -1.40168537e-04 9.99965664e-01 4.83182678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23864 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:181.86, Y:1.16, Z:0.47 [[ 9.99123333e-01 -4.10360428e-02 -8.28301484e-03 1.81855457e+02] [ 4.10353759e-02 9.99157663e-01 -2.50521445e-04 1.15801849e+00] [ 8.28631816e-03 -8.95948062e-05 9.99965664e-01 4.71008595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26864 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:181.88, Y:1.16, Z:0.47 [[ 9.99342047e-01 -3.53108975e-02 -8.28330948e-03 1.81884083e+02] [ 3.53101180e-02 9.99376374e-01 -2.40367685e-04 1.16081295e+00] [ 8.28663140e-03 -5.22751012e-05 9.99965664e-01 4.71569259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29864 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:181.91, Y:1.16, Z:0.47 [[ 9.99409324e-01 -3.33525151e-02 -8.28327863e-03 1.81912701e+02] [ 3.33516596e-02 9.99443649e-01 -2.41426136e-04 1.16166051e+00] [ 8.28672240e-03 -3.49775580e-05 9.99965664e-01 4.71069559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32864 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:181.94, Y:1.16, Z:0.48 [[ 9.99425448e-01 -3.28658008e-02 -8.28324737e-03 1.81941486e+02] [ 3.28649197e-02 9.99459773e-01 -2.42494206e-04 1.16260207e+00] [ 8.28674230e-03 -2.98733789e-05 9.99965664e-01 4.84286247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35864 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:181.97, Y:1.16, Z:0.47 [[ 9.99483984e-01 -3.10350054e-02 -8.28215093e-03 1.81972465e+02] [ 3.10337503e-02 9.99518298e-01 -2.80045981e-04 1.16463145e+00] [ 8.28685263e-03 2.28752686e-05 9.99965663e-01 4.73575582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38864 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:182.00, Y:1.17, Z:0.47 [[ 9.99476835e-01 -3.12640839e-02 -8.28331727e-03 1.82001709e+02] [ 3.12631706e-02 9.99511159e-01 -2.39749265e-04 1.16598353e+00] [ 8.28676359e-03 -1.93389252e-05 9.99965664e-01 4.73916362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41864 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:182.03, Y:1.17, Z:0.47 [[ 9.99471737e-01 -3.14266527e-02 -8.28328584e-03 1.82030134e+02] [ 3.14257361e-02 9.99506061e-01 -2.40830454e-04 1.16618493e+00] [ 8.28676289e-03 -1.96051225e-05 9.99965664e-01 4.74543723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44864 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:182.06, Y:1.17, Z:0.48 [[ 9.99463263e-01 -3.16950210e-02 -8.28325450e-03 1.82058493e+02] [ 3.16941047e-02 9.99497586e-01 -2.41903613e-04 1.16676293e+00] [ 8.28676002e-03 -2.07565606e-05 9.99965664e-01 4.76164281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47864 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:182.09, Y:1.17, Z:0.48 [[ 9.99452354e-01 -3.20371617e-02 -8.28322265e-03 1.82087340e+02] [ 3.20362481e-02 9.99486678e-01 -2.42989373e-04 1.16888996e+00] [ 8.28675538e-03 -2.25070747e-05 9.99965664e-01 4.76896837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50864 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:182.12, Y:1.17, Z:0.48 [[ 9.99471143e-01 -3.14455719e-02 -8.28319087e-03 1.82115939e+02] [ 3.14446291e-02 9.99505466e-01 -2.44067862e-04 1.16938102e+00] [ 8.28676940e-03 -1.65230797e-05 9.99965664e-01 4.77836968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53864000000002 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:182.15, Y:1.17, Z:0.48 [[ 9.99503405e-01 -3.04028371e-02 -8.28315897e-03 1.82145148e+02] [ 3.04018495e-02 9.99537727e-01 -2.45145719e-04 1.16774243e+00] [ 8.28678301e-03 -6.79937167e-06 9.99965664e-01 4.77323635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864000000002 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:182.17, Y:1.17, Z:0.49 [[ 9.99481492e-01 -3.11148854e-02 -8.28312652e-03 1.82174610e+02] [ 3.11139132e-02 9.99515815e-01 -2.46237134e-04 1.16788368e+00] [ 8.28677759e-03 -1.16110216e-05 9.99965664e-01 4.86954006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59864000000002 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:182.20, Y:1.17, Z:0.49 [[ 9.99493225e-01 -3.07358492e-02 -8.28250604e-03 1.82204672e+02] [ 3.07346917e-02 9.99527542e-01 -2.67019533e-04 1.16920469e+00] [ 8.28679997e-03 1.23239447e-05 9.99965664e-01 4.88057473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864000000002 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:182.23, Y:1.17, Z:0.49 [[ 9.99483650e-01 -3.10456563e-02 -8.28252234e-03 1.82233320e+02] [ 3.10445141e-02 9.99517967e-01 -2.66472684e-04 1.17034241e+00] [ 8.28680272e-03 9.20820907e-06 9.99965664e-01 4.89149808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65864000000002 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:182.26, Y:1.17, Z:0.48 [[ 9.99514517e-01 -3.00354805e-02 -8.28247863e-03 1.82262874e+02] [ 3.00342914e-02 9.99548833e-01 -2.67937937e-04 1.17220331e+00] [ 8.28678949e-03 1.90494811e-05 9.99965664e-01 4.79992028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864000000002 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:182.29, Y:1.17, Z:0.48 [[ 9.99516882e-01 -2.99565110e-02 -8.28308952e-03 1.82291868e+02] [ 2.99554886e-02 9.99551203e-01 -2.47492691e-04 1.17389306e+00] [ 8.28678611e-03 -7.50870537e-07 9.99965664e-01 4.80480674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71864 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:182.32, Y:1.18, Z:0.48 [[ 9.99536001e-01 -2.93116534e-02 -8.28305691e-03 1.82320294e+02] [ 2.93105999e-02 9.99570321e-01 -2.48579268e-04 1.17595893e+00] [ 8.28678413e-03 5.68256085e-06 9.99965664e-01 4.80711965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:182.35, Y:1.18, Z:0.48 [[ 9.99520588e-01 -2.98326318e-02 -8.28302404e-03 1.82348570e+02] [ 2.98315872e-02 9.99554908e-01 -2.49669620e-04 1.17830047e+00] [ 8.28678564e-03 2.45417124e-06 9.99965664e-01 4.81040819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:182.38, Y:1.18, Z:0.48 [[ 9.99497452e-01 -3.05979602e-02 -8.28299093e-03 1.82377775e+02] [ 3.05969328e-02 9.99531773e-01 -2.50763566e-04 1.17937467e+00] [ 8.28678546e-03 -2.79657152e-06 9.99965664e-01 4.81623110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:182.41, Y:1.18, Z:0.48 [[ 9.99428187e-01 -3.27824957e-02 -8.28295780e-03 1.82406935e+02] [ 3.27815343e-02 9.99462509e-01 -2.51853063e-04 1.17984967e+00] [ 8.28676216e-03 -1.98190145e-05 9.99965664e-01 4.81577234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:182.44, Y:1.18, Z:0.48 [[ 9.99368209e-01 -3.45626476e-02 -8.28292464e-03 1.82435532e+02] [ 3.45617382e-02 9.99402533e-01 -2.52938784e-04 1.17994308e+00] [ 8.28671810e-03 -3.34932934e-05 9.99965664e-01 4.80586503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:182.46, Y:1.18, Z:0.49 [[ 9.99323169e-01 -3.58412897e-02 -8.28289142e-03 1.82463983e+02] [ 3.58404153e-02 9.99357494e-01 -2.54021991e-04 1.18002490e+00] [ 8.28667409e-03 -4.30122076e-05 9.99965664e-01 4.94022412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:182.49, Y:1.18, Z:0.48 [[ 9.99351080e-01 -3.50546293e-02 -8.28196452e-03 1.82494358e+02] [ 3.50534771e-02 9.99385398e-01 -2.84289495e-04 1.18030792e+00] [ 8.28684007e-03 -6.20663928e-06 9.99965664e-01 4.81382496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:182.52, Y:1.18, Z:0.49 [[ 9.99361502e-01 -3.47560455e-02 -8.28290858e-03 1.82522745e+02] [ 3.47551387e-02 9.99395826e-01 -2.53435337e-04 1.18067999e+00] [ 8.28671267e-03 -3.46001179e-05 9.99965664e-01 4.94925971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:182.55, Y:1.18, Z:0.49 [[ 9.99354921e-01 -3.49449257e-02 -8.28216191e-03 1.82550868e+02] [ 3.49438239e-02 9.99389239e-01 -2.77751008e-04 1.18105464e+00] [ 8.28680948e-03 -1.18385706e-05 9.99965664e-01 4.94523109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:182.58, Y:1.18, Z:0.48 [[ 9.99384296e-01 -3.40947356e-02 -8.28115713e-03 1.82581206e+02] [ 3.40933330e-02 9.99418605e-01 -3.10526296e-04 1.18055991e+00] [ 8.28692982e-03 2.80028566e-05 9.99965662e-01 4.82671982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.61, Y:1.18, Z:0.48 [[ 9.99369698e-01 -3.45195710e-02 -8.28289307e-03 1.82609672e+02] [ 3.45186523e-02 9.99404021e-01 -2.53894495e-04 1.17784044e+00] [ 8.28672097e-03 -3.21798405e-05 9.99965664e-01 4.82378387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:1.18, Z:0.48 [[ 9.99330389e-01 -3.56394057e-02 -8.28285981e-03 1.82638930e+02] [ 3.56385165e-02 9.99364714e-01 -2.54974799e-04 1.17733124e+00] [ 8.28668498e-03 -4.03847707e-05 9.99965664e-01 4.81791887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:1.18, Z:0.48 [[ 9.99203166e-01 -3.90439265e-02 -8.28282633e-03 1.82667904e+02] [ 3.90431452e-02 9.99237493e-01 -2.56057796e-04 1.17545834e+00] [ 8.28650812e-03 -6.75338315e-05 9.99965664e-01 4.82423930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:182.70, Y:1.17, Z:0.49 [[ 9.99175942e-01 -3.97345263e-02 -8.28279296e-03 1.82696918e+02] [ 3.97337599e-02 9.99210269e-01 -2.57132735e-04 1.17479502e+00] [ 8.28646883e-03 -7.21856642e-05 9.99965664e-01 4.90621766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:1.17, Z:0.48 [[ 9.98994964e-01 -4.40506488e-02 -8.28264870e-03 1.82727445e+02] [ 4.40499922e-02 9.99029294e-01 -2.61771881e-04 1.17270728e+00] [ 8.28613990e-03 -1.03341820e-04 9.99965664e-01 4.82024264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:182.76, Y:1.17, Z:0.49 [[ 9.98916998e-01 -4.57845708e-02 -8.28276364e-03 1.82756021e+02] [ 4.57840043e-02 9.98951329e-01 -2.58083205e-04 1.17253057e+00] [ 8.28589397e-03 -1.21414386e-04 9.99965664e-01 4.93547778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.79, Y:1.17, Z:0.48 [[ 9.98868817e-01 -4.68241551e-02 -8.28164581e-03 1.82787369e+02] [ 4.68233268e-02 9.98903143e-01 -2.93985308e-04 1.17235231e+00] [ 8.28632764e-03 -9.41214513e-05 9.99965663e-01 4.80956479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:182.81, Y:1.17, Z:0.49 [[ 9.98746437e-01 -4.93654624e-02 -8.28282922e-03 1.82814911e+02] [ 4.93650393e-02 9.98780771e-01 -2.55643000e-04 1.16822538e+00] [ 8.28535048e-03 -1.53559654e-04 9.99965664e-01 4.94137159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:182.85, Y:1.17, Z:0.48 [[ 9.98740052e-01 -4.94948076e-02 -8.28087379e-03 1.82846220e+02] [ 4.94938650e-02 9.98774377e-01 -3.18836501e-04 1.16722308e+00] [ 8.28650531e-03 -9.14176666e-05 9.99965662e-01 4.82217023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:1.17, Z:0.48 [[ 9.98649996e-01 -5.12794334e-02 -8.28286462e-03 1.82874623e+02] [ 5.12790906e-02 9.98684330e-01 -2.53888300e-04 1.16570129e+00] [ 8.28498635e-03 -1.71192215e-04 9.99965664e-01 4.82495565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:1.16, Z:0.48 [[ 9.98616184e-01 -5.19337239e-02 -8.28283299e-03 1.82903082e+02] [ 5.19333951e-02 9.98650518e-01 -2.54915828e-04 1.16459292e+00] [ 8.28489419e-03 -1.75592567e-04 9.99965664e-01 4.82218541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:1.17, Z:0.48 [[ 9.98609661e-01 -5.20590037e-02 -8.28280104e-03 1.82932383e+02] [ 5.20586707e-02 9.98643995e-01 -2.55949947e-04 1.16546733e+00] [ 8.28489402e-03 -1.75597522e-04 9.99965664e-01 4.82461511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:1.16, Z:0.48 [[ 9.98582917e-01 -5.25695180e-02 -8.28276880e-03 1.82961448e+02] [ 5.25691939e-02 9.98617251e-01 -2.56989017e-04 1.16300419e+00] [ 8.28482560e-03 -1.78793637e-04 9.99965664e-01 4.81807785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:1.16, Z:0.48 [[ 9.98561496e-01 -5.29748447e-02 -8.28273644e-03 1.82990236e+02] [ 5.29745259e-02 9.98595831e-01 -2.58027897e-04 1.15900524e+00] [ 8.28477506e-03 -1.81117313e-04 9.99965664e-01 4.81866746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:1.16, Z:0.50 [[ 9.98553193e-01 -5.31311396e-02 -8.28270409e-03 1.83018089e+02] [ 5.31308176e-02 9.98587527e-01 -2.59062004e-04 1.15557311e+00] [ 8.28476926e-03 -1.81379650e-04 9.99965664e-01 4.95470979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:183.05, Y:1.15, Z:0.48 [[ 9.98635320e-01 -5.15647229e-02 -8.28112587e-03 1.83049648e+02] [ 5.15639309e-02 9.98669648e-01 -3.09267980e-04 1.15460997e+00] [ 8.28605638e-03 -1.18161474e-04 9.99965663e-01 4.83039779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:1.15, Z:0.48 [[ 9.98718748e-01 -4.99225420e-02 -8.28269562e-03 1.83078929e+02] [ 4.99221095e-02 9.98753081e-01 -2.59085085e-04 1.15383228e+00] [ 8.28530195e-03 -1.54736506e-04 9.99965664e-01 4.83592538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.11, Y:1.16, Z:0.48 [[ 9.98914830e-01 -4.58318626e-02 -8.28266294e-03 1.83107257e+02] [ 4.58312809e-02 9.98949161e-01 -2.60125681e-04 1.15543233e+00] [ 8.28588124e-03 -1.19761652e-04 9.99965664e-01 4.84008915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:1.16, Z:0.48 [[ 9.99077707e-01 -4.21323309e-02 -8.28262978e-03 1.83136450e+02] [ 4.21316133e-02 9.99112035e-01 -2.61177143e-04 1.15593922e+00] [ 8.28627910e-03 -8.80242946e-05 9.99965664e-01 4.81471303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:1.16, Z:0.48 [[ 9.99138887e-01 -4.06556701e-02 -8.28259624e-03 1.83165464e+02] [ 4.06548931e-02 9.99173214e-01 -2.62236496e-04 1.15580696e+00] [ 8.28640971e-03 -7.47173833e-05 9.99965664e-01 4.81224500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:1.16, Z:0.48 [[ 9.99156789e-01 -4.02133159e-02 -8.28256215e-03 1.83194503e+02] [ 4.02125147e-02 9.99191115e-01 -2.63308945e-04 1.15642123e+00] [ 8.28645103e-03 -6.99757323e-05 9.99965664e-01 4.80354112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:1.16, Z:0.48 [[ 9.99195014e-01 -3.92520636e-02 -8.28252803e-03 1.83223282e+02] [ 3.92512205e-02 9.99229339e-01 -2.64377734e-04 1.15767981e+00] [ 8.28652238e-03 -6.09344205e-05 9.99965664e-01 4.81957013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:183.25, Y:1.16, Z:0.48 [[ 9.99249390e-01 -3.78425158e-02 -8.28249386e-03 1.83251751e+02] [ 3.78416155e-02 9.99283714e-01 -2.65443892e-04 1.15826602e+00] [ 8.28660630e-03 -4.81783016e-05 9.99965664e-01 4.81073477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:183.28, Y:1.16, Z:0.48 [[ 9.99328561e-01 -3.56907152e-02 -8.28245953e-03 1.83280340e+02] [ 3.56897322e-02 9.99362883e-01 -2.66511049e-04 1.15838937e+00] [ 8.28669460e-03 -2.92666592e-05 9.99965664e-01 4.81856796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:183.31, Y:1.16, Z:0.50 [[ 9.99368519e-01 -3.45537930e-02 -8.28242451e-03 1.83310448e+02] [ 3.45527619e-02 9.99402839e-01 -2.67594827e-04 1.16093606e+00] [ 8.28672499e-03 -1.87547960e-05 9.99965664e-01 4.96052012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:183.34, Y:1.16, Z:0.48 [[ 9.99419330e-01 -3.30515050e-02 -8.28258461e-03 1.83340314e+02] [ 3.30504633e-02 9.99453650e-01 -2.62655493e-04 1.16449380e+00] [ 8.28674058e-03 -1.12402822e-05 9.99965664e-01 4.82169205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:183.37, Y:1.17, Z:0.48 [[ 9.99513178e-01 -3.00800275e-02 -8.28240465e-03 1.83367744e+02] [ 3.00788377e-02 9.99547493e-01 -2.68212833e-04 1.16881902e+00] [ 8.28672466e-03 1.89571559e-05 9.99965664e-01 4.81714587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82864 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:183.40, Y:1.17, Z:0.50 [[ 9.99521291e-01 -2.98092435e-02 -8.28235172e-03 1.83396924e+02] [ 2.98080309e-02 9.99555605e-01 -2.69837364e-04 1.17059652e+00] [ 8.28671474e-03 2.28275940e-05 9.99965664e-01 4.96419578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:183.43, Y:1.17, Z:0.48 [[ 9.99483453e-01 -3.10519220e-02 -8.28283285e-03 1.83426335e+02] [ 3.10508747e-02 9.99517773e-01 -2.55048045e-04 1.17476452e+00] [ 8.28675837e-03 -2.27290396e-06 9.99965664e-01 4.81667549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:183.45, Y:1.18, Z:0.48 [[ 9.99428298e-01 -3.27792496e-02 -8.28238094e-03 1.83454923e+02] [ 3.27781463e-02 9.99462616e-01 -2.68964004e-04 1.17683909e+00] [ 8.28674656e-03 -2.67085745e-06 9.99965664e-01 4.81505502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91864 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:183.48, Y:1.18, Z:0.49 [[ 9.99342782e-01 -3.52903258e-02 -8.28234525e-03 1.83484318e+02] [ 3.52892996e-02 9.99377102e-01 -2.70058716e-04 1.18038637e+00] [ 8.28671665e-03 -2.23969344e-05 9.99965664e-01 4.92992572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94864 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:183.51, Y:1.18, Z:0.50 [[ 9.99306348e-01 -3.63073119e-02 -8.28262465e-03 1.83514002e+02] [ 3.63063912e-02 9.99340671e-01 -2.61543797e-04 1.18225852e+00] [ 8.28665964e-03 -3.93498345e-05 9.99965664e-01 4.95802509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:183.54, Y:1.18, Z:0.49 [[ 9.99234958e-01 -3.82214454e-02 -8.28373239e-03 1.83543376e+02] [ 3.82208685e-02 9.99269290e-01 -2.28004337e-04 1.18435256e+00] [ 8.28639404e-03 -8.87815428e-05 9.99965663e-01 4.93861480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00864 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:183.57, Y:1.18, Z:0.50 [[ 9.99102084e-01 -4.15501866e-02 -8.28293328e-03 1.83572536e+02] [ 4.15495254e-02 9.99136414e-01 -2.51964958e-04 1.18493254e+00] [ 8.28624944e-03 -9.24132319e-05 9.99965664e-01 4.96062539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03864000000002 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:183.60, Y:1.19, Z:0.50 [[ 9.99037523e-01 -4.30747492e-02 -8.28214517e-03 1.83600014e+02] [ 4.30739455e-02 9.99071849e-01 -2.75473789e-04 1.18610693e+00] [ 8.28632406e-03 -8.15360185e-05 9.99965665e-01 4.96265536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864000000002 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:183.63, Y:1.19, Z:0.48 [[ 9.99101870e-01 -4.15556203e-02 -8.28151486e-03 1.83630183e+02] [ 4.15546098e-02 9.99136191e-01 -2.94128813e-04 1.18800844e+00] [ 8.28658392e-03 -5.02704716e-05 9.99965664e-01 4.82062420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09864000000002 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:183.66, Y:1.19, Z:0.48 [[ 9.99158768e-01 -4.01642106e-02 -8.28203023e-03 1.83659227e+02] [ 4.01632792e-02 9.99193091e-01 -2.78820318e-04 1.18983975e+00] [ 8.28654599e-03 -5.40477263e-05 9.99965665e-01 4.81968067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864000000002 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:183.69, Y:1.19, Z:0.48 [[ 9.99164325e-01 -4.00257493e-02 -8.28199388e-03 1.83688317e+02] [ 4.00248042e-02 9.99198647e-01 -2.79895976e-04 1.19129643e+00] [ 8.28656013e-03 -5.18231095e-05 9.99965665e-01 4.82462780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15864000000002 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:183.72, Y:1.19, Z:0.48 [[ 9.99159748e-01 -4.01398526e-02 -8.28195717e-03 1.83716897e+02] [ 4.01389025e-02 9.99194070e-01 -2.80978026e-04 1.19276175e+00] [ 8.28656091e-03 -5.16867379e-05 9.99965665e-01 4.83014589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864000000002 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:183.75, Y:1.20, Z:0.50 [[ 9.99151357e-01 -4.03481905e-02 -8.28192065e-03 1.83745519e+02] [ 4.03472386e-02 9.99185679e-01 -2.82050391e-04 1.19512980e+00] [ 8.28655673e-03 -5.23415976e-05 9.99965665e-01 4.95651544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:183.78, Y:1.20, Z:0.48 [[ 9.99197259e-01 -3.91951532e-02 -8.28115818e-03 1.83775660e+02] [ 3.91939772e-02 9.99231575e-01 -3.04320849e-04 1.19782885e+00] [ 8.28672263e-03 -2.04949662e-05 9.99965664e-01 4.81734126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:183.80, Y:1.20, Z:0.48 [[ 9.99218384e-01 -3.86527083e-02 -8.28188294e-03 1.83804761e+02] [ 3.86516893e-02 9.99252704e-01 -2.83120010e-04 1.20080475e+00] [ 8.28663728e-03 -3.72100471e-05 9.99965665e-01 4.81014418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27864 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:183.83, Y:1.20, Z:0.48 [[ 9.99253481e-01 -3.77344947e-02 -8.28184630e-03 1.83833185e+02] [ 3.77334353e-02 9.99287800e-01 -2.84187900e-04 1.20327068e+00] [ 8.28667165e-03 -2.85267633e-05 9.99965665e-01 4.83046946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:183.86, Y:1.21, Z:0.48 [[ 9.99258831e-01 -3.75925480e-02 -8.28180952e-03 1.83861833e+02] [ 3.75914749e-02 9.99293150e-01 -2.85255588e-04 1.20635609e+00] [ 8.28667901e-03 -2.62812691e-05 9.99965665e-01 4.83652761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33864 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:183.89, Y:1.21, Z:0.50 [[ 9.99269567e-01 -3.73061029e-02 -8.28177233e-03 1.83889674e+02] [ 3.73050110e-02 9.99303885e-01 -2.86331217e-04 1.21097173e+00] [ 8.28668917e-03 -2.28295375e-05 9.99965665e-01 4.97603258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36864 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:183.92, Y:1.21, Z:0.50 [[ 9.99311122e-01 -3.61760243e-02 -8.28105012e-03 1.83918713e+02] [ 3.61747217e-02 9.99345433e-01 -3.07077021e-04 1.21479907e+00] [ 8.28673844e-03 7.30079884e-06 9.99965664e-01 4.97022811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39864 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:183.95, Y:1.22, Z:0.50 [[ 9.99367256e-01 -3.45907544e-02 -8.28055777e-03 1.83948253e+02] [ 3.45892797e-02 9.99401560e-01 -3.21284344e-04 1.21756343e+00] [ 8.28671583e-03 3.46625244e-05 9.99965664e-01 4.97589200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42864 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:183.98, Y:1.22, Z:0.49 [[ 9.99370794e-01 -3.44880594e-02 -8.28185964e-03 1.83977308e+02] [ 3.44868943e-02 9.99405110e-01 -2.83500106e-04 1.22003175e+00] [ 8.28671021e-03 -2.29389183e-06 9.99965665e-01 4.86537331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45864 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:184.01, Y:1.22, Z:0.50 [[ 9.99394627e-01 -3.37904010e-02 -8.28176867e-03 1.84005803e+02] [ 3.37891901e-02 9.99428941e-01 -2.86133035e-04 1.22338451e+00] [ 8.28670785e-03 6.12556232e-06 9.99965665e-01 4.98815081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48864 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:184.03, Y:1.23, Z:0.50 [[ 9.99418048e-01 -3.30907091e-02 -8.28075140e-03 1.84034896e+02] [ 3.30892305e-02 9.99452352e-01 -3.15538046e-04 1.22574805e+00] [ 8.28665784e-03 4.13507264e-05 9.99965664e-01 4.99500771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51864 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:184.07, Y:1.23, Z:0.49 [[ 9.99527160e-01 -2.96122778e-02 -8.28065465e-03 1.84065320e+02] [ 2.96106566e-02 9.99561458e-01 -3.18332280e-04 1.23023175e+00] [ 8.28644978e-03 7.29861382e-05 9.99965664e-01 4.88500819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54864 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:184.09, Y:1.23, Z:0.50 [[ 9.99529931e-01 -2.95182863e-02 -8.28174725e-03 1.84093982e+02] [ 2.95169233e-02 9.99564240e-01 -2.86779696e-04 1.23331452e+00] [ 8.28660364e-03 4.21931912e-05 9.99965665e-01 4.99556702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57864 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:184.12, Y:1.24, Z:0.49 [[ 9.99560734e-01 -2.84564334e-02 -8.28071182e-03 1.84124263e+02] [ 2.84547868e-02 9.99595030e-01 -3.16620757e-04 1.23625428e+00] [ 8.28636828e-03 8.08557873e-05 9.99965664e-01 4.89135878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60864 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:184.15, Y:1.24, Z:0.50 [[ 9.99488910e-01 -3.08760730e-02 -8.28171833e-03 1.84151533e+02] [ 3.08747496e-02 9.99523220e-01 -2.87641515e-04 1.23838566e+00] [ 8.28665101e-03 3.17985253e-05 9.99965665e-01 5.01775163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63864 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:184.18, Y:1.24, Z:0.50 [[ 9.99440279e-01 -3.24125197e-02 -8.27994756e-03 1.84181001e+02] [ 3.24108275e-02 9.99474574e-01 -3.38507125e-04 1.23955497e+00] [ 8.28656892e-03 6.99577036e-05 9.99965663e-01 5.03215519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66864 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:184.21, Y:1.24, Z:0.49 [[ 9.99444500e-01 -3.22821555e-02 -8.27970422e-03 1.84212690e+02] [ 3.22804004e-02 9.99478792e-01 -3.45557753e-04 1.24039601e+00] [ 8.28654413e-03 7.80936288e-05 9.99965663e-01 4.89303107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69864 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:184.24, Y:1.24, Z:0.49 [[ 9.99393599e-01 -3.38207893e-02 -8.28185301e-03 1.84241845e+02] [ 3.38196088e-02 9.99427913e-01 -2.82582074e-04 1.24042321e+00] [ 8.28667222e-03 2.32168661e-06 9.99965665e-01 4.89416813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72864 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:184.27, Y:1.24, Z:0.49 [[ 9.99308797e-01 -3.62400213e-02 -8.28181588e-03 1.84271161e+02] [ 3.62389149e-02 9.99343115e-01 -2.83665975e-04 1.24155715e+00] [ 8.28665574e-03 -1.66541168e-05 9.99965665e-01 4.89670447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75864 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:184.30, Y:1.24, Z:0.49 [[ 9.99272316e-01 -3.72323842e-02 -8.28175913e-03 1.84299624e+02] [ 3.72312983e-02 9.99306634e-01 -2.85313254e-04 1.24313903e+00] [ 8.28663974e-03 -2.32350091e-05 9.99965665e-01 4.89382762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864000000002 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:184.33, Y:1.24, Z:0.49 [[ 9.99238270e-01 -3.81352009e-02 -8.28172212e-03 1.84328062e+02] [ 3.81341371e-02 9.99272588e-01 -2.86383566e-04 1.24374351e+00] [ 8.28661920e-03 -2.96509082e-05 9.99965665e-01 4.89323495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81864000000002 meters Centerline goodness : 0.996168 Centerline is valid? [True, True] Translation: X:184.36, Y:1.24, Z:0.49 [[ 9.99141424e-01 -4.05934541e-02 -8.28168503e-03 1.84356576e+02] [ 4.05924658e-02 9.99175745e-01 -2.87452246e-04 1.24197827e+00] [ 8.28652749e-03 -4.89685700e-05 9.99965665e-01 4.89293959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864000000002 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:184.38, Y:1.24, Z:0.50 [[ 9.99015418e-01 -4.35844936e-02 -8.28164795e-03 1.84383983e+02] [ 4.35835993e-02 9.99049742e-01 -2.88516679e-04 1.24096590e+00] [ 8.28635310e-03 -7.27114146e-05 9.99965665e-01 5.01878825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87864000000002 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:184.42, Y:1.24, Z:0.49 [[ 9.98982136e-01 -4.43412915e-02 -8.27903363e-03 1.84415482e+02] [ 4.43398063e-02 9.99016441e-01 -3.62942730e-04 1.23862824e+00] [ 8.28698406e-03 -4.51744347e-06 9.99965662e-01 4.90885763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864000000002 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:184.44, Y:1.24, Z:0.49 [[ 9.98949938e-01 -4.50603649e-02 -8.28160749e-03 1.84444799e+02] [ 4.50595152e-02 9.98984262e-01 -2.89250312e-04 1.23880762e+00] [ 8.28622928e-03 -8.42186381e-05 9.99965665e-01 4.90928894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93864000000002 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:184.47, Y:1.24, Z:0.50 [[ 9.98929900e-01 -4.55024156e-02 -8.28157030e-03 1.84472731e+02] [ 4.55015723e-02 9.98964225e-01 -2.90311134e-04 1.23914745e+00] [ 8.28620232e-03 -8.68239982e-05 9.99965665e-01 5.02554612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:184.50, Y:1.24, Z:0.49 [[ 9.99007736e-01 -4.37604967e-02 -8.28029760e-03 1.84503315e+02] [ 4.37592926e-02 9.99042050e-01 -3.26616728e-04 1.23996893e+00] [ 8.28665839e-03 -3.60473283e-05 9.99965664e-01 4.92879615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:184.53, Y:1.24, Z:0.51 [[ 9.99046481e-01 -4.28665859e-02 -8.28162830e-03 1.84531899e+02] [ 4.28656678e-02 9.99080803e-01 -2.88405523e-04 1.23972715e+00] [ 8.28637881e-03 -6.68670045e-05 9.99965665e-01 5.06524970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:184.56, Y:1.24, Z:0.51 [[ 9.99107920e-01 -4.14101129e-02 -8.28044556e-03 1.84561967e+02] [ 4.14088633e-02 9.99142233e-01 -3.22375968e-04 1.24139818e+00] [ 8.28669249e-03 -2.07954551e-05 9.99965665e-01 5.06253280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:184.59, Y:1.24, Z:0.49 [[ 9.99184618e-01 -3.95160979e-02 -8.28109414e-03 1.84591754e+02] [ 3.95149381e-02 9.99218934e-01 -3.03687763e-04 1.24362284e+00] [ 8.28662661e-03 -2.37867799e-05 9.99965665e-01 4.94019770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:1.25, Z:0.49 [[ 9.99204051e-01 -3.90215180e-02 -8.28168420e-03 1.84620270e+02] [ 3.90204825e-02 9.99238370e-01 -2.86639335e-04 1.24509214e+00] [ 8.28656173e-03 -3.67441288e-05 9.99965665e-01 4.92772513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:184.65, Y:1.25, Z:0.51 [[ 9.99188091e-01 -3.94280654e-02 -8.28164723e-03 1.84649640e+02] [ 3.94270350e-02 9.99222411e-01 -2.87703574e-04 1.24615270e+00] [ 8.28655111e-03 -3.90508108e-05 9.99965665e-01 5.06243999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:1.25, Z:0.50 [[ 9.99162712e-01 -4.00661182e-02 -8.28131841e-03 1.84679424e+02] [ 4.00650312e-02 9.99197030e-01 -2.97186946e-04 1.24873425e+00] [ 8.28657589e-03 -3.48531654e-05 9.99965665e-01 4.95455046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.71, Y:1.25, Z:0.51 [[ 9.99153506e-01 -4.02949789e-02 -8.28170887e-03 1.84708220e+02] [ 4.02939935e-02 9.99187826e-01 -2.85875314e-04 1.25000635e+00] [ 8.28650203e-03 -4.80698012e-05 9.99965665e-01 5.07396470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.74, Y:1.25, Z:0.51 [[ 9.99148483e-01 -4.04194096e-02 -8.28135045e-03 1.84736523e+02] [ 4.04183424e-02 9.99182801e-01 -2.96264318e-04 1.25094740e+00] [ 8.28655777e-03 -3.87064136e-05 9.99965665e-01 5.07631857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:184.77, Y:1.25, Z:0.51 [[ 9.99116276e-01 -4.12078573e-02 -8.28131280e-03 1.84765694e+02] [ 4.12068081e-02 9.99150595e-01 -2.97351547e-04 1.25234511e+00] [ 8.28653183e-03 -4.41576971e-05 9.99965665e-01 5.07321119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:184.79, Y:1.25, Z:0.51 [[ 9.99082054e-01 -4.20293888e-02 -8.28124092e-03 1.84794944e+02] [ 4.20283507e-02 9.99116374e-01 -2.99423201e-04 1.25341342e+00] [ 8.28650797e-03 -4.88985507e-05 9.99965665e-01 5.07881876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.83, Y:1.25, Z:0.49 [[ 9.99053208e-01 -4.27095975e-02 -8.28115385e-03 1.84825482e+02] [ 4.27085620e-02 9.99087527e-01 -3.01926875e-04 1.25395924e+00] [ 8.28649270e-03 -5.20351590e-05 9.99965665e-01 4.94775174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:184.85, Y:1.25, Z:0.51 [[ 9.98949033e-01 -4.50804004e-02 -8.28167921e-03 1.84853581e+02] [ 4.50795721e-02 9.98983358e-01 -2.86754097e-04 1.25401876e+00] [ 8.28618669e-03 -8.68818264e-05 9.99965665e-01 5.09576750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:1.25, Z:0.50 [[ 9.98919970e-01 -4.57202643e-02 -8.27950479e-03 1.84885521e+02] [ 4.57189359e-02 9.98954282e-01 -3.49744371e-04 1.25339276e+00] [ 8.28683717e-03 -2.91635119e-05 9.99965663e-01 4.95135408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:184.91, Y:1.25, Z:0.49 [[ 9.98878051e-01 -4.66267304e-02 -8.28178085e-03 1.84914820e+02] [ 4.66259849e-02 9.98912377e-01 -2.83180056e-04 1.25406011e+00] [ 8.28597716e-03 -1.03283847e-04 9.99965665e-01 4.94105066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.94, Y:1.26, Z:0.50 [[ 9.98865613e-01 -4.68924260e-02 -8.28175404e-03 1.84943567e+02] [ 4.68916831e-02 9.98899940e-01 -2.83962112e-04 1.25600085e+00] [ 8.28595928e-03 -1.04705397e-04 9.99965665e-01 4.95435018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:1.26, Z:0.50 [[ 9.98922481e-01 -4.56649866e-02 -8.28171803e-03 1.84971852e+02] [ 4.56641928e-02 9.98956806e-01 -2.85008385e-04 1.25728398e+00] [ 8.28609350e-03 -9.34766865e-05 9.99965665e-01 4.95621563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:185.00, Y:1.26, Z:0.51 [[ 9.98900983e-01 -4.61328433e-02 -8.28167267e-03 1.84999035e+02] [ 4.61320548e-02 9.98935309e-01 -2.86320538e-04 1.25928627e+00] [ 8.28606402e-03 -9.60447097e-05 9.99965665e-01 5.10708455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.03, Y:1.26, Z:0.51 [[ 9.98900392e-01 -4.61461180e-02 -8.27905151e-03 1.85027488e+02] [ 4.61447023e-02 9.98934700e-01 -3.62037856e-04 1.26134768e+00] [ 8.28693848e-03 -2.03946109e-05 9.99965663e-01 5.11137034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:185.06, Y:1.26, Z:0.51 [[ 9.98984634e-01 -4.42849926e-02 -8.27896641e-03 1.85056100e+02] [ 4.42834926e-02 9.99018938e-01 -3.64507426e-04 1.26350639e+00] [ 8.28698644e-03 -2.48423019e-06 9.99965662e-01 5.11130198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.09, Y:1.27, Z:0.50 [[ 9.99050372e-01 -4.27761828e-02 -8.27965776e-03 1.85087775e+02] [ 4.27747979e-02 9.99084680e-01 -3.44363065e-04 1.26538655e+00] [ 8.28680976e-03 -1.01246390e-05 9.99965664e-01 4.98012210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:1.27, Z:0.50 [[ 9.99038988e-01 -4.30408169e-02 -8.28180136e-03 1.85116542e+02] [ 4.30399643e-02 9.99073312e-01 -2.81240100e-04 1.26678590e+00] [ 8.28623151e-03 -7.54786096e-05 9.99965666e-01 4.98177322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:185.14, Y:1.27, Z:0.51 [[ 9.99027733e-01 -4.33012713e-02 -8.28176507e-03 1.85144250e+02] [ 4.33004188e-02 9.99062057e-01 -2.82304548e-04 1.26935254e+00] [ 8.28622139e-03 -7.65738229e-05 9.99965666e-01 5.12032210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:185.17, Y:1.27, Z:0.51 [[ 9.99075541e-01 -4.21840258e-02 -8.28073395e-03 1.85173722e+02] [ 4.21828849e-02 9.99109857e-01 -3.12464234e-04 1.27162445e+00] [ 8.28654391e-03 -3.71298729e-05 9.99965665e-01 5.11877149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:1.27, Z:0.50 [[ 9.99235306e-01 -3.82129833e-02 -8.28072578e-03 1.85204124e+02] [ 3.82117040e-02 9.99269617e-01 -3.12703345e-04 1.27490608e+00] [ 8.28662701e-03 -3.95641983e-06 9.99965665e-01 4.98929981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:185.23, Y:1.28, Z:0.50 [[ 9.99287464e-01 -3.68235831e-02 -8.28173946e-03 1.85232421e+02] [ 3.68225019e-02 9.99321782e-01 -2.83043698e-04 1.27688944e+00] [ 8.28654531e-03 -2.21123475e-05 9.99965666e-01 4.99524030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:185.26, Y:1.28, Z:0.51 [[ 9.99308013e-01 -3.62616633e-02 -8.28170270e-03 1.85261013e+02] [ 3.62605539e-02 9.99342329e-01 -2.84115022e-04 1.27935442e+00] [ 8.28655856e-03 -1.63807096e-05 9.99965666e-01 5.12683151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:1.28, Z:0.50 [[ 9.99385619e-01 -3.40560385e-02 -8.28070893e-03 1.85291458e+02] [ 3.40546139e-02 9.99419924e-01 -3.13020216e-04 1.28442094e+00] [ 8.28656572e-03 3.08315569e-05 9.99965665e-01 5.00667547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:185.32, Y:1.29, Z:0.51 [[ 9.99341741e-01 -3.53199336e-02 -8.28168488e-03 1.85319234e+02] [ 3.53187877e-02 9.99376056e-01 -2.84623107e-04 1.28786335e+00] [ 8.28657044e-03 -8.06331836e-06 9.99965666e-01 5.13048180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:1.29, Z:0.50 [[ 9.99362745e-01 -3.47207947e-02 -8.28067439e-03 1.85349948e+02] [ 3.47193854e-02 9.99397051e-01 -3.13925281e-04 1.29044687e+00] [ 8.28658130e-03 2.62253058e-05 9.99965665e-01 4.99562944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:185.38, Y:1.29, Z:0.51 [[ 9.99326593e-01 -3.57459832e-02 -8.28165484e-03 1.85378778e+02] [ 3.57448448e-02 9.99360908e-01 -2.85483060e-04 1.29298810e+00] [ 8.28656698e-03 -1.07356533e-05 9.99965666e-01 5.12672549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:185.41, Y:1.30, Z:0.51 [[ 9.99291449e-01 -3.67153468e-02 -8.28148924e-03 1.85407354e+02] [ 3.67142019e-02 9.99325764e-01 -2.90284317e-04 1.29895361e+00] [ 8.28656345e-03 -1.39696327e-05 9.99965666e-01 5.13612552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:185.44, Y:1.30, Z:0.51 [[ 9.99229227e-01 -3.83714410e-02 -8.28159204e-03 1.85435643e+02] [ 3.83703775e-02 9.99263545e-01 -2.87319386e-04 1.30213051e+00] [ 8.28651787e-03 -3.06698850e-05 9.99965666e-01 5.13804423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.47, Y:1.30, Z:0.50 [[ 9.99100420e-01 -4.15905903e-02 -8.28088813e-03 1.85466200e+02] [ 4.15894700e-02 9.99134736e-01 -3.07513041e-04 1.30468948e+00] [ 8.28651263e-03 -3.71613405e-05 9.99965666e-01 5.01644763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.49, Y:1.31, Z:0.50 [[ 9.98980953e-01 -4.43674671e-02 -8.28153228e-03 1.85494672e+02] [ 4.43665952e-02 9.99015276e-01 -2.89058015e-04 1.30563686e+00] [ 8.28620203e-03 -7.86599395e-05 9.99965666e-01 5.02113216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:1.31, Z:0.50 [[ 9.98893645e-01 -4.62915054e-02 -8.28149548e-03 1.85523950e+02] [ 4.62906909e-02 9.98927969e-01 -2.90108547e-04 1.30675272e+00] [ 8.28604703e-03 -9.35685641e-05 9.99965666e-01 5.02214484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:1.31, Z:0.50 [[ 9.98756197e-01 -4.91678302e-02 -8.28147714e-03 1.85553262e+02] [ 4.91671102e-02 9.98790524e-01 -2.90631239e-04 1.30780499e+00] [ 8.28575060e-03 -1.16906547e-04 9.99965666e-01 5.02248326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.58, Y:1.31, Z:0.50 [[ 9.98694661e-01 -5.04022888e-02 -8.28145879e-03 1.85582817e+02] [ 5.04016069e-02 9.98728989e-01 -2.91153060e-04 1.30839801e+00] [ 8.28560775e-03 -1.26625824e-04 9.99965666e-01 5.01551265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:1.31, Z:0.50 [[ 9.98712708e-01 -5.00434234e-02 -8.28144043e-03 1.85612444e+02] [ 5.00427249e-02 9.98747035e-01 -2.91674493e-04 1.30906787e+00] [ 8.28566047e-03 -1.23126822e-04 9.99965666e-01 5.02024410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:1.31, Z:0.50 [[ 9.98790204e-01 -4.84721135e-02 -8.28142213e-03 1.85641712e+02] [ 4.84713567e-02 9.98824530e-01 -2.92192953e-04 1.31026062e+00] [ 8.28585078e-03 -1.09572307e-04 9.99965666e-01 5.03593228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:185.67, Y:1.31, Z:0.50 [[ 9.99004033e-01 -4.38447283e-02 -8.28140381e-03 1.85670885e+02] [ 4.38438082e-02 9.99038355e-01 -2.92711505e-04 1.31156116e+00] [ 8.28627389e-03 -7.06683062e-05 9.99965666e-01 5.03953248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:1.31, Z:0.50 [[ 9.99138425e-01 -4.06672598e-02 -8.28138509e-03 1.85700203e+02] [ 4.06662261e-02 9.99172744e-01 -2.93240074e-04 1.31321004e+00] [ 8.28645953e-03 -4.37852527e-05 9.99965666e-01 5.03562359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.73, Y:1.32, Z:0.50 [[ 9.99318355e-01 -3.59756117e-02 -8.28136643e-03 1.85728886e+02] [ 3.59744126e-02 9.99352668e-01 -2.93766078e-04 1.31742341e+00] [ 8.28657405e-03 -4.35145855e-06 9.99965666e-01 5.03808421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.76, Y:1.32, Z:0.50 [[ 9.99397176e-01 -3.37150515e-02 -8.28132863e-03 1.85757870e+02] [ 3.37137659e-02 9.99431486e-01 -2.94827864e-04 1.32078132e+00] [ 8.28656071e-03 1.54553593e-05 9.99965666e-01 5.03006612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:1.32, Z:0.50 [[ 9.99435700e-01 -3.25530560e-02 -8.28129063e-03 1.85786291e+02] [ 3.25517217e-02 9.99470008e-01 -2.95891252e-04 1.32470842e+00] [ 8.28653379e-03 2.61540119e-05 9.99965666e-01 5.02732440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.81, Y:1.33, Z:0.50 [[ 9.99397563e-01 -3.37036008e-02 -8.28125218e-03 1.85814699e+02] [ 3.37022972e-02 9.99431872e-01 -2.96963531e-04 1.32777298e+00] [ 8.28655611e-03 1.76874067e-05 9.99965666e-01 5.02926130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:1.33, Z:0.50 [[ 9.99347000e-01 -3.51709401e-02 -8.28121366e-03 1.85843248e+02] [ 3.51696779e-02 9.99381311e-01 -2.98033975e-04 1.33158555e+00] [ 8.28657230e-03 6.59174122e-06 9.99965666e-01 5.04094977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.87, Y:1.34, Z:0.50 [[ 9.99184310e-01 -3.95238636e-02 -8.28117474e-03 1.85872129e+02] [ 3.95227420e-02 9.99218626e-01 -2.99111374e-04 1.33645110e+00] [ 8.28652609e-03 -2.84273407e-05 9.99965666e-01 5.03638294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:1.34, Z:0.50 [[ 9.99135071e-01 -4.07496369e-02 -8.28113579e-03 1.85901725e+02] [ 4.07485485e-02 9.99169388e-01 -3.00186098e-04 1.33805382e+00] [ 8.28648985e-03 -3.75178044e-05 9.99965666e-01 5.03457379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:1.34, Z:0.50 [[ 9.99018074e-01 -4.35236720e-02 -8.28111662e-03 1.85931067e+02] [ 4.35226745e-02 9.99052394e-01 -3.00713858e-04 1.34230110e+00] [ 8.28635756e-03 -5.99977645e-05 9.99965666e-01 5.04068237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:1.35, Z:0.50 [[ 9.98990667e-01 -4.41482724e-02 -8.28109753e-03 1.85960930e+02] [ 4.41472920e-02 9.99024988e-01 -3.01238666e-04 1.34585886e+00] [ 8.28632252e-03 -6.46534146e-05 9.99965666e-01 5.04519585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:185.99, Y:1.35, Z:0.50 [[ 9.98980825e-01 -4.43704329e-02 -8.28107827e-03 1.85990825e+02] [ 4.43694557e-02 9.99015145e-01 -3.01767313e-04 1.34927738e+00] [ 8.28631215e-03 -6.59671765e-05 9.99965666e-01 5.03185503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:186.02, Y:1.35, Z:0.50 [[ 9.98871521e-01 -4.67665229e-02 -8.28105913e-03 1.86020682e+02] [ 4.67656238e-02 9.98905844e-01 -3.02291633e-04 1.35184393e+00] [ 8.28613548e-03 -8.53183924e-05 9.99965666e-01 5.02843104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:186.05, Y:1.35, Z:0.50 [[ 9.98760419e-01 -4.90820760e-02 -8.28103990e-03 1.86050455e+02] [ 4.90812520e-02 9.98794743e-01 -3.02817317e-04 1.35313929e+00] [ 8.28592203e-03 -1.04001856e-04 9.99965666e-01 5.03624124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:186.08, Y:1.35, Z:0.50 [[ 9.98517853e-01 -5.37914584e-02 -8.28102065e-03 1.86081366e+02] [ 5.37907920e-02 9.98552181e-01 -3.03342906e-04 1.35284874e+00] [ 8.28534849e-03 -1.42549352e-04 9.99965666e-01 5.04993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:186.11, Y:1.35, Z:0.50 [[ 9.98414885e-01 -5.56699374e-02 -8.28102065e-03 1.86111883e+02] [ 5.56693356e-02 9.98449214e-01 -3.03342906e-04 1.35176296e+00] [ 8.28506564e-03 -1.58136845e-04 9.99965666e-01 5.04610885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:186.14, Y:1.35, Z:0.51 [[ 9.98336475e-01 -5.70588042e-02 -8.28102065e-03 1.86142250e+02] [ 5.70582501e-02 9.98370805e-01 -3.03342906e-04 1.35199568e+00] [ 8.28483764e-03 -1.69662260e-04 9.99965666e-01 5.05520066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:1.35, Z:0.51 [[ 9.98377154e-01 -5.63425508e-02 -8.28102065e-03 1.86172334e+02] [ 5.63419721e-02 9.98411483e-01 -3.03342906e-04 1.35241129e+00] [ 8.28495722e-03 -1.63718407e-04 9.99965666e-01 5.05097012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:186.20, Y:1.35, Z:0.51 [[ 9.98540504e-01 -5.33693383e-02 -8.28102065e-03 1.86202850e+02] [ 5.33686574e-02 9.98574832e-01 -3.03342906e-04 1.35066226e+00] [ 8.28540801e-03 -1.39046775e-04 9.99965666e-01 5.05676319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:186.23, Y:1.35, Z:0.51 [[ 9.98678181e-01 -5.07278498e-02 -8.28102065e-03 1.86233034e+02] [ 5.07270781e-02 9.98712507e-01 -3.03342906e-04 1.35046552e+00] [ 8.28574683e-03 -1.17130039e-04 9.99965666e-01 5.06915272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:1.35, Z:0.51 [[ 9.98968938e-01 -4.46372602e-02 -8.28102065e-03 1.86262435e+02] [ 4.46362791e-02 9.99003259e-01 -3.03342906e-04 1.35129964e+00] [ 8.28630701e-03 -6.66038083e-05 9.99965666e-01 5.08258234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:186.29, Y:1.35, Z:0.52 [[ 9.99061547e-01 -4.25141174e-02 -8.28101113e-03 1.86292439e+02] [ 4.25130612e-02 9.99095865e-01 -3.03602477e-04 1.35236196e+00] [ 8.28643137e-03 -4.87335731e-05 9.99965666e-01 5.22757845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:186.32, Y:1.35, Z:0.51 [[ 9.99331974e-01 -3.55956048e-02 -8.28000897e-03 1.86323896e+02] [ 3.55940845e-02 9.99366275e-01 -3.30939769e-04 1.35202079e+00] [ 8.28654173e-03 3.59993533e-05 9.99965665e-01 5.07549288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:186.35, Y:1.35, Z:0.52 [[ 9.99355003e-01 -3.49428580e-02 -8.28103112e-03 1.86351964e+02] [ 3.49415468e-02 9.99389312e-01 -3.03004962e-04 1.35375817e+00] [ 8.28656185e-03 1.34574882e-05 9.99965666e-01 5.18281580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:186.38, Y:1.36, Z:0.51 [[ 9.99487064e-01 -3.09362806e-02 -8.27976753e-03 1.86382421e+02] [ 3.09345462e-02 9.99521355e-01 -3.37491794e-04 1.35701004e+00] [ 8.28624521e-03 8.11878308e-05 9.99965665e-01 5.10080824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:186.41, Y:1.36, Z:0.52 [[ 9.99612130e-01 -2.65897304e-02 -8.28100533e-03 1.86410762e+02] [ 2.65881264e-02 9.99646427e-01 -3.03746045e-04 1.36339333e+00] [ 8.28615391e-03 8.34518151e-05 9.99965666e-01 5.23972000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:186.44, Y:1.37, Z:0.52 [[ 9.99664681e-01 -2.45349489e-02 -8.28022946e-03 1.86438955e+02] [ 2.45331003e-02 9.99698965e-01 -3.24761907e-04 1.36745387e+00] [ 8.28570484e-03 1.21513308e-04 9.99965666e-01 5.23515657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:186.47, Y:1.38, Z:0.52 [[ 9.99776038e-01 -1.94761125e-02 -8.27984214e-03 1.86467247e+02] [ 1.94740035e-02 9.99810307e-01 -3.35267304e-04 1.37599575e+00] [ 8.28480122e-03 1.73950542e-04 9.99965665e-01 5.24063237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:186.50, Y:1.38, Z:0.51 [[ 9.99817261e-01 -1.72301608e-02 -8.28045646e-03 1.86497627e+02] [ 1.72281131e-02 9.99851534e-01 -3.18568183e-04 1.38050567e+00] [ 8.28471608e-03 1.75853328e-04 9.99965666e-01 5.12150306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:186.53, Y:1.38, Z:0.51 [[ 9.99810991e-01 -1.75900325e-02 -8.28092273e-03 1.86525845e+02] [ 1.75881016e-02 9.99845271e-01 -3.05947914e-04 1.38447702e+00] [ 8.28502306e-03 1.60244377e-04 9.99965666e-01 5.12527207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:186.55, Y:1.39, Z:0.51 [[ 9.99761059e-01 -2.02299523e-02 -8.28088295e-03 1.86554445e+02] [ 2.02281030e-02 9.99795344e-01 -3.07020964e-04 1.39093469e+00] [ 8.28539923e-03 1.39441051e-04 9.99965666e-01 5.12651672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:186.58, Y:1.40, Z:0.51 [[ 9.99697699e-01 -2.31503192e-02 -8.28084252e-03 1.86583172e+02] [ 2.31485611e-02 9.99731989e-01 -3.08107454e-04 1.39745403e+00] [ 8.28575595e-03 1.16324724e-04 9.99965666e-01 5.12284979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:186.61, Y:1.40, Z:0.51 [[ 9.99647630e-01 -2.52199270e-02 -8.28080262e-03 1.86611970e+02] [ 2.52182311e-02 9.99681922e-01 -3.09176021e-04 1.40093408e+00] [ 8.28596608e-03 1.00239883e-04 9.99965666e-01 5.12498535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:186.64, Y:1.40, Z:0.51 [[ 9.99644364e-01 -2.53490491e-02 -8.28076236e-03 1.86641250e+02] [ 2.53473486e-02 9.99678656e-01 -3.10250697e-04 1.40200046e+00] [ 8.28596595e-03 1.00244990e-04 9.99965666e-01 5.12741505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:186.67, Y:1.41, Z:0.51 [[ 9.99598694e-01 -2.70902364e-02 -8.28072215e-03 1.86669739e+02] [ 2.70885868e-02 9.99632988e-01 -3.11320262e-04 1.40513943e+00] [ 8.28611677e-03 8.68822663e-05 9.99965666e-01 5.12260536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:186.70, Y:1.41, Z:0.51 [[ 9.99564465e-01 -2.83250770e-02 -8.28068168e-03 1.86698318e+02] [ 2.83234609e-02 9.99598761e-01 -3.12393088e-04 1.41081095e+00] [ 8.28620771e-03 7.77194665e-05 9.99965666e-01 5.12688439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:186.73, Y:1.41, Z:0.51 [[ 9.99535345e-01 -2.93347193e-02 -8.28064136e-03 1.86727369e+02] [ 2.93331291e-02 9.99569642e-01 -3.13458199e-04 1.41337430e+00] [ 8.28627292e-03 7.04154270e-05 9.99965666e-01 5.13584355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:186.76, Y:1.42, Z:0.51 [[ 9.99494990e-01 -3.06789370e-02 -8.28060093e-03 1.86755942e+02] [ 3.06773840e-02 9.99529289e-01 -3.14522497e-04 1.41622038e+00] [ 8.28635238e-03 6.03364854e-05 9.99965666e-01 5.14514703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:186.78, Y:1.42, Z:0.52 [[ 9.99465148e-01 -3.16362230e-02 -8.28056014e-03 1.86784352e+02] [ 3.16346940e-02 9.99499448e-01 -3.15592659e-04 1.41945686e+00] [ 8.28639945e-03 5.34708775e-05 9.99965666e-01 5.15178483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:186.81, Y:1.42, Z:0.51 [[ 9.99439143e-01 -3.24473696e-02 -8.28051921e-03 1.86813863e+02] [ 3.24458596e-02 9.99473444e-01 -3.16663013e-04 1.42339274e+00] [ 8.28643394e-03 4.78168471e-05 9.99965666e-01 5.14791513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:186.84, Y:1.43, Z:0.51 [[ 9.99364782e-01 -3.46621705e-02 -8.28049893e-03 1.86843531e+02] [ 3.46607321e-02 9.99399086e-01 -3.17192419e-04 1.42698579e+00] [ 8.28651764e-03 2.99827777e-05 9.99965666e-01 5.13988257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:186.87, Y:1.43, Z:0.53 [[ 9.99263554e-01 -3.74670859e-02 -8.28046681e-03 1.86873595e+02] [ 3.74657369e-02 9.99297862e-01 -3.18028918e-04 1.42867299e+00] [ 8.28656839e-03 7.56091620e-06 9.99965666e-01 5.25758398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:186.90, Y:1.43, Z:0.53 [[ 9.99260779e-01 -3.75409485e-02 -8.28090165e-03 1.86904051e+02] [ 3.75396962e-02 9.99295090e-01 -3.06667382e-04 1.43140218e+00] [ 8.28657694e-03 -4.42184568e-06 9.99965666e-01 5.25571892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:186.93, Y:1.43, Z:0.51 [[ 9.99169918e-01 -3.98859104e-02 -8.28189267e-03 1.86934602e+02] [ 3.98849528e-02 9.99204239e-01 -2.80816153e-04 1.43418076e+00] [ 8.28650287e-03 -4.97398454e-05 9.99965665e-01 5.13594561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:186.97, Y:1.44, Z:0.51 [[ 9.99024678e-01 -4.33719545e-02 -8.28046006e-03 1.86965239e+02] [ 4.33708077e-02 9.99058993e-01 -3.18107490e-04 1.43579746e+00] [ 8.28646504e-03 -4.13330084e-05 9.99965666e-01 5.13031394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:187.00, Y:1.44, Z:0.51 [[ 9.98958300e-01 -4.48748216e-02 -8.28046006e-03 1.86996992e+02] [ 4.48737263e-02 9.98992616e-01 -3.18107490e-04 1.43679076e+00] [ 8.28639348e-03 -5.37989817e-05 9.99965666e-01 5.13743492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:187.03, Y:1.44, Z:0.53 [[ 9.98798993e-01 -4.82908335e-02 -8.28048013e-03 1.87027281e+02] [ 4.82898600e-02 9.98833314e-01 -3.17584412e-04 1.43771538e+00] [ 8.28615582e-03 -8.26602352e-05 9.99965666e-01 5.28880770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:187.06, Y:1.44, Z:0.51 [[ 9.98798434e-01 -4.83026145e-02 -8.27921854e-03 1.87059352e+02] [ 4.83013672e-02 9.98832746e-01 -3.50654043e-04 1.43929144e+00] [ 8.28649209e-03 -4.96648657e-05 9.99965665e-01 5.14643774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:187.09, Y:1.44, Z:0.51 [[ 9.98674384e-01 -5.08026127e-02 -8.28064386e-03 1.87092025e+02] [ 5.08017640e-02 9.98708708e-01 -3.12938976e-04 1.43845527e+00] [ 8.28584924e-03 -1.08147176e-04 9.99965666e-01 5.14305302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:187.12, Y:1.44, Z:0.51 [[ 9.98692968e-01 -5.04359429e-02 -8.28077753e-03 1.87124133e+02] [ 5.04351112e-02 9.98727292e-01 -3.09360909e-04 1.43786049e+00] [ 8.28584143e-03 -1.08685371e-04 9.99965666e-01 5.13483341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66864 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:187.16, Y:1.44, Z:0.53 [[ 9.98682591e-01 -5.06409849e-02 -8.28090854e-03 1.87155344e+02] [ 5.06401897e-02 9.98716916e-01 -3.05813474e-04 1.43770630e+00] [ 8.28577013e-03 -1.13936186e-04 9.99965666e-01 5.31460385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:187.19, Y:1.44, Z:0.52 [[ 9.98659709e-01 -5.10902167e-02 -8.28097309e-03 1.87187092e+02] [ 5.10894514e-02 9.98694035e-01 -3.04062664e-04 1.43765664e+00] [ 8.28569306e-03 -1.19415241e-04 9.99965666e-01 5.16107523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:187.22, Y:1.44, Z:0.52 [[ 9.98622296e-01 -5.18163720e-02 -8.28094465e-03 1.87219038e+02] [ 5.18156252e-02 9.98656622e-01 -3.04835368e-04 1.43546815e+00] [ 8.28561567e-03 -1.24666929e-04 9.99965666e-01 5.15958547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:187.25, Y:1.44, Z:0.52 [[ 9.98599053e-01 -5.22623893e-02 -8.28097266e-03 1.87251642e+02] [ 5.22616643e-02 9.98633379e-01 -3.04072450e-04 1.43539132e+00] [ 8.28554726e-03 -1.29130952e-04 9.99965666e-01 5.16388800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864000000002 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:187.28, Y:1.44, Z:0.52 [[ 9.98572494e-01 -5.27673994e-02 -8.28110135e-03 1.87283781e+02] [ 5.27667211e-02 9.98606821e-01 -3.00526305e-04 1.43545111e+00] [ 8.28542229e-03 -1.36869264e-04 9.99965666e-01 5.17152454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:187.32, Y:1.43, Z:0.52 [[ 9.98560861e-01 -5.29870550e-02 -8.28122951e-03 1.87316643e+02] [ 5.29864139e-02 9.98595189e-01 -2.96952284e-04 1.43296693e+00] [ 8.28533058e-03 -1.42267726e-04 9.99965666e-01 5.15781596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:187.35, Y:1.43, Z:0.52 [[ 9.98550136e-01 -5.31887616e-02 -8.28135583e-03 1.87347632e+02] [ 5.31881570e-02 9.98584465e-01 -2.93386607e-04 1.43149165e+00] [ 8.28523816e-03 -1.47508818e-04 9.99965666e-01 5.16449902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.38, Y:1.43, Z:0.52 [[ 9.98619337e-01 -5.18732888e-02 -8.28138254e-03 1.87379110e+02] [ 5.18726453e-02 9.98653665e-01 -2.92630744e-04 1.42841983e+00] [ 8.28541275e-03 -1.37350499e-04 9.99965666e-01 5.16985080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.41, Y:1.43, Z:0.52 [[ 9.98650490e-01 -5.12700417e-02 -8.28140060e-03 1.87410414e+02] [ 5.12693816e-02 9.98684818e-01 -2.92118728e-04 1.42828458e+00] [ 8.28548599e-03 -1.32857778e-04 9.99965666e-01 5.16713366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:187.44, Y:1.43, Z:0.53 [[ 9.98892903e-01 -4.63075217e-02 -8.28141868e-03 1.87441562e+02] [ 4.63066953e-02 9.98927227e-01 -2.91605498e-04 1.42812558e+00] [ 8.28603812e-03 -9.22024694e-05 9.99965666e-01 5.26719016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.47, Y:1.43, Z:0.52 [[ 9.98924469e-01 -4.56212347e-02 -8.28302770e-03 1.87471959e+02] [ 4.56207645e-02 9.98958801e-01 -2.45800668e-04 1.42817391e+00] [ 8.28561715e-03 -1.32341754e-04 9.99965665e-01 5.16597814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:1.43, Z:0.52 [[ 9.99022370e-01 -4.34249022e-02 -8.28138327e-03 1.87502851e+02] [ 4.34239704e-02 9.99056692e-01 -2.92378279e-04 1.42806125e+00] [ 8.28626787e-03 -6.75181005e-05 9.99965666e-01 5.17221188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:187.53, Y:1.43, Z:0.52 [[ 9.99143384e-01 -4.05452534e-02 -8.28138327e-03 1.87532873e+02] [ 4.05442226e-02 9.99177702e-01 -2.92378279e-04 1.42711550e+00] [ 8.28642805e-03 -4.36344241e-05 9.99965666e-01 5.18094006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.56, Y:1.43, Z:0.52 [[ 9.99271171e-01 -3.72631906e-02 -8.28136463e-03 1.87562623e+02] [ 3.72620428e-02 9.99305486e-01 -2.92905262e-04 1.42646314e+00] [ 8.28652769e-03 -1.58887789e-05 9.99965666e-01 5.18303634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.59, Y:1.43, Z:0.52 [[ 9.99306320e-01 -3.63083627e-02 -8.28135524e-03 1.87592189e+02] [ 3.63071799e-02 9.99340634e-01 -2.93170513e-04 1.42667431e+00] [ 8.28653933e-03 -7.70550726e-06 9.99965666e-01 5.17250597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:1.43, Z:0.52 [[ 9.99324489e-01 -3.58048269e-02 -8.28133610e-03 1.87621552e+02] [ 3.58036223e-02 9.99358802e-01 -2.93710109e-04 1.42686270e+00] [ 8.28654236e-03 -2.99012593e-06 9.99965666e-01 5.17800935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.65, Y:1.43, Z:0.52 [[ 9.99344903e-01 -3.52304507e-02 -8.28131730e-03 1.87650978e+02] [ 3.52292220e-02 9.99379215e-01 -2.94239169e-04 1.42832543e+00] [ 8.28654256e-03 2.30204750e-06 9.99965666e-01 5.18344955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:187.68, Y:1.43, Z:0.52 [[ 9.99301769e-01 -3.64334353e-02 -8.28129849e-03 1.87680213e+02] [ 3.64322436e-02 9.99336082e-01 -2.94767733e-04 1.42867531e+00] [ 8.28653979e-03 -7.14436692e-06 9.99965666e-01 5.18538650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:187.71, Y:1.43, Z:0.52 [[ 9.99202230e-01 -3.90681879e-02 -8.28127965e-03 1.87709732e+02] [ 3.90670822e-02 9.99236547e-01 -2.95295995e-04 1.42584233e+00] [ 8.28649396e-03 -2.84650162e-05 9.99965666e-01 5.16624411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:187.74, Y:1.43, Z:0.52 [[ 9.99191375e-01 -3.93448457e-02 -8.28126073e-03 1.87738899e+02] [ 3.93437452e-02 9.99225691e-01 -2.95825546e-04 1.42594981e+00] [ 8.28648769e-03 -3.02294779e-05 9.99965666e-01 5.16787048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:187.77, Y:1.43, Z:0.52 [[ 9.99190067e-01 -3.93780617e-02 -8.28123246e-03 1.87768672e+02] [ 3.93769558e-02 9.99224383e-01 -2.96614802e-04 1.42670877e+00] [ 8.28648951e-03 -2.97151601e-05 9.99965666e-01 5.17405953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:187.80, Y:1.43, Z:0.52 [[ 9.99176222e-01 -3.97278073e-02 -8.28121359e-03 1.87798410e+02] [ 3.97267090e-02 9.99210539e-01 -2.97140797e-04 1.42744991e+00] [ 8.28648064e-03 -3.20893443e-05 9.99965666e-01 5.18594451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:187.83, Y:1.43, Z:0.52 [[ 9.99157970e-01 -4.01842352e-02 -8.28119468e-03 1.87828582e+02] [ 4.01831482e-02 9.99192287e-01 -2.97666885e-04 1.42709357e+00] [ 8.28646737e-03 -3.53482331e-05 9.99965666e-01 5.18340572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35864 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:187.86, Y:1.43, Z:0.53 [[ 9.99122190e-01 -4.10642316e-02 -8.28117563e-03 1.87857285e+02] [ 4.10631705e-02 9.99156508e-01 -2.98195936e-04 1.42723038e+00] [ 8.28643571e-03 -4.21171502e-05 9.99965666e-01 5.31966849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:187.89, Y:1.43, Z:0.52 [[ 9.99180686e-01 -3.96156392e-02 -8.27993919e-03 1.87888732e+02] [ 3.96142429e-02 9.99214992e-01 -3.32637300e-04 1.42889346e+00] [ 8.28661702e-03 4.36124310e-06 9.99965665e-01 5.18668784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:187.92, Y:1.43, Z:0.52 [[ 9.99196262e-01 -3.92205234e-02 -8.28128523e-03 1.87918685e+02] [ 3.92194269e-02 9.99230579e-01 -2.94829485e-04 1.42980782e+00] [ 8.28647680e-03 -3.01947414e-05 9.99965666e-01 5.17929539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:187.95, Y:1.43, Z:0.52 [[ 9.99198850e-01 -3.91545498e-02 -8.28126656e-03 1.87948516e+02] [ 3.91534467e-02 9.99233166e-01 -2.95352942e-04 1.43001495e+00] [ 8.28648062e-03 -2.91238088e-05 9.99965666e-01 5.18046367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47864 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:187.98, Y:1.43, Z:0.53 [[ 9.99193269e-01 -3.92967127e-02 -8.28124772e-03 1.87978367e+02] [ 3.92956101e-02 9.99227585e-01 -2.95880313e-04 1.43044311e+00] [ 8.28647828e-03 -2.97750633e-05 9.99965666e-01 5.31320002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50864 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:188.01, Y:1.43, Z:0.53 [[ 9.99177651e-01 -3.96918815e-02 -8.28110901e-03 1.88008449e+02] [ 3.96907603e-02 9.99211966e-01 -2.99763437e-04 1.43047707e+00] [ 8.28648139e-03 -2.91665857e-05 9.99965666e-01 5.32867597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53864000000002 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:188.04, Y:1.43, Z:0.52 [[ 9.99139275e-01 -4.06462829e-02 -8.28187060e-03 1.88038351e+02] [ 4.06453709e-02 9.99173597e-01 -2.78464899e-04 1.43116468e+00] [ 8.28634500e-03 -5.83944855e-05 9.99965666e-01 5.19959734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864000000002 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:188.07, Y:1.43, Z:0.52 [[ 9.99116206e-01 -4.12095508e-02 -8.28128190e-03 1.88068399e+02] [ 4.12085212e-02 9.99150525e-01 -2.94991350e-04 1.43129360e+00] [ 8.28640362e-03 -4.65287430e-05 9.99965666e-01 5.20337149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59864000000002 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:188.10, Y:1.43, Z:0.52 [[ 9.99046007e-01 -4.28776945e-02 -8.28126319e-03 1.88098151e+02] [ 4.28767179e-02 9.99080327e-01 -2.95515683e-04 1.43029630e+00] [ 8.28631817e-03 -5.98396226e-05 9.99965666e-01 5.20677290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864000000002 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:188.13, Y:1.43, Z:0.52 [[ 9.98975756e-01 -4.44843868e-02 -8.28124442e-03 1.88127542e+02] [ 4.44834610e-02 9.99010077e-01 -2.96040893e-04 1.42901048e+00] [ 8.28621582e-03 -7.26407384e-05 9.99965666e-01 5.20260977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65864000000002 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:188.16, Y:1.43, Z:0.52 [[ 9.98889053e-01 -4.63905267e-02 -8.28122564e-03 1.88157124e+02] [ 4.63896621e-02 9.98923376e-01 -2.96565223e-04 1.42617742e+00] [ 8.28606769e-03 -8.79275039e-05 9.99965666e-01 5.20818716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:188.19, Y:1.43, Z:0.52 [[ 9.98901772e-01 -4.61158529e-02 -8.28120695e-03 1.88187302e+02] [ 4.61149745e-02 9.98936094e-01 -2.97086255e-04 1.42648817e+00] [ 8.28609691e-03 -8.51276612e-05 9.99965666e-01 5.21475390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71864 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:188.22, Y:1.43, Z:0.53 [[ 9.98914330e-01 -4.58430335e-02 -8.28120695e-03 1.88216730e+02] [ 4.58421457e-02 9.98948652e-01 -2.97086255e-04 1.42777982e+00] [ 8.28611985e-03 -8.28645786e-05 9.99965666e-01 5.33894895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:188.25, Y:1.43, Z:0.52 [[ 9.99089169e-01 -4.18599476e-02 -8.28113138e-03 1.88247388e+02] [ 4.18589056e-02 9.99123487e-01 -2.99191176e-04 1.42963586e+00] [ 8.28639699e-03 -4.77204335e-05 9.99965666e-01 5.22941150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:188.28, Y:1.43, Z:0.52 [[ 9.99152824e-01 -4.03119831e-02 -8.28119127e-03 1.88276751e+02] [ 4.03109017e-02 9.99187141e-01 -2.97524336e-04 1.42957340e+00] [ 8.28645362e-03 -3.65500073e-05 9.99965666e-01 5.22380776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:188.31, Y:1.43, Z:0.52 [[ 9.99238578e-01 -3.81272272e-02 -8.28117226e-03 1.88305987e+02] [ 3.81260664e-02 9.99272893e-01 -2.98052495e-04 1.42874825e+00] [ 8.28651487e-03 -1.79029724e-05 9.99965666e-01 5.22231418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:188.34, Y:1.43, Z:0.52 [[ 9.99280940e-01 -3.70003499e-02 -8.28115311e-03 1.88335929e+02] [ 3.69991460e-02 9.99315253e-01 -2.98583737e-04 1.43033278e+00] [ 8.28653031e-03 -8.02655568e-06 9.99965666e-01 5.23581797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:188.36, Y:1.43, Z:0.52 [[ 9.99263370e-01 -3.74718561e-02 -8.28113371e-03 1.88364759e+02] [ 3.74706639e-02 9.99297683e-01 -2.99120647e-04 1.43135786e+00] [ 8.28652634e-03 -1.13992729e-05 9.99965666e-01 5.24898737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:188.39, Y:1.43, Z:0.53 [[ 9.99222455e-01 -3.85474776e-02 -8.28109504e-03 1.88394590e+02] [ 3.85463135e-02 9.99256770e-01 -3.00187433e-04 1.43095841e+00] [ 8.28651175e-03 -1.92516620e-05 9.99965666e-01 5.25131906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:188.42, Y:1.43, Z:0.52 [[ 9.99135047e-01 -4.07502241e-02 -8.28107556e-03 1.88424099e+02] [ 4.07491313e-02 9.99169364e-01 -3.00723929e-04 1.42987238e+00] [ 8.28645157e-03 -3.69828180e-05 9.99965666e-01 5.24900571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95864 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:188.45, Y:1.43, Z:0.54 [[ 9.99061132e-01 -4.25238608e-02 -8.28105596e-03 1.88453514e+02] [ 4.25228244e-02 9.99095450e-01 -3.01262679e-04 1.42902121e+00] [ 8.28637618e-03 -5.11540556e-05 9.99965666e-01 5.38177837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98864 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:188.48, Y:1.43, Z:0.54 [[ 9.99071837e-01 -4.22718683e-02 -8.27969395e-03 1.88482054e+02] [ 4.22705118e-02 9.99106145e-01 -3.38840806e-04 1.42900260e+00] [ 8.28661653e-03 -1.14605938e-05 9.99965665e-01 5.38878856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:188.51, Y:1.43, Z:0.53 [[ 9.99184365e-01 -3.95228283e-02 -8.27950103e-03 1.88513366e+02] [ 3.95213332e-02 9.99218668e-01 -3.44167546e-04 1.43022138e+00] [ 8.28663446e-03 1.66699116e-05 9.99965665e-01 5.26166824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:188.54, Y:1.43, Z:0.53 [[ 9.99181824e-01 -3.95866896e-02 -8.28115471e-03 1.88543497e+02] [ 3.95855773e-02 9.99216139e-01 -2.98252211e-04 1.43124962e+00] [ 8.28647026e-03 -2.98061017e-05 9.99965666e-01 5.26411618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:188.57, Y:1.43, Z:0.53 [[ 9.99233811e-01 -3.82519683e-02 -8.28113550e-03 1.88573434e+02] [ 3.82508057e-02 9.99268125e-01 -2.98784660e-04 1.43278978e+00] [ 8.28650385e-03 -1.82043707e-05 9.99965666e-01 5.26991387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:188.60, Y:1.44, Z:0.53 [[ 9.99332742e-01 -3.55737882e-02 -8.28111625e-03 1.88601867e+02] [ 3.55725293e-02 9.99367052e-01 -2.99317204e-04 1.43744033e+00] [ 8.28652259e-03 4.53723224e-06 9.99965666e-01 5.27816310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13864 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:188.63, Y:1.44, Z:0.53 [[ 9.99330273e-01 -3.56430896e-02 -8.28108719e-03 1.88630900e+02] [ 3.56418264e-02 9.99364583e-01 -3.00119076e-04 1.43970520e+00] [ 8.28652242e-03 4.76500672e-06 9.99965666e-01 5.26298779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:188.66, Y:1.44, Z:0.54 [[ 9.99254009e-01 -3.77206683e-02 -8.28104770e-03 1.88659498e+02] [ 3.77194674e-02 9.99288322e-01 -3.01204753e-04 1.44088335e+00] [ 8.28651591e-03 -1.13766514e-05 9.99965666e-01 5.41537735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:188.69, Y:1.44, Z:0.53 [[ 9.99253232e-01 -3.77417034e-02 -8.27899413e-03 1.88690542e+02] [ 3.77400348e-02 9.99287527e-01 -3.57733286e-04 1.44354660e+00] [ 8.28659704e-03 4.50166155e-05 9.99965665e-01 5.27904524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:188.72, Y:1.45, Z:0.53 [[ 9.99185092e-01 -3.95041163e-02 -8.28115602e-03 1.88720040e+02] [ 3.95030068e-02 9.99219407e-01 -2.97570056e-04 1.44571629e+00] [ 8.28644705e-03 -2.98029990e-05 9.99965666e-01 5.28022880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:188.75, Y:1.45, Z:0.53 [[ 9.99031064e-01 -4.32244786e-02 -8.28113686e-03 1.88749584e+02] [ 4.32234925e-02 9.99065384e-01 -2.98102198e-04 1.44826494e+00] [ 8.28628249e-03 -6.01263003e-05 9.99965666e-01 5.28683684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864000000002 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:188.78, Y:1.45, Z:0.53 [[ 9.98930876e-01 -4.54810633e-02 -8.28111769e-03 1.88778806e+02] [ 4.54801503e-02 9.98965198e-01 -2.98633840e-04 1.45058969e+00] [ 8.28613056e-03 -7.83119135e-05 9.99965666e-01 5.29395039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31864000000002 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:188.81, Y:1.45, Z:0.53 [[ 9.98895221e-01 -4.62575590e-02 -8.28109864e-03 1.88808541e+02] [ 4.62566683e-02 9.98929543e-01 -2.99161106e-04 1.45297776e+00] [ 8.28607254e-03 -8.42254335e-05 9.99965666e-01 5.28920582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864000000002 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:188.84, Y:1.45, Z:0.53 [[ 9.98846639e-01 -4.72949873e-02 -8.28107954e-03 1.88837919e+02] [ 4.72941278e-02 9.98880962e-01 -2.99688863e-04 1.45494683e+00] [ 8.28598648e-03 -9.23032209e-05 9.99965666e-01 5.28441508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37864000000002 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:188.87, Y:1.46, Z:0.53 [[ 9.98795193e-01 -4.83692660e-02 -8.28106059e-03 1.88867640e+02] [ 4.83684392e-02 9.98829517e-01 -3.00211529e-04 1.45554665e+00] [ 8.28588876e-03 -1.00692143e-04 9.99965666e-01 5.27308416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864000000002 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:188.90, Y:1.46, Z:0.53 [[ 9.98750735e-01 -4.92787377e-02 -8.28104154e-03 1.88897112e+02] [ 4.92779377e-02 9.98785059e-01 -3.00736239e-04 1.45623208e+00] [ 8.28580047e-03 -1.07712109e-04 9.99965666e-01 5.27352837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:188.93, Y:1.46, Z:0.53 [[ 9.98707951e-01 -5.01383433e-02 -8.28102269e-03 1.88926605e+02] [ 5.01375686e-02 9.98742276e-01 -3.01254292e-04 1.45733957e+00] [ 8.28571184e-03 -1.14325286e-04 9.99965666e-01 5.27148372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:188.96, Y:1.46, Z:0.53 [[ 9.98712331e-01 -5.00510269e-02 -8.28100371e-03 1.88957378e+02] [ 5.00502449e-02 9.98746656e-01 -3.01775218e-04 1.45879037e+00] [ 8.28572892e-03 -1.13079633e-04 9.99965666e-01 5.28294883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.99, Y:1.46, Z:0.53 [[ 9.98776860e-01 -4.87463703e-02 -8.28100371e-03 1.88987571e+02] [ 4.87455435e-02 9.98811184e-01 -3.01775218e-04 1.46089830e+00] [ 8.28586956e-03 -1.02255922e-04 9.99965666e-01 5.29679289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:189.02, Y:1.46, Z:0.54 [[ 9.99031940e-01 -4.32042457e-02 -8.28100371e-03 1.89017820e+02] [ 4.32032284e-02 9.99066259e-01 -3.01775218e-04 1.46490834e+00] [ 8.28630937e-03 -5.62830138e-05 9.99965666e-01 5.38914797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.05, Y:1.47, Z:0.53 [[ 9.99240960e-01 -3.80645561e-02 -8.28211730e-03 1.89048198e+02] [ 3.80636152e-02 9.99275281e-01 -2.71259391e-04 1.46872775e+00] [ 8.28644046e-03 -4.41938323e-05 9.99965666e-01 5.27545149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:189.08, Y:1.47, Z:0.54 [[ 9.99340086e-01 -3.53669068e-02 -8.28098249e-03 1.89079188e+02] [ 3.53656157e-02 9.99374395e-01 -3.02341390e-04 1.47121234e+00] [ 8.28649475e-03 9.27982655e-06 9.99965666e-01 5.41828134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:1.47, Z:0.53 [[ 9.99337166e-01 -3.54488808e-02 -8.28286369e-03 1.89108703e+02] [ 3.54480204e-02 9.99371490e-01 -2.50710224e-04 1.47434196e+00] [ 8.28654522e-03 -4.30670764e-05 9.99965665e-01 5.27801375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.14, Y:1.48, Z:0.54 [[ 9.99357033e-01 -3.48847486e-02 -8.28093874e-03 1.89139279e+02] [ 3.48834332e-02 9.99391342e-01 -3.03271820e-04 1.47743254e+00] [ 8.28647804e-03 1.42092529e-05 9.99965666e-01 5.40953560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:1.48, Z:0.53 [[ 9.99265289e-01 -3.74204119e-02 -8.28217067e-03 1.89168670e+02] [ 3.74194618e-02 9.99299610e-01 -2.69701745e-04 1.47930649e+00] [ 8.28646227e-03 -4.04107765e-05 9.99965666e-01 5.28994817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.20, Y:1.48, Z:0.53 [[ 9.99153467e-01 -4.02961099e-02 -8.28090377e-03 1.89197904e+02] [ 4.02949727e-02 9.99187781e-01 -3.04190338e-04 1.48170163e+00] [ 8.28643555e-03 -2.97459604e-05 9.99965666e-01 5.29401224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.23, Y:1.48, Z:0.53 [[ 9.99136890e-01 -4.07050526e-02 -8.28088403e-03 1.89227123e+02] [ 4.07039250e-02 9.99171205e-01 -3.04726722e-04 1.48343080e+00] [ 8.28642480e-03 -3.26007731e-05 9.99965666e-01 5.28394847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:189.26, Y:1.49, Z:0.54 [[ 9.99195852e-01 -3.92310692e-02 -8.28086448e-03 1.89257472e+02] [ 3.92298866e-02 9.99230165e-01 -3.05257048e-04 1.48691685e+00] [ 8.28646514e-03 -1.98457988e-05 9.99965666e-01 5.38014282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.29, Y:1.49, Z:0.53 [[ 9.99174857e-01 -3.97618692e-02 -8.28243598e-03 1.89286873e+02] [ 3.97610595e-02 9.99209182e-01 -2.62470202e-04 1.48994384e+00] [ 8.28632239e-03 -6.70648030e-05 9.99965666e-01 5.28999343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.32, Y:1.49, Z:0.53 [[ 9.99225151e-01 -3.84775887e-02 -8.28084376e-03 1.89316758e+02] [ 3.84763773e-02 9.99259463e-01 -3.05612973e-04 1.49341986e+00] [ 8.28647074e-03 -1.32406993e-05 9.99965667e-01 5.29915764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:189.35, Y:1.50, Z:0.54 [[ 9.99290802e-01 -3.67331054e-02 -8.28083394e-03 1.89346537e+02] [ 3.67318318e-02 9.99325112e-01 -3.05878907e-04 1.49828476e+00] [ 8.28648118e-03 1.49177839e-06 9.99965667e-01 5.43239873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:189.38, Y:1.50, Z:0.54 [[ 9.99297807e-01 -3.65419492e-02 -8.28127233e-03 1.89375658e+02] [ 3.65407679e-02 9.99332120e-01 -2.93968025e-04 1.50115990e+00] [ 8.28648360e-03 -8.84244740e-06 9.99965666e-01 5.42779307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.41, Y:1.51, Z:0.53 [[ 9.99274534e-01 -3.71730517e-02 -8.28065602e-03 1.89405917e+02] [ 3.71717527e-02 9.99308843e-01 -3.10770754e-04 1.50637272e+00] [ 8.28648508e-03 2.73880265e-06 9.99965666e-01 5.31046958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:1.51, Z:0.53 [[ 9.99232747e-01 -3.82797886e-02 -8.28097967e-03 1.89435669e+02] [ 3.82786012e-02 9.99267060e-01 -3.01892943e-04 1.50887635e+00] [ 8.28646661e-03 -1.53230038e-05 9.99965667e-01 5.30494059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.46, Y:1.51, Z:0.53 [[ 9.99161413e-01 -4.00985772e-02 -8.28096019e-03 1.89464989e+02] [ 4.00974478e-02 9.99195728e-01 -3.02426383e-04 1.51103946e+00] [ 8.28642691e-03 -2.98725964e-05 9.99965667e-01 5.29655218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:1.51, Z:0.53 [[ 9.99025369e-01 -4.33559383e-02 -8.28094081e-03 1.89495563e+02] [ 4.33549164e-02 9.99059688e-01 -3.02955914e-04 1.51207084e+00] [ 8.28628908e-03 -5.63588532e-05 9.99965667e-01 5.30197836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:1.52, Z:0.53 [[ 9.98900378e-01 -4.61460750e-02 -8.28094081e-03 1.89526398e+02] [ 4.61451490e-02 9.98934699e-01 -3.02955914e-04 1.51514536e+00] [ 8.28609935e-03 -7.95024708e-05 9.99965667e-01 5.31793796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.56, Y:1.52, Z:0.53 [[ 9.98871275e-01 -4.67718081e-02 -8.28094081e-03 1.89558053e+02] [ 4.67709036e-02 9.98905597e-01 -3.02955914e-04 1.51876246e+00] [ 8.28604792e-03 -8.46931248e-05 9.99965667e-01 5.31816161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:1.52, Z:0.53 [[ 9.98902962e-01 -4.60901082e-02 -8.28095972e-03 1.89589305e+02] [ 4.60891845e-02 9.98937283e-01 -3.02438188e-04 1.52195521e+00] [ 8.28609882e-03 -7.95562788e-05 9.99965667e-01 5.33564578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.62, Y:1.52, Z:0.53 [[ 9.98966983e-01 -4.46810116e-02 -8.28097853e-03 1.89620588e+02] [ 4.46800438e-02 9.99001303e-01 -3.01922453e-04 1.52333341e+00] [ 8.28619853e-03 -6.83839220e-05 9.99965667e-01 5.32554011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.65, Y:1.52, Z:0.53 [[ 9.98980526e-01 -4.43771842e-02 -8.28099757e-03 1.89651635e+02] [ 4.43762103e-02 9.99014845e-01 -3.01399248e-04 1.52471989e+00] [ 8.28621476e-03 -6.63873106e-05 9.99965667e-01 5.33307898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:1.53, Z:0.53 [[ 9.98967131e-01 -4.46776813e-02 -8.28101643e-03 1.89682936e+02] [ 4.46767220e-02 9.99001451e-01 -3.00880187e-04 1.52833986e+00] [ 8.28619006e-03 -6.93992524e-05 9.99965667e-01 5.33895470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.71, Y:1.53, Z:0.53 [[ 9.98915941e-01 -4.58079443e-02 -8.28103521e-03 1.89713780e+02] [ 4.58070282e-02 9.98950262e-01 -3.00362364e-04 1.52928973e+00] [ 8.28610128e-03 -7.92928597e-05 9.99965667e-01 5.34633423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:1.53, Z:0.53 [[ 9.98836784e-01 -4.75026685e-02 -8.28105393e-03 1.89745026e+02] [ 4.75018149e-02 9.98871107e-01 -2.99845394e-04 1.52906315e+00] [ 8.28594896e-03 -9.38684822e-05 9.99965667e-01 5.34418031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.78, Y:1.53, Z:0.53 [[ 9.98649278e-01 -5.12937037e-02 -8.28107256e-03 1.89776736e+02] [ 5.12929847e-02 9.98683604e-01 -2.99330031e-04 1.52851941e+00] [ 8.28552513e-03 -1.25835209e-04 9.99965667e-01 5.34793080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:189.81, Y:1.53, Z:0.55 [[ 9.98572661e-01 -5.27642250e-02 -8.28109108e-03 1.89806378e+02] [ 5.27635608e-02 9.98606988e-01 -2.98816822e-04 1.53000670e+00] [ 8.28532226e-03 -1.38549544e-04 9.99965667e-01 5.47826685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:189.84, Y:1.53, Z:0.55 [[ 9.98498395e-01 -5.41516092e-02 -8.28003603e-03 1.89836448e+02] [ 5.41507498e-02 9.98532718e-01 -3.28117306e-04 1.52941309e+00] [ 8.28565496e-03 -1.20745556e-04 9.99965666e-01 5.50921490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:189.87, Y:1.53, Z:0.55 [[ 9.98534341e-01 -5.34849924e-02 -8.27806941e-03 1.89868303e+02] [ 5.34836496e-02 9.98568652e-01 -3.83658341e-04 1.52883730e+00] [ 8.28674057e-03 -5.96453352e-05 9.99965663e-01 5.47549027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:189.90, Y:1.53, Z:0.55 [[ 9.98473716e-01 -5.46048712e-02 -8.27931126e-03 1.89901319e+02] [ 5.46038615e-02 9.98508036e-01 -3.48120838e-04 1.52573702e+00] [ 8.28596792e-03 -1.04492859e-04 9.99965665e-01 5.46550540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.93, Y:1.52, Z:0.54 [[ 9.98467190e-01 -5.47239581e-02 -8.28006860e-03 1.89934125e+02] [ 5.47231339e-02 9.98501513e-01 -3.26239657e-04 1.52486497e+00] [ 8.28551415e-03 -1.27371709e-04 9.99965666e-01 5.35967350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:189.96, Y:1.52, Z:0.55 [[ 9.98281790e-01 -5.80076196e-02 -8.28152557e-03 1.89963210e+02] [ 5.80072609e-02 9.98316121e-01 -2.83710903e-04 1.51985362e+00] [ 8.28403788e-03 -1.97165186e-04 9.99965667e-01 5.50688714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:1.52, Z:0.54 [[ 9.98361651e-01 -5.66169418e-02 -8.27858821e-03 1.89995858e+02] [ 5.66158294e-02 9.98395969e-01 -3.68849536e-04 1.51897136e+00] [ 8.28619224e-03 -1.00453906e-04 9.99965664e-01 5.36704671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.03, Y:1.52, Z:0.54 [[ 9.98509681e-01 -5.39428645e-02 -8.28154982e-03 1.90027252e+02] [ 5.39423816e-02 9.98544010e-01 -2.81821384e-04 1.51683679e+00] [ 8.28469422e-03 -1.65325140e-04 9.99965668e-01 5.37802352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:190.05, Y:1.52, Z:0.55 [[ 9.98397554e-01 -5.59798204e-02 -8.28157571e-03 1.90053275e+02] [ 5.59794139e-02 9.98431884e-01 -2.81058410e-04 1.51577111e+00] [ 8.28432283e-03 -1.82989725e-04 9.99965668e-01 5.53847003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.09, Y:1.52, Z:0.54 [[ 9.98752149e-01 -4.92510196e-02 -8.27540004e-03 1.90087962e+02] [ 4.92488756e-02 9.98786431e-01 -4.62782128e-04 1.51574804e+00] [ 8.28814976e-03 5.46504983e-05 9.99965651e-01 5.37983355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.12, Y:1.51, Z:0.54 [[ 9.98944030e-01 -4.51911525e-02 -8.28163656e-03 1.90117441e+02] [ 4.51904261e-02 9.98978353e-01 -2.74916360e-04 1.51175281e+00] [ 8.28559943e-03 -9.96246287e-05 9.99965669e-01 5.39178235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.15, Y:1.51, Z:0.54 [[ 9.98993494e-01 -4.40841562e-02 -8.28162795e-03 1.90146936e+02] [ 4.40833896e-02 9.99027817e-01 -2.75175284e-04 1.51086101e+00] [ 8.28570756e-03 -9.01839131e-05 9.99965669e-01 5.40354024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.18, Y:1.51, Z:0.54 [[ 9.99049626e-01 -4.27932189e-02 -8.28161045e-03 1.90176493e+02] [ 4.27924036e-02 9.99083948e-01 -2.75701005e-04 1.50783416e+00] [ 8.28582219e-03 -7.89510315e-05 9.99965669e-01 5.40181665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:1.51, Z:0.54 [[ 9.99040070e-01 -4.30157479e-02 -8.28159325e-03 1.90205763e+02] [ 4.30149360e-02 9.99074391e-01 -2.76216629e-04 1.50668297e+00] [ 8.28580940e-03 -8.02807237e-05 9.99965669e-01 5.40259314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.24, Y:1.50, Z:0.54 [[ 9.99070290e-01 -4.23080602e-02 -8.28157591e-03 1.90235326e+02] [ 4.23072197e-02 9.99104610e-01 -2.76735574e-04 1.50456354e+00] [ 8.28586882e-03 -7.38921616e-05 9.99965669e-01 5.40027254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.27, Y:1.50, Z:0.54 [[ 9.99083396e-01 -4.19974287e-02 -8.28155832e-03 1.90265348e+02] [ 4.19965731e-02 9.99117716e-01 -2.77261197e-04 1.50440474e+00] [ 8.28589589e-03 -7.07900114e-05 9.99965669e-01 5.40778086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.29, Y:1.50, Z:0.54 [[ 9.99095950e-01 -4.16977038e-02 -8.28152963e-03 1.90294984e+02] [ 4.16968309e-02 9.99130270e-01 -2.78115373e-04 1.50266163e+00] [ 8.28592371e-03 -6.74495976e-05 9.99965669e-01 5.40696776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.32, Y:1.50, Z:0.54 [[ 9.99062850e-01 -4.24833781e-02 -8.28151174e-03 1.90324519e+02] [ 4.24825277e-02 9.99097171e-01 -2.78647040e-04 1.50219857e+00] [ 8.28587282e-03 -7.34336461e-05 9.99965669e-01 5.41099994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:190.35, Y:1.50, Z:0.55 [[ 9.98957837e-01 -4.48849276e-02 -8.28149398e-03 1.90352451e+02] [ 4.48841553e-02 9.98992159e-01 -2.79173936e-04 1.50091643e+00] [ 8.28567826e-03 -9.28248707e-05 9.99965669e-01 5.52642701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:1.50, Z:0.54 [[ 9.98962585e-01 -4.47794630e-02 -8.27969326e-03 1.90383864e+02] [ 4.47782457e-02 9.98996896e-01 -3.32435620e-04 1.50059601e+00] [ 8.28627415e-03 -3.86593924e-05 9.99965667e-01 5.40344231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:190.41, Y:1.50, Z:0.55 [[ 9.98844455e-01 -4.73410057e-02 -8.28150003e-03 1.90413387e+02] [ 4.73403213e-02 9.98878780e-01 -2.78759606e-04 1.50022866e+00] [ 8.28541140e-03 -1.13611385e-04 9.99965669e-01 5.52943951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:190.44, Y:1.50, Z:0.55 [[ 9.98845596e-01 -4.73170962e-02 -8.28054642e-03 1.90442541e+02] [ 4.73161772e-02 9.98879915e-01 -3.06957584e-04 1.50125584e+00] [ 8.28579585e-03 -8.52005711e-05 9.99965669e-01 5.53188803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:190.47, Y:1.50, Z:0.56 [[ 9.98645523e-01 -5.13668398e-02 -8.28054882e-03 1.90472743e+02] [ 5.13660606e-02 9.98679845e-01 -3.06886586e-04 1.49882986e+00] [ 8.28538101e-03 -1.18868258e-04 9.99965669e-01 5.56812756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:190.51, Y:1.50, Z:0.54 [[ 9.98653717e-01 -5.12076027e-02 -8.27856237e-03 1.90505269e+02] [ 5.12063243e-02 9.98688028e-01 -3.66456069e-04 1.49901617e+00] [ 8.28646647e-03 -5.79520335e-05 9.99965665e-01 5.39759563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:190.53, Y:1.50, Z:0.54 [[ 9.98497356e-01 -5.41705031e-02 -8.28164744e-03 1.90534659e+02] [ 5.41701028e-02 9.98531685e-01 -2.72801025e-04 1.49783541e+00] [ 8.28426514e-03 -1.76226591e-04 9.99965669e-01 5.40327054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:190.57, Y:1.50, Z:0.55 [[ 9.98570360e-01 -5.28076820e-02 -8.28163059e-03 1.90565681e+02] [ 5.28072306e-02 9.98604687e-01 -2.73311792e-04 1.49784108e+00] [ 8.28450809e-03 -1.64408922e-04 9.99965669e-01 5.52438640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:190.60, Y:1.50, Z:0.54 [[ 9.98504520e-01 -5.40380731e-02 -8.28308151e-03 1.90595475e+02] [ 5.40380300e-02 9.98538852e-01 -2.29171091e-04 1.49757081e+00] [ 8.28336267e-03 -2.18773037e-04 9.99965668e-01 5.39891457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:190.63, Y:1.50, Z:0.54 [[ 9.98561359e-01 -5.29776014e-02 -8.28169750e-03 1.90625009e+02] [ 5.29771717e-02 9.98595687e-01 -2.71403482e-04 1.49578290e+00] [ 8.28444571e-03 -1.67727881e-04 9.99965669e-01 5.40403293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:190.65, Y:1.50, Z:0.54 [[ 9.98610914e-01 -5.20351499e-02 -8.28168086e-03 1.90654474e+02] [ 5.20346836e-02 9.98645241e-01 -2.71910302e-04 1.49540405e+00] [ 8.28461007e-03 -1.59402048e-04 9.99965669e-01 5.41221570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:190.68, Y:1.49, Z:0.54 [[ 9.98611646e-01 -5.20210985e-02 -8.28166404e-03 1.90684595e+02] [ 5.20206275e-02 9.98645973e-01 -2.72421533e-04 1.49462408e+00] [ 8.28462212e-03 -1.58774045e-04 9.99965669e-01 5.40591677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:190.71, Y:1.49, Z:0.54 [[ 9.98615513e-01 -5.19468049e-02 -8.28164721e-03 1.90713890e+02] [ 5.19463271e-02 9.98649841e-01 -2.72932391e-04 1.49355975e+00] [ 8.28464363e-03 -1.57646635e-04 9.99965669e-01 5.41078059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:190.74, Y:1.49, Z:0.56 [[ 9.98685341e-01 -5.05865937e-02 -8.28163018e-03 1.90743146e+02] [ 5.05860649e-02 9.98719668e-01 -2.73448018e-04 1.49091219e+00] [ 8.28485975e-03 -1.45846555e-04 9.99965669e-01 5.56267384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:190.77, Y:1.49, Z:0.54 [[ 9.98682245e-01 -5.06476997e-02 -8.28151969e-03 1.90773046e+02] [ 5.06471453e-02 9.98716571e-01 -2.76792807e-04 1.49113125e+00] [ 8.28490987e-03 -1.43007269e-04 9.99965669e-01 5.41863437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29864 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:190.80, Y:1.49, Z:0.56 [[ 9.98764802e-01 -4.89927150e-02 -8.28160760e-03 1.90802076e+02] [ 4.89921257e-02 9.98799127e-01 -2.74137121e-04 1.49186329e+00] [ 8.28509316e-03 -1.31935054e-04 9.99965669e-01 5.55742579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:190.83, Y:1.49, Z:0.54 [[ 9.98869188e-01 -4.68164351e-02 -8.28044327e-03 1.90833449e+02] [ 4.68154803e-02 9.98903506e-01 -3.09207568e-04 1.49301496e+00] [ 8.28583981e-03 -7.87950164e-05 9.99965669e-01 5.43357548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:190.86, Y:1.49, Z:0.54 [[ 9.98944888e-01 -4.51721742e-02 -8.28165328e-03 1.90862185e+02] [ 4.51714678e-02 9.98979211e-01 -2.72423583e-04 1.49388918e+00] [ 8.28550542e-03 -1.01958289e-04 9.99965669e-01 5.43636383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:190.89, Y:1.49, Z:0.54 [[ 9.99015322e-01 -4.35867176e-02 -8.28161870e-03 1.90890977e+02] [ 4.35859481e-02 9.99049644e-01 -2.73470622e-04 1.49488414e+00] [ 8.28566790e-03 -8.77608616e-05 9.99965669e-01 5.44806162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:190.92, Y:1.50, Z:0.54 [[ 9.99023734e-01 -4.33934728e-02 -8.28158399e-03 1.90919621e+02] [ 4.33926879e-02 9.99058056e-01 -2.74517656e-04 1.49583715e+00] [ 8.28569548e-03 -8.51105359e-05 9.99965669e-01 5.44650045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:190.95, Y:1.50, Z:0.55 [[ 9.99009689e-01 -4.37156445e-02 -8.28154899e-03 1.90948415e+02] [ 4.37148620e-02 9.99044010e-01 -2.75569767e-04 1.49716831e+00] [ 8.28567862e-03 -8.67299038e-05 9.99965669e-01 5.46873778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:190.98, Y:1.50, Z:0.56 [[ 9.98995074e-01 -4.40483576e-02 -8.28151381e-03 1.90977710e+02] [ 4.40475778e-02 9.99029396e-01 -2.76622853e-04 1.49883807e+00] [ 8.28566052e-03 -8.84357566e-05 9.99965669e-01 5.61350642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:191.01, Y:1.50, Z:0.55 [[ 9.99049762e-01 -4.27902885e-02 -8.28031656e-03 1.91008781e+02] [ 4.27891675e-02 9.99084075e-01 -3.12570799e-04 1.50354238e+00] [ 8.28610741e-03 -4.20340703e-05 9.99965669e-01 5.47625761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53864000000002 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:191.04, Y:1.51, Z:0.56 [[ 9.99080185e-01 -4.20737349e-02 -8.28160850e-03 1.91038188e+02] [ 4.20729136e-02 9.99114506e-01 -2.73443000e-04 1.50631919e+00] [ 8.28577995e-03 -7.52399154e-05 9.99965670e-01 5.61840406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864000000002 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:191.07, Y:1.51, Z:0.55 [[ 9.99201075e-01 -3.90977514e-02 -8.28114057e-03 1.91068248e+02] [ 3.90967107e-02 9.99235390e-01 -2.87588144e-04 1.51228920e+00] [ 8.28605277e-03 -3.64069740e-05 9.99965669e-01 5.49003353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59864000000002 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:191.10, Y:1.52, Z:0.55 [[ 9.99225086e-01 -3.84791181e-02 -8.28162926e-03 1.91097340e+02] [ 3.84781791e-02 9.99259403e-01 -2.72749589e-04 1.51513414e+00] [ 8.28599108e-03 -4.61237824e-05 9.99965670e-01 5.49085051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864000000002 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:191.13, Y:1.52, Z:0.55 [[ 9.99196563e-01 -3.92127967e-02 -8.28160290e-03 1.91125581e+02] [ 3.92118763e-02 9.99230881e-01 -2.73547826e-04 1.51809393e+00] [ 8.28595994e-03 -5.14091412e-05 9.99965670e-01 5.49840179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65864000000002 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:191.16, Y:1.52, Z:0.56 [[ 9.99168032e-01 -3.99332001e-02 -8.28156737e-03 1.91156174e+02] [ 3.99322955e-02 9.99202350e-01 -2.74619131e-04 1.52076292e+00] [ 8.28592800e-03 -5.63113388e-05 9.99965670e-01 5.64691264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:191.19, Y:1.52, Z:0.56 [[ 9.99064141e-01 -4.24527947e-02 -8.28263101e-03 1.91186106e+02] [ 4.24522424e-02 9.99098468e-01 -2.42553185e-04 1.52294292e+00] [ 8.28546101e-03 -1.09290070e-04 9.99965669e-01 5.64312251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:191.22, Y:1.52, Z:0.55 [[ 9.98818920e-01 -4.78765265e-02 -8.28266079e-03 1.91216403e+02] [ 4.78761681e-02 9.98853250e-01 -2.41660713e-04 1.52358290e+00] [ 8.28473252e-03 -1.55166768e-04 9.99965669e-01 5.52019190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:191.25, Y:1.52, Z:0.55 [[ 9.98696799e-01 -5.03599155e-02 -8.28150705e-03 1.91245743e+02] [ 5.03593557e-02 9.98731124e-01 -2.76248345e-04 1.52298483e+00] [ 8.28491069e-03 -1.41163021e-04 9.99965670e-01 5.51676587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:191.28, Y:1.52, Z:0.55 [[ 9.98463260e-01 -5.47953923e-02 -8.28148965e-03 1.91275167e+02] [ 5.47949806e-02 9.98497588e-01 -2.76768915e-04 1.52248434e+00] [ 8.28421310e-03 -1.77440471e-04 9.99965670e-01 5.52773437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80864 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:191.31, Y:1.52, Z:0.57 [[ 9.98473391e-01 -5.46104820e-02 -8.28147245e-03 1.91306482e+02] [ 5.46100598e-02 9.98507719e-01 -2.77282557e-04 1.52290182e+00] [ 8.28425670e-03 -1.75392451e-04 9.99965670e-01 5.65670838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:191.34, Y:1.52, Z:0.55 [[ 9.98355699e-01 -5.67211644e-02 -8.28292746e-03 1.91336596e+02] [ 5.67211769e-02 9.98390031e-01 -2.33591586e-04 1.52033201e+00] [ 8.28284179e-03 -2.36609903e-04 9.99965669e-01 5.54582264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:191.37, Y:1.52, Z:0.56 [[ 9.98315906e-01 -5.74174785e-02 -8.28155116e-03 1.91365898e+02] [ 5.74171714e-02 9.98350236e-01 -2.75033799e-04 1.51847561e+00] [ 8.28368030e-03 -2.00932626e-04 9.99965670e-01 5.55175791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:191.40, Y:1.52, Z:0.56 [[ 9.98194865e-01 -5.94846876e-02 -8.28153404e-03 1.91395830e+02] [ 5.94844473e-02 9.98229194e-01 -2.75548287e-04 1.51700461e+00] [ 8.28325996e-03 -2.17571590e-04 9.99965670e-01 5.58809931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92864 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:191.43, Y:1.51, Z:0.57 [[ 9.98275976e-01 -5.81075994e-02 -8.28151697e-03 1.91427139e+02] [ 5.81073075e-02 9.98310305e-01 -2.76060254e-04 1.51474038e+00] [ 8.28356493e-03 -2.05632334e-04 9.99965670e-01 5.70967349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95864 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:191.46, Y:1.51, Z:0.57 [[ 9.98206806e-01 -5.92836913e-02 -8.28345105e-03 1.91457959e+02] [ 5.92839207e-02 9.98241138e-01 -2.18057848e-04 1.51374238e+00] [ 8.28180887e-03 -2.73408626e-04 9.99965668e-01 5.71421265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98864 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:191.49, Y:1.51, Z:0.57 [[ 9.98070235e-01 -6.15401037e-02 -8.28377854e-03 1.91488556e+02] [ 6.15404922e-02 9.98104566e-01 -2.08235868e-04 1.51248198e+00] [ 8.28089204e-03 -3.01953786e-04 9.99965667e-01 5.71762427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01864 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:191.52, Y:1.51, Z:0.57 [[ 9.97866341e-01 -6.47622229e-02 -8.28369595e-03 1.91519418e+02] [ 6.47627020e-02 9.97900670e-01 -2.10676896e-04 1.50974978e+00] [ 8.27994965e-03 -3.26247149e-04 9.99965667e-01 5.70978813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:191.55, Y:1.51, Z:0.56 [[ 9.97520180e-01 -6.98917369e-02 -8.28466564e-03 1.91548270e+02] [ 6.98926288e-02 9.97554503e-01 -1.82169756e-04 1.50867207e+00] [ 8.27713768e-03 -3.97319053e-04 9.99965665e-01 5.59792952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:191.58, Y:1.50, Z:0.56 [[ 9.97383842e-01 -7.18115114e-02 -8.28119144e-03 1.91579213e+02] [ 7.18116283e-02 9.97418172e-01 -2.83613684e-04 1.50294563e+00] [ 8.28017756e-03 -3.11814135e-04 9.99965670e-01 5.60288863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:191.61, Y:1.50, Z:0.57 [[ 9.97579869e-01 -6.90349620e-02 -8.28119144e-03 1.91609527e+02] [ 6.90349834e-02 9.97614199e-01 -2.83613684e-04 1.50074740e+00] [ 8.28101343e-03 -2.88764612e-04 9.99965670e-01 5.70503475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:191.64, Y:1.50, Z:0.56 [[ 9.97450374e-01 -7.08812615e-02 -8.28241059e-03 1.91639347e+02] [ 7.08816436e-02 9.97484702e-01 -2.47772915e-04 1.49787274e+00] [ 8.27914031e-03 -3.39929688e-04 9.99965670e-01 5.61547466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16864 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:191.67, Y:1.50, Z:0.57 [[ 9.97709810e-01 -6.71308784e-02 -8.28125968e-03 1.91671042e+02] [ 6.71308508e-02 9.97744140e-01 -2.81616846e-04 1.49582304e+00] [ 8.28148350e-03 -2.74956118e-04 9.99965670e-01 5.70375290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:191.70, Y:1.49, Z:0.56 [[ 9.97523282e-01 -6.98475043e-02 -8.28415514e-03 1.91700316e+02] [ 6.98482775e-02 9.97557607e-01 -1.96312221e-04 1.49075330e+00] [ 8.27763390e-03 -3.82807956e-04 9.99965667e-01 5.62348778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:191.73, Y:1.49, Z:0.56 [[ 9.97563377e-01 -6.92728723e-02 -8.28123549e-03 1.91730095e+02] [ 6.92729149e-02 9.97597706e-01 -2.82039685e-04 1.48926220e+00] [ 8.28087923e-03 -2.92312861e-04 9.99965670e-01 5.62749139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:191.76, Y:1.49, Z:0.56 [[ 9.97528545e-01 -6.97726521e-02 -8.28121846e-03 1.91759551e+02] [ 6.97727078e-02 9.97562875e-01 -2.82539026e-04 1.48726220e+00] [ 8.28074959e-03 -2.95962292e-04 9.99965670e-01 5.62649518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864000000002 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:191.79, Y:1.48, Z:0.56 [[ 9.97512216e-01 -7.00057201e-02 -8.28120127e-03 1.91788272e+02] [ 7.00057796e-02 9.97546546e-01 -2.83041928e-04 1.48171036e+00] [ 8.28069827e-03 -2.97394171e-04 9.99965670e-01 5.63574372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31864000000002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:191.82, Y:1.48, Z:0.57 [[ 9.97747240e-01 -6.65722668e-02 -8.28116674e-03 1.91820223e+02] [ 6.65721998e-02 9.97781570e-01 -2.84048520e-04 1.47919772e+00] [ 8.28170531e-03 -2.67886860e-04 9.99965670e-01 5.72399163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:191.85, Y:1.47, Z:0.57 [[ 9.97725565e-01 -6.68958798e-02 -8.28486507e-03 1.91848305e+02] [ 6.68967218e-02 9.97759890e-01 -1.75758439e-04 1.47258983e+00] [ 8.27806357e-03 -3.78871625e-04 9.99965664e-01 5.74628129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.88, Y:1.47, Z:0.57 [[ 9.97665889e-01 -6.77803646e-02 -8.28224505e-03 1.91877230e+02] [ 6.77806101e-02 9.97700218e-01 -2.51360965e-04 1.47211264e+00] [ 8.28023503e-03 -3.10601362e-04 9.99965670e-01 5.67063838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:1.47, Z:0.57 [[ 9.97984715e-01 -6.29121098e-02 -8.28100191e-03 1.91906270e+02] [ 6.29118907e-02 9.98019044e-01 -2.87204680e-04 1.46951235e+00] [ 8.28266626e-03 -2.34347606e-04 9.99965671e-01 5.67261809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.93, Y:1.47, Z:0.57 [[ 9.98137224e-01 -6.04442458e-02 -8.28096668e-03 1.91934867e+02] [ 6.04439334e-02 9.98171552e-01 -2.88216847e-04 1.46808348e+00] [ 8.28324642e-03 -2.12854235e-04 9.99965671e-01 5.67755565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:1.47, Z:0.57 [[ 9.98384039e-01 -5.62204315e-02 -8.28090679e-03 1.91964025e+02] [ 5.62199597e-02 9.98418365e-01 -2.89927656e-04 1.46686534e+00] [ 8.28410927e-03 -1.76093102e-04 9.99965671e-01 5.67855534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.99, Y:1.47, Z:0.57 [[ 9.98828627e-01 -4.76739138e-02 -8.28087002e-03 1.91993163e+02] [ 4.76731396e-02 9.98862947e-01 -2.90974008e-04 1.46644273e+00] [ 8.28532610e-03 -1.04141903e-04 9.99965671e-01 5.70272356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:1.47, Z:0.57 [[ 9.99186888e-01 -3.94587178e-02 -8.28084224e-03 1.92022306e+02] [ 3.94576548e-02 9.99221201e-01 -2.91762392e-04 1.46876990e+00] [ 8.28590570e-03 -3.52174581e-05 9.99965671e-01 5.70608777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:1.47, Z:0.57 [[ 9.99342176e-01 -3.53078351e-02 -8.28080414e-03 1.92050767e+02] [ 3.53066207e-02 9.99376484e-01 -2.92839943e-04 1.47041138e+00] [ 8.28598047e-03 2.80095194e-07 9.99965671e-01 5.70233924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:192.08, Y:1.47, Z:0.58 [[ 9.99467162e-01 -3.15724624e-02 -8.28074344e-03 1.92080517e+02] [ 3.15711056e-02 9.99501465e-01 -2.94546375e-04 1.47255411e+00] [ 8.28591475e-03 3.29572036e-05 9.99965671e-01 5.79168880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.11, Y:1.48, Z:0.57 [[ 9.99551904e-01 -2.87647503e-02 -8.28133453e-03 1.92109300e+02] [ 2.87634351e-02 9.99586208e-01 -2.77907885e-04 1.47582714e+00] [ 8.28590173e-03 3.95837280e-05 9.99965671e-01 5.70890369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.14, Y:1.48, Z:0.57 [[ 9.99682473e-01 -2.37988130e-02 -8.28066913e-03 1.92137703e+02] [ 2.37971733e-02 9.99716763e-01 -2.96491839e-04 1.48200576e+00] [ 8.28537989e-03 9.93411765e-05 9.99965671e-01 5.71518835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.17, Y:1.49, Z:0.57 [[ 9.99734535e-01 -2.15009683e-02 -8.28062982e-03 1.92166163e+02] [ 2.14992408e-02 9.99768820e-01 -2.97585473e-04 1.48592494e+00] [ 8.28511389e-03 1.19479220e-04 9.99965671e-01 5.70425693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:1.49, Z:0.57 [[ 9.99741936e-01 -2.11540586e-02 -8.28059044e-03 1.92195076e+02] [ 2.11523102e-02 9.99776220e-01 -2.98677403e-04 1.48848852e+00] [ 8.28505565e-03 1.23446707e-04 9.99965671e-01 5.70229985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:1.49, Z:0.57 [[ 9.99739957e-01 -2.12473511e-02 -8.28055057e-03 1.92223778e+02] [ 2.12455968e-02 9.99774242e-01 -2.99778502e-04 1.49217342e+00] [ 8.28505067e-03 1.23775308e-04 9.99965671e-01 5.70967915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:1.50, Z:0.57 [[ 9.99719231e-01 -2.22011874e-02 -8.28051080e-03 1.92252474e+02] [ 2.21994567e-02 9.99753516e-01 -3.00873178e-04 1.49878166e+00] [ 8.28514953e-03 1.16965861e-04 9.99965671e-01 5.71406630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.28, Y:1.50, Z:0.57 [[ 9.99707530e-01 -2.27219738e-02 -8.28047092e-03 1.92281111e+02] [ 2.27202519e-02 9.99741816e-01 -3.01966791e-04 1.50135852e+00] [ 8.28519432e-03 1.13744090e-04 9.99965671e-01 5.70831926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:1.51, Z:0.57 [[ 9.99690805e-01 -2.34462985e-02 -8.28043076e-03 1.92309549e+02] [ 2.34445924e-02 9.99725092e-01 -3.03064020e-04 1.50626443e+00] [ 8.28526013e-03 1.08838990e-04 9.99965671e-01 5.70959862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:1.51, Z:0.57 [[ 9.99686132e-01 -2.36447081e-02 -8.28039049e-03 1.92338011e+02] [ 2.36429997e-02 9.99720419e-01 -3.04160388e-04 1.50726514e+00] [ 8.28526723e-03 1.08291652e-04 9.99965671e-01 5.71195912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:1.51, Z:0.57 [[ 9.99654227e-01 -2.49572160e-02 -8.28032980e-03 1.92366115e+02] [ 2.49555390e-02 9.99688515e-01 -3.05803778e-04 1.51133150e+00] [ 8.28538261e-03 9.90579462e-05 9.99965671e-01 5.71044237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.39, Y:1.52, Z:0.57 [[ 9.99630702e-01 -2.58823513e-02 -8.28026862e-03 1.92394676e+02] [ 2.58806924e-02 9.99664992e-01 -3.07451319e-04 1.51512793e+00] [ 8.28545222e-03 9.30386931e-05 9.99965671e-01 5.70586942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.42, Y:1.52, Z:0.57 [[ 9.99583181e-01 -2.76568759e-02 -8.28022752e-03 1.92423727e+02] [ 2.76552688e-02 9.99617472e-01 -3.08554313e-04 1.51790904e+00] [ 8.28559375e-03 7.94337841e-05 9.99965671e-01 5.70297870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:1.52, Z:0.57 [[ 9.99504561e-01 -3.03656075e-02 -8.28018651e-03 1.92452713e+02] [ 3.03640842e-02 9.99538857e-01 -3.09650860e-04 1.52090577e+00] [ 8.28577090e-03 5.80771669e-05 9.99965671e-01 5.69806102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:1.52, Z:0.57 [[ 9.99469308e-01 -3.15046364e-02 -8.28014565e-03 1.92481769e+02] [ 3.15031431e-02 9.99503605e-01 -3.10739784e-04 1.52402753e+00] [ 8.28582516e-03 4.97242631e-05 9.99965671e-01 5.68877003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:1.53, Z:0.57 [[ 9.99464695e-01 -3.16506307e-02 -8.28010453e-03 1.92510096e+02] [ 3.16491335e-02 9.99498992e-01 -3.11831649e-04 1.52653923e+00] [ 8.28582580e-03 4.96065908e-05 9.99965671e-01 5.68638041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:1.53, Z:0.57 [[ 9.99454158e-01 -3.19816516e-02 -8.28006351e-03 1.92539197e+02] [ 3.19801567e-02 9.99488455e-01 -3.12916995e-04 1.52914884e+00] [ 8.28583549e-03 4.79484630e-05 9.99965671e-01 5.68636824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:1.53, Z:0.57 [[ 9.99458312e-01 -3.18515809e-02 -8.28002221e-03 1.92567968e+02] [ 3.18500725e-02 9.99492608e-01 -3.14006106e-04 1.53294613e+00] [ 8.28582258e-03 5.01167054e-05 9.99965671e-01 5.68009279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.60, Y:1.54, Z:0.57 [[ 9.99461187e-01 -3.17612750e-02 -8.27998087e-03 1.92596880e+02] [ 3.17597545e-02 9.99495482e-01 -3.15092280e-04 1.53539687e+00] [ 8.28581121e-03 5.19523444e-05 9.99965671e-01 5.68576499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:1.54, Z:0.57 [[ 9.99450283e-01 -3.21025604e-02 -8.27993963e-03 1.92625387e+02] [ 3.21010426e-02 9.99484579e-01 -3.16172403e-04 1.53694308e+00] [ 8.28582191e-03 5.02039022e-05 9.99965671e-01 5.68041031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:192.65, Y:1.54, Z:0.58 [[ 9.99406763e-01 -3.34300127e-02 -8.27989769e-03 1.92653844e+02] [ 3.34285315e-02 9.99441060e-01 -3.17266791e-04 1.53855946e+00] [ 8.28587596e-03 4.02937561e-05 9.99965671e-01 5.78771457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.68, Y:1.54, Z:0.57 [[ 9.99432525e-01 -3.26510926e-02 -8.27851719e-03 1.92684937e+02] [ 3.26492852e-02 9.99466807e-01 -3.53408998e-04 1.54117338e+00] [ 8.28564234e-03 8.29207787e-05 9.99965670e-01 5.68585394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.71, Y:1.54, Z:0.57 [[ 9.99370776e-01 -3.44890434e-02 -8.28001942e-03 1.92713307e+02] [ 3.44876275e-02 9.99405076e-01 -3.13766782e-04 1.54298945e+00] [ 8.28591495e-03 2.80111273e-05 9.99965671e-01 5.68593388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:1.54, Z:0.57 [[ 9.99312212e-01 -3.61461618e-02 -8.27997814e-03 1.92741741e+02] [ 3.61447937e-02 9.99346514e-01 -3.14852319e-04 1.54296510e+00] [ 8.28594799e-03 1.53576653e-05 9.99965671e-01 5.68268670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.77, Y:1.54, Z:0.58 [[ 9.99161472e-01 -4.00973339e-02 -8.27993683e-03 1.92770165e+02] [ 4.00960926e-02 9.99195778e-01 -3.15934938e-04 1.54119051e+00] [ 8.28594608e-03 -1.63230959e-05 9.99965671e-01 5.78386092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:1.54, Z:0.57 [[ 9.99133401e-01 -4.07911023e-02 -8.27851119e-03 1.92801095e+02] [ 4.07895739e-02 9.99167697e-01 -3.53456777e-04 1.54132643e+00] [ 8.28603885e-03 1.54735282e-05 9.99965670e-01 5.68191923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:1.54, Z:0.57 [[ 9.99035072e-01 -4.31319694e-02 -8.27996907e-03 1.92829624e+02] [ 4.31308387e-02 9.99069383e-01 -3.15154381e-04 1.53974444e+00] [ 8.28585682e-03 -4.22717313e-05 9.99965671e-01 5.67762975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:192.86, Y:1.54, Z:0.58 [[ 9.99016995e-01 -4.35486673e-02 -8.27992833e-03 1.92858015e+02] [ 4.35475421e-02 9.99051306e-01 -3.16221212e-04 1.53887278e+00] [ 8.28584422e-03 -4.46601626e-05 9.99965671e-01 5.81887444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:1.54, Z:0.57 [[ 9.99093275e-01 -4.17622274e-02 -8.27915310e-03 1.92888496e+02] [ 4.17608736e-02 9.99127578e-01 -3.36398218e-04 1.53917811e+00] [ 8.28597892e-03 -9.65146855e-06 9.99965671e-01 5.67827430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.92, Y:1.54, Z:0.57 [[ 9.99223723e-01 -3.85148756e-02 -8.27988146e-03 1.92916899e+02] [ 3.85135678e-02 9.99258027e-01 -3.17397664e-04 1.53845555e+00] [ 8.28596254e-03 -1.73650074e-06 9.99965671e-01 5.67728052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:1.54, Z:0.57 [[ 9.99303018e-01 -3.63994892e-02 -8.27982948e-03 1.92945244e+02] [ 3.63980976e-02 9.99337319e-01 -3.18747738e-04 1.53904281e+00] [ 8.28594485e-03 1.71555352e-05 9.99965671e-01 5.67465885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:192.97, Y:1.54, Z:0.58 [[ 9.99420463e-01 -3.30179369e-02 -8.27978774e-03 1.92974299e+02] [ 3.30164203e-02 9.99454758e-01 -3.19828471e-04 1.53885384e+00] [ 8.28583333e-03 4.62741670e-05 9.99965671e-01 5.79404831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:193.00, Y:1.54, Z:0.58 [[ 9.99494728e-01 -3.06875839e-02 -8.28013051e-03 1.93003836e+02] [ 3.06860604e-02 9.99529024e-01 -3.10998826e-04 1.53905993e+00] [ 8.28577456e-03 5.67571022e-05 9.99965671e-01 5.78253637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:1.54, Z:0.57 [[ 9.99573315e-01 -2.80113141e-02 -8.27972071e-03 1.93034044e+02] [ 2.80096112e-02 9.99607602e-01 -3.21574827e-04 1.53946048e+00] [ 8.28547950e-03 8.95258575e-05 9.99965671e-01 5.68568628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:1.54, Z:0.57 [[ 9.99604743e-01 -2.68664173e-02 -8.27973876e-03 1.93062582e+02] [ 2.68646790e-02 9.99639028e-01 -3.21109429e-04 1.54092877e+00] [ 8.28537706e-03 9.85499836e-05 9.99965671e-01 5.69560321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.09, Y:1.54, Z:0.58 [[ 9.99661905e-01 -2.46479802e-02 -8.27969605e-03 1.93093208e+02] [ 2.46461568e-02 9.99696185e-01 -3.22206767e-04 1.54271870e+00] [ 8.28512231e-03 1.18035144e-04 9.99965671e-01 5.80915462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:1.54, Z:0.57 [[ 9.99707965e-01 -2.27026604e-02 -8.28091316e-03 1.93122968e+02] [ 2.27010295e-02 9.99742256e-01 -2.90900865e-04 1.54394160e+00] [ 8.28538303e-03 1.02830658e-04 9.99965670e-01 5.70039476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:1.55, Z:0.57 [[ 9.99760220e-01 -2.02719022e-02 -8.27967714e-03 1.93151416e+02] [ 2.02699253e-02 9.99794492e-01 -3.22621983e-04 1.54746443e+00] [ 8.28451576e-03 1.54716188e-04 9.99965671e-01 5.70127669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:193.18, Y:1.55, Z:0.58 [[ 9.99750433e-01 -2.07489571e-02 -8.27963412e-03 1.93180503e+02] [ 2.07469874e-02 9.99784706e-01 -3.23722099e-04 1.55094387e+00] [ 8.28456846e-03 1.51863843e-04 9.99965671e-01 5.83214477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:193.21, Y:1.55, Z:0.57 [[ 9.99787555e-01 -1.88757349e-02 -8.27954821e-03 1.93211425e+02] [ 1.88736829e-02 9.99821823e-01 -3.25917369e-04 1.55355963e+00] [ 8.28422491e-03 1.69582563e-04 9.99965671e-01 5.70977989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:193.24, Y:1.56, Z:0.57 [[ 9.99787649e-01 -1.88707443e-02 -8.27961830e-03 1.93240488e+02] [ 1.88687069e-02 9.99821918e-01 -3.24126904e-04 1.55510634e+00] [ 8.28426036e-03 1.67832384e-04 9.99965671e-01 5.70570902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81864000000002 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:193.27, Y:1.56, Z:0.58 [[ 9.99770704e-01 -1.97481136e-02 -8.27957523e-03 1.93270872e+02] [ 1.97460972e-02 9.99804974e-01 -3.25223370e-04 1.55796868e+00] [ 8.28438304e-03 1.61659501e-04 9.99965671e-01 5.82549766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864000000002 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:193.30, Y:1.56, Z:0.58 [[ 9.99769497e-01 -1.98085788e-02 -8.28088782e-03 1.93300042e+02] [ 1.98068403e-02 9.99803783e-01 -2.91912691e-04 1.56033762e+00] [ 8.28504534e-03 1.27827182e-04 9.99965670e-01 5.82560319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87864000000002 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:193.33, Y:1.56, Z:0.58 [[ 9.99765577e-01 -2.00054363e-02 -8.28091081e-03 1.93329564e+02] [ 2.00037093e-02 9.99799863e-01 -2.91334161e-04 1.56226667e+00] [ 8.28508176e-03 1.25616932e-04 9.99965670e-01 5.83903038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864000000002 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:193.36, Y:1.56, Z:0.58 [[ 9.99750440e-01 -2.07481810e-02 -8.28075726e-03 1.93358718e+02] [ 2.07464475e-02 9.99784726e-01 -2.95185791e-04 1.56370319e+00] [ 8.28509920e-03 1.23315828e-04 9.99965670e-01 5.80830090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:193.39, Y:1.57, Z:0.58 [[ 9.99766228e-01 -1.99738734e-02 -8.27851269e-03 1.93388980e+02] [ 1.99716481e-02 9.99800485e-01 -3.51394512e-04 1.56568994e+00] [ 8.28387971e-03 1.85976824e-04 9.99965671e-01 5.83337474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:193.42, Y:1.57, Z:0.57 [[ 9.99758136e-01 -2.03740373e-02 -8.28054886e-03 1.93418014e+02] [ 2.03722481e-02 9.99792419e-01 -3.00368743e-04 1.56941474e+00] [ 8.28494970e-03 1.31602699e-04 9.99965671e-01 5.72531623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:193.45, Y:1.57, Z:0.57 [[ 9.99741894e-01 -2.11565252e-02 -8.27931030e-03 1.93446884e+02] [ 2.11545067e-02 9.99776163e-01 -3.31319183e-04 1.57116403e+00] [ 8.28446665e-03 1.56088943e-04 9.99965671e-01 5.73222127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:193.48, Y:1.57, Z:0.57 [[ 9.99694862e-01 -2.32730836e-02 -8.27926616e-03 1.93475630e+02] [ 2.32711284e-02 9.99729135e-01 -3.32418389e-04 1.57113197e+00] [ 8.28476000e-03 1.39649089e-04 9.99965671e-01 5.73472002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:193.50, Y:1.57, Z:0.57 [[ 9.99654640e-01 -2.49410282e-02 -8.27922211e-03 1.93504654e+02] [ 2.49391212e-02 9.99688916e-01 -3.33512042e-04 1.57131767e+00] [ 8.28496471e-03 1.26920337e-04 9.99965671e-01 5.73028353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08864 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:193.53, Y:1.57, Z:0.59 [[ 9.99564616e-01 -2.83202079e-02 -8.27917757e-03 1.93534136e+02] [ 2.83184077e-02 9.99598897e-01 -3.34614030e-04 1.57202408e+00] [ 8.28533311e-03 1.00015219e-04 9.99965671e-01 5.85978201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:193.56, Y:1.57, Z:0.59 [[ 9.99518501e-01 -2.99038089e-02 -8.27818868e-03 1.93564001e+02] [ 2.99018605e-02 9.99552775e-01 -3.59070228e-04 1.57135586e+00] [ 8.28522404e-03 1.11364093e-04 9.99965671e-01 5.85959502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:193.59, Y:1.57, Z:0.58 [[ 9.99519431e-01 -2.98724741e-02 -8.27903539e-03 1.93594938e+02] [ 2.98706982e-02 9.99553714e-01 -3.38105346e-04 1.57063812e+00] [ 8.28544062e-03 9.06422955e-05 9.99965671e-01 5.84572051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:193.62, Y:1.57, Z:0.57 [[ 9.99506503e-01 -3.03016646e-02 -8.28009411e-03 1.93624508e+02] [ 3.03001208e-02 9.99540797e-01 -3.11848096e-04 1.56828891e+00] [ 8.28574139e-03 6.08063481e-05 9.99965671e-01 5.74931139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:193.65, Y:1.57, Z:0.57 [[ 9.99502944e-01 -3.04190765e-02 -8.27914584e-03 1.93653717e+02] [ 3.04173428e-02 9.99537229e-01 -3.35265201e-04 1.56874774e+00] [ 8.28551295e-03 8.32689377e-05 9.99965671e-01 5.74793912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:193.68, Y:1.57, Z:0.59 [[ 9.99448417e-01 -3.21608243e-02 -8.27910126e-03 1.93682516e+02] [ 3.21591414e-02 9.99482704e-01 -3.36362461e-04 1.56779446e+00] [ 8.28563621e-03 6.99281412e-05 9.99965671e-01 5.87003644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:193.71, Y:1.57, Z:0.59 [[ 9.99483951e-01 -3.10372935e-02 -8.27756852e-03 1.93713672e+02] [ 3.10352585e-02 9.99518220e-01 -3.74210732e-04 1.56724254e+00] [ 8.28519505e-03 1.17121142e-04 9.99965670e-01 5.86359252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:193.74, Y:1.57, Z:0.58 [[ 9.99559756e-01 -2.84912396e-02 -8.27908088e-03 1.93743822e+02] [ 2.84894264e-02 9.99594037e-01 -3.36888576e-04 1.56765606e+00] [ 8.28531826e-03 1.00873997e-04 9.99965671e-01 5.76046657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32864 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:193.77, Y:1.57, Z:0.59 [[ 9.99621179e-01 -2.62479628e-02 -8.27912175e-03 1.93771995e+02] [ 2.62460810e-02 9.99655456e-01 -3.35881340e-04 1.56921102e+00] [ 8.28508543e-03 1.18459602e-04 9.99965671e-01 5.88795519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35864 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:193.80, Y:1.57, Z:0.59 [[ 9.99659285e-01 -2.47550818e-02 -8.27644788e-03 1.93799831e+02] [ 2.47526004e-02 9.99693527e-01 -4.02118613e-04 1.57142654e+00] [ 8.28386585e-03 1.97117998e-04 9.99965669e-01 5.89556398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38864 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:193.83, Y:1.58, Z:0.59 [[ 9.99769302e-01 -1.98210527e-02 -8.27452182e-03 1.93831616e+02] [ 1.98180121e-02 9.99803503e-01 -4.49310370e-04 1.57530378e+00] [ 8.28180171e-03 2.85222141e-04 9.99965665e-01 5.89061642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:193.86, Y:1.58, Z:0.59 [[ 9.99810718e-01 -1.76068217e-02 -8.27817564e-03 1.93862033e+02] [ 1.76044509e-02 9.99844965e-01 -3.59178142e-04 1.57726984e+00] [ 8.28321622e-03 2.13377419e-04 9.99965671e-01 5.89171473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:193.89, Y:1.58, Z:0.58 [[ 9.99874448e-01 -1.35107912e-02 -8.27935653e-03 1.93891979e+02] [ 1.35085215e-02 9.99908701e-01 -3.30005466e-04 1.58202905e+00] [ 8.28305927e-03 2.18122167e-04 9.99965671e-01 5.78971652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:193.92, Y:1.59, Z:0.58 [[ 9.99886769e-01 -1.25660282e-02 -8.27912477e-03 1.93920417e+02] [ 1.25636788e-02 9.99921018e-01 -3.35720985e-04 1.58555774e+00] [ 8.28268954e-03 2.31666707e-04 9.99965671e-01 5.78978667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50864 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:193.95, Y:1.59, Z:0.59 [[ 9.99872515e-01 -1.36532155e-02 -8.27908072e-03 1.93949640e+02] [ 1.36508944e-02 9.99906765e-01 -3.36803693e-04 1.59096080e+00] [ 8.28290728e-03 2.23743899e-04 9.99965671e-01 5.90875904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53864000000002 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:193.98, Y:1.59, Z:0.59 [[ 9.99874450e-01 -1.35113908e-02 -8.27803545e-03 1.93978480e+02] [ 1.35088526e-02 9.99908686e-01 -3.62464805e-04 1.59366554e+00] [ 8.28217695e-03 2.50592538e-04 9.99965671e-01 5.91274052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864000000002 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:194.01, Y:1.60, Z:0.58 [[ 9.99905066e-01 -1.10156712e-02 -8.27732077e-03 1.94009831e+02] [ 1.10129027e-02 9.99939284e-01 -3.79973791e-04 1.59682221e+00] [ 8.28100387e-03 2.88780390e-04 9.99965670e-01 5.79075626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59864000000002 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:194.04, Y:1.60, Z:0.59 [[ 9.99866981e-01 -1.40526162e-02 -8.27910844e-03 1.94037787e+02] [ 1.40503161e-02 9.99901233e-01 -3.35914023e-04 1.60290839e+00] [ 8.28301121e-03 2.19545249e-04 9.99965671e-01 5.89518815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864000000002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:194.07, Y:1.61, Z:0.58 [[ 9.99858832e-01 -1.46209998e-02 -8.27898911e-03 1.94067155e+02] [ 1.46186950e-02 9.99893084e-01 -3.38846604e-04 1.60616725e+00] [ 8.28305823e-03 2.17770753e-04 9.99965671e-01 5.79499798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:194.10, Y:1.61, Z:0.58 [[ 9.99797883e-01 -1.83207613e-02 -8.27902241e-03 1.94096239e+02] [ 1.83185899e-02 9.99832143e-01 -3.38030929e-04 1.61029232e+00] [ 8.28382571e-03 1.86302590e-04 9.99965671e-01 5.79087082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:194.12, Y:1.61, Z:0.59 [[ 9.99692028e-01 -2.33946203e-02 -8.27897770e-03 1.94124942e+02] [ 2.33926138e-02 9.99726298e-01 -3.39122440e-04 1.61237689e+00] [ 8.28464537e-03 1.45351072e-04 9.99965671e-01 5.93992622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71864 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:194.16, Y:1.62, Z:0.59 [[ 9.99618491e-01 -2.63507985e-02 -8.27693219e-03 1.94155212e+02] [ 2.63484788e-02 9.99652743e-01 -3.89194528e-04 1.61607563e+00] [ 8.28431355e-03 1.70961474e-04 9.99965670e-01 5.90319355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:194.18, Y:1.62, Z:0.59 [[ 9.99617248e-01 -2.63976657e-02 -8.27767041e-03 1.94183510e+02] [ 2.63954980e-02 9.99651509e-01 -3.71032283e-04 1.61719819e+00] [ 8.28458011e-03 1.52397037e-04 9.99965671e-01 5.90552384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:194.21, Y:1.62, Z:0.59 [[ 9.99555101e-01 -2.86545003e-02 -8.27766520e-03 1.94213460e+02] [ 2.86524089e-02 9.99589367e-01 -3.71160550e-04 1.62095202e+00] [ 8.28490153e-03 1.33820373e-04 9.99965671e-01 5.89458997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80864 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:194.24, Y:1.62, Z:0.59 [[ 9.99514829e-01 -3.00261048e-02 -8.27883241e-03 1.94242489e+02] [ 3.00242979e-02 9.99549110e-01 -3.42488995e-04 1.62317306e+00] [ 8.28538318e-03 9.37566992e-05 9.99965671e-01 5.90464782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:194.27, Y:1.63, Z:0.58 [[ 9.99532914e-01 -2.94181815e-02 -8.27796614e-03 1.94272529e+02] [ 2.94161779e-02 9.99567184e-01 -3.63717113e-04 1.62523608e+00] [ 8.28508320e-03 1.20041102e-04 9.99965671e-01 5.78839624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:194.30, Y:1.63, Z:0.58 [[ 9.99419876e-01 -3.30358884e-02 -8.27902016e-03 1.94301720e+02] [ 3.30342228e-02 9.99454164e-01 -3.37891676e-04 1.62682052e+00] [ 8.28566372e-03 6.42046603e-05 9.99965671e-01 5.78716970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:194.33, Y:1.63, Z:0.58 [[ 9.99334266e-01 -3.55314448e-02 -8.27897550e-03 1.94330399e+02] [ 3.55298557e-02 9.99368558e-01 -3.38982340e-04 1.62743266e+00] [ 8.28579234e-03 4.46058630e-05 9.99965671e-01 5.79450487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:194.36, Y:1.63, Z:0.58 [[ 9.99180402e-01 -3.96230086e-02 -8.27893103e-03 1.94359129e+02] [ 3.96215510e-02 9.99214700e-01 -3.40065029e-04 1.62715898e+00] [ 8.28590398e-03 1.17622245e-05 9.99965671e-01 5.77924049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.39, Y:1.63, Z:0.58 [[ 9.99118894e-01 -4.11448217e-02 -8.27888605e-03 1.94387896e+02] [ 4.11434073e-02 9.99153193e-01 -3.41156528e-04 1.62797259e+00] [ 8.28591226e-03 2.34352300e-07 9.99965671e-01 5.78679282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:194.42, Y:1.63, Z:0.59 [[ 9.98957830e-01 -4.48855664e-02 -8.27884122e-03 1.94415824e+02] [ 4.48842714e-02 9.98992135e-01 -3.42240876e-04 1.62863022e+00] [ 8.28585894e-03 -2.97055532e-05 9.99965671e-01 5.89251591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.45, Y:1.63, Z:0.58 [[ 9.99061551e-01 -4.25151020e-02 -8.27541508e-03 1.94447695e+02] [ 4.25130358e-02 9.99095822e-01 -4.25504934e-04 1.63012305e+00] [ 8.28602302e-03 7.32926019e-05 9.99965668e-01 5.78651637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:194.48, Y:1.63, Z:0.59 [[ 9.99014237e-01 -4.36120527e-02 -8.27902508e-03 1.94475586e+02] [ 4.36107595e-02 9.99048541e-01 -3.36755140e-04 1.62998521e+00] [ 8.28583451e-03 -2.46313922e-05 9.99965672e-01 5.90145586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:194.50, Y:1.63, Z:0.59 [[ 9.99024072e-01 -4.33866654e-02 -8.27654231e-03 1.94504533e+02] [ 4.33848559e-02 9.99058355e-01 -3.98128149e-04 1.62886693e+00] [ 8.28602220e-03 3.86630084e-05 9.99965670e-01 5.92610310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.54, Y:1.63, Z:0.58 [[ 9.99220172e-01 -3.86078813e-02 -8.27519804e-03 1.94537396e+02] [ 3.86056312e-02 9.99254432e-01 -4.31527577e-04 1.63062294e+00] [ 8.28568867e-03 1.11721816e-04 9.99965667e-01 5.79808498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:194.56, Y:1.63, Z:0.59 [[ 9.99158977e-01 -4.01595921e-02 -8.27923252e-03 1.94563989e+02] [ 4.01582327e-02 9.99193278e-01 -3.30445763e-04 1.63158975e+00] [ 8.28582405e-03 -2.31149545e-06 9.99965672e-01 5.93520931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:194.59, Y:1.63, Z:0.59 [[ 9.99263315e-01 -3.74751985e-02 -8.27266971e-03 1.94594848e+02] [ 3.74723754e-02 9.99297541e-01 -4.96041982e-04 1.63274316e+00] [ 8.28544777e-03 1.85679969e-04 9.99965658e-01 5.94091857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:194.62, Y:1.63, Z:0.59 [[ 9.99373695e-01 -3.44055271e-02 -8.27513653e-03 1.94623451e+02] [ 3.44031203e-02 9.99407944e-01 -4.33067606e-04 1.63361287e+00] [ 8.28513710e-03 1.48105856e-04 9.99965667e-01 5.94428320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.65, Y:1.64, Z:0.58 [[ 9.99527919e-01 -2.95881862e-02 -8.27521664e-03 1.94654955e+02] [ 2.95856313e-02 9.99562156e-01 -4.31014179e-04 1.63674061e+00] [ 8.28434632e-03 1.85983197e-04 9.99965667e-01 5.81976546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:194.68, Y:1.64, Z:0.59 [[ 9.99454857e-01 -3.19599479e-02 -8.27953832e-03 1.94681941e+02] [ 3.19584038e-02 9.99489149e-01 -3.18765277e-04 1.64049560e+00] [ 8.28549643e-03 5.39906760e-05 9.99965673e-01 5.93730920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864000000002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:194.71, Y:1.64, Z:0.59 [[ 9.99441190e-01 -3.23855330e-02 -8.27553105e-03 1.94710706e+02] [ 3.23831387e-02 9.99475439e-01 -4.23181412e-04 1.64205872e+00] [ 8.28489498e-03 1.54957264e-04 9.99965668e-01 5.93747744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.74, Y:1.64, Z:0.58 [[ 9.99584291e-01 -2.76182886e-02 -8.27499173e-03 1.94743379e+02] [ 2.76156136e-02 9.99618521e-01 -4.37381291e-04 1.64409997e+00] [ 8.28391471e-03 2.08680494e-04 9.99965666e-01 5.81873088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.77, Y:1.65, Z:0.58 [[ 9.99592071e-01 -2.73337996e-02 -8.27974728e-03 1.94772193e+02] [ 2.73321642e-02 9.99626358e-01 -3.10622041e-04 1.64931417e+00] [ 8.28514410e-03 8.41919165e-05 9.99965674e-01 5.83504944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:194.80, Y:1.65, Z:0.60 [[ 9.99473504e-01 -3.13713507e-02 -8.27970659e-03 1.94799016e+02] [ 3.13698449e-02 9.99507797e-01 -3.11702964e-04 1.65217181e+00] [ 8.28540983e-03 5.18057422e-05 9.99965674e-01 5.95764196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:194.83, Y:1.66, Z:0.60 [[ 9.99466429e-01 -3.15969251e-02 -8.27592017e-03 1.94827344e+02] [ 3.15945922e-02 9.99500681e-01 -4.12507103e-04 1.65624387e+00] [ 8.28482180e-03 1.50812679e-04 9.99965669e-01 5.96749999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.86, Y:1.66, Z:0.58 [[ 9.99591456e-01 -2.73575615e-02 -8.27553698e-03 1.94859584e+02] [ 2.73549980e-02 9.99625693e-01 -4.22822020e-04 1.65940878e+00] [ 8.28400676e-03 1.96271981e-04 9.99965668e-01 5.83915582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:194.89, Y:1.66, Z:0.60 [[ 9.99454920e-01 -3.19578687e-02 -8.27990675e-03 1.94886195e+02] [ 3.19564495e-02 9.99489216e-01 -3.03681313e-04 1.66447234e+00] [ 8.28538251e-03 3.89193611e-05 9.99965675e-01 5.98323779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49864 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:194.92, Y:1.67, Z:0.60 [[ 9.99437856e-01 -3.24880141e-02 -8.27647813e-03 1.94915688e+02] [ 3.24858401e-02 9.99472117e-01 -3.97009511e-04 1.66694676e+00] [ 8.28500717e-03 1.27917990e-04 9.99965671e-01 5.96526978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:194.95, Y:1.67, Z:0.58 [[ 9.99495900e-01 -3.06503829e-02 -8.27645734e-03 1.94947552e+02] [ 3.06481411e-02 9.99530156e-01 -3.97580634e-04 1.66810937e+00] [ 8.28475469e-03 1.43722181e-04 9.99965671e-01 5.83880678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.98, Y:1.67, Z:0.58 [[ 9.99487886e-01 -3.09096504e-02 -8.28002704e-03 1.94975913e+02] [ 3.09082373e-02 9.99522182e-01 -2.98593533e-04 1.67008382e+00] [ 8.28530011e-03 4.25195779e-05 9.99965675e-01 5.84928721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.00, Y:1.68, Z:0.59 [[ 9.99527842e-01 -2.95894240e-02 -8.27998815e-03 1.95004340e+02] [ 2.95879567e-02 9.99562136e-01 -2.99668108e-04 1.67629900e+00] [ 8.28522965e-03 5.45386863e-05 9.99965675e-01 5.86069384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:195.03, Y:1.68, Z:0.60 [[ 9.99535604e-01 -2.93260900e-02 -8.27994915e-03 1.95032585e+02] [ 2.93246048e-02 9.99569896e-01 -3.00741857e-04 1.67983056e+00] [ 8.28520749e-03 5.77959572e-05 9.99965675e-01 6.01668308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:195.06, Y:1.68, Z:0.60 [[ 9.99626466e-01 -2.60459876e-02 -8.27864546e-03 1.95062699e+02] [ 2.60440925e-02 9.99660738e-01 -3.36663990e-04 1.68371195e+00] [ 8.28460558e-03 1.20928427e-04 9.99965675e-01 5.99894144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:195.09, Y:1.69, Z:0.60 [[ 9.99695640e-01 -2.32395889e-02 -8.27940815e-03 1.95092238e+02] [ 2.32377722e-02 9.99729917e-01 -3.15572224e-04 1.68958570e+00] [ 8.28450579e-03 1.23081176e-04 9.99965675e-01 5.97842770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.12, Y:1.69, Z:0.59 [[ 9.99759549e-01 -2.03050924e-02 -8.27933074e-03 1.95122135e+02] [ 2.03031574e-02 9.99793819e-01 -3.17716836e-04 1.69396168e+00] [ 8.28407497e-03 1.49543886e-04 9.99965675e-01 5.87029273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.15, Y:1.70, Z:0.59 [[ 9.99772739e-01 -1.96446446e-02 -8.28003123e-03 1.95150519e+02] [ 1.96428479e-02 9.99807016e-01 -2.98271341e-04 1.70093013e+00] [ 8.28429275e-03 1.35560162e-04 9.99965675e-01 5.85736784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.18, Y:1.70, Z:0.59 [[ 9.99764935e-01 -2.00378881e-02 -8.27999221e-03 1.95179281e+02] [ 2.00360960e-02 9.99799212e-01 -2.99350441e-04 1.70415198e+00] [ 8.28432805e-03 1.33381356e-04 9.99965675e-01 5.85251195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:1.71, Z:0.59 [[ 9.99712389e-01 -2.25073719e-02 -8.27995313e-03 1.95207657e+02] [ 2.25056555e-02 9.99746671e-01 -3.00427682e-04 1.71102613e+00] [ 8.28461741e-03 1.13995504e-04 9.99965675e-01 5.85686729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:1.72, Z:0.59 [[ 9.99659778e-01 -2.47340257e-02 -8.27991387e-03 1.95236692e+02] [ 2.47323767e-02 9.99694063e-01 -3.01505744e-04 1.71612421e+00] [ 8.28483819e-03 9.66212159e-05 9.99965675e-01 5.85946062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:1.72, Z:0.59 [[ 9.99609336e-01 -2.66949366e-02 -8.27987441e-03 1.95265338e+02] [ 2.66933460e-02 9.99643623e-01 -3.02585658e-04 1.72028018e+00] [ 8.28500116e-03 8.14498966e-05 9.99965675e-01 5.85293129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:1.72, Z:0.59 [[ 9.99470921e-01 -3.14534979e-02 -8.27983473e-03 1.95293652e+02] [ 3.14520615e-02 9.99505215e-01 -3.03667430e-04 1.72464799e+00] [ 8.28528940e-03 4.30888954e-05 9.99965675e-01 5.85807649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.32, Y:1.73, Z:0.58 [[ 9.99285832e-01 -3.68682869e-02 -8.27979488e-03 1.95323314e+02] [ 3.68670274e-02 9.99320134e-01 -3.04750232e-04 1.73011708e+00] [ 8.28540134e-03 -7.18835379e-07 9.99965675e-01 5.84540581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.35, Y:1.73, Z:0.60 [[ 9.99131379e-01 -4.08403213e-02 -8.27977494e-03 1.95352752e+02] [ 4.08391936e-02 9.99165685e-01 -3.05291072e-04 1.73269951e+00] [ 8.28533518e-03 -3.31134422e-05 9.99965675e-01 5.97014482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.38, Y:1.73, Z:0.59 [[ 9.98894406e-01 -4.62757187e-02 -8.27791340e-03 1.95384492e+02] [ 4.62743611e-02 9.98928705e-01 -3.55551587e-04 1.73349754e+00] [ 8.28549872e-03 -2.78966631e-05 9.99965674e-01 5.85276847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:1.73, Z:0.59 [[ 9.98714047e-01 -5.00169716e-02 -8.27978066e-03 1.95415629e+02] [ 5.00161629e-02 9.98748362e-01 -3.04834223e-04 1.73429421e+00] [ 8.28466426e-03 -1.09680637e-04 9.99965676e-01 5.85171571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:1.74, Z:0.59 [[ 9.98365086e-01 -5.65561741e-02 -8.27979970e-03 1.95447441e+02] [ 5.65555944e-02 9.98399405e-01 -3.04316096e-04 1.73559164e+00] [ 8.28375805e-03 -1.64450429e-04 9.99965676e-01 5.85188550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:195.48, Y:1.74, Z:0.60 [[ 9.98240661e-01 -5.87113922e-02 -8.27982795e-03 1.95478514e+02] [ 5.87108930e-02 9.98274982e-01 -3.03545494e-04 1.73534816e+00] [ 8.28336668e-03 -1.83104638e-04 9.99965676e-01 6.00243458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:1.73, Z:0.58 [[ 9.97802750e-01 -6.57352262e-02 -8.27959397e-03 1.95510641e+02] [ 6.57349155e-02 9.97837073e-01 -3.09951039e-04 1.73225560e+00] [ 8.28206052e-03 -2.34988411e-04 9.99965676e-01 5.84020719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:195.54, Y:1.73, Z:0.60 [[ 9.97794571e-01 -6.58592120e-02 -8.27995868e-03 1.95543613e+02] [ 6.58589890e-02 9.97828895e-01 -2.99881174e-04 1.73141063e+00] [ 8.28173196e-03 -2.46089900e-04 9.99965676e-01 5.96573719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.58, Y:1.73, Z:0.60 [[ 9.97668566e-01 -6.77408993e-02 -8.28267032e-03 1.95575996e+02] [ 6.77413646e-02 9.97702890e-01 -2.24675104e-04 1.73103187e+00] [ 8.27886381e-03 -3.36928101e-04 9.99965673e-01 5.97425123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:1.73, Z:0.59 [[ 9.97248960e-01 -7.36608499e-02 -8.28200252e-03 1.95606421e+02] [ 7.36613649e-02 9.97283282e-01 -2.43246100e-04 1.72802777e+00] [ 8.27742036e-03 -3.67486690e-04 9.99965674e-01 5.85023417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:1.72, Z:0.58 [[ 9.97078920e-01 -7.59280425e-02 -8.28003680e-03 1.95640166e+02] [ 7.59281826e-02 9.97113244e-01 -2.97885527e-04 1.72206126e+00] [ 8.27875222e-03 -3.31672767e-04 9.99965676e-01 5.84785988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.67, Y:1.72, Z:0.59 [[ 9.97076516e-01 -7.59595913e-02 -8.28017516e-03 1.95673566e+02] [ 7.59597648e-02 9.97110840e-01 -2.93988624e-04 1.72013490e+00] [ 8.27858367e-03 -3.35831004e-04 9.99965676e-01 5.85431066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:1.72, Z:0.59 [[ 9.97133609e-01 -7.52063957e-02 -8.28031095e-03 1.95705548e+02] [ 7.52065753e-02 9.97167933e-01 -2.90113010e-04 1.71839340e+00] [ 8.27867891e-03 -3.33452397e-04 9.99965676e-01 5.86415096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:1.71, Z:0.59 [[ 9.97308848e-01 -7.28457122e-02 -8.28037809e-03 1.95738220e+02] [ 7.28458266e-02 9.97343172e-01 -2.88183878e-04 1.71326305e+00] [ 8.27937151e-03 -3.15782656e-04 9.99965676e-01 5.86191792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.77, Y:1.71, Z:0.59 [[ 9.97402185e-01 -7.15563757e-02 -8.28049638e-03 1.95771808e+02] [ 7.15564742e-02 9.97436509e-01 -2.84743825e-04 1.71097620e+00] [ 8.27964464e-03 -3.08519013e-04 9.99965676e-01 5.86323404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:1.70, Z:0.59 [[ 9.97560909e-01 -6.93084667e-02 -8.28063008e-03 1.95804146e+02] [ 6.93085206e-02 9.97595234e-01 -2.80801119e-04 1.70457686e+00] [ 8.28017900e-03 -2.93802001e-04 9.99965676e-01 5.86345099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:1.70, Z:0.59 [[ 9.97642616e-01 -6.81222468e-02 -8.28074462e-03 1.95835774e+02] [ 6.81222882e-02 9.97676940e-01 -2.77381652e-04 1.70266632e+00] [ 8.28040382e-03 -2.87375515e-04 9.99965676e-01 5.87252092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:1.70, Z:0.59 [[ 9.97889703e-01 -6.44016257e-02 -8.28076917e-03 1.95866962e+02] [ 6.44015452e-02 9.97924027e-01 -2.76646867e-04 1.69838243e+00] [ 8.28139503e-03 -2.57231270e-04 9.99965676e-01 5.87986696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:1.70, Z:0.59 [[ 9.98040812e-01 -6.20158474e-02 -8.28078584e-03 1.95897749e+02] [ 6.20156890e-02 9.98075136e-01 -2.76147057e-04 1.69666114e+00] [ 8.28197195e-03 -2.37932606e-04 9.99965676e-01 5.87889435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:1.69, Z:0.59 [[ 9.98369703e-01 -5.64744533e-02 -8.28078584e-03 1.95928781e+02] [ 5.64741044e-02 9.98404026e-01 -2.76147057e-04 1.69391947e+00] [ 8.28316518e-03 -1.91953109e-04 9.99965676e-01 5.89149998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:1.69, Z:0.59 [[ 9.98559760e-01 -5.30078728e-02 -8.28078584e-03 1.95958248e+02] [ 5.30074047e-02 9.98594081e-01 -2.76147057e-04 1.69402475e+00] [ 8.28378169e-03 -1.63193628e-04 9.99965676e-01 5.88544522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:1.69, Z:0.59 [[ 9.98709565e-01 -5.01062277e-02 -8.28076870e-03 1.95988032e+02] [ 5.01056557e-02 9.98743884e-01 -2.76660189e-04 1.69389484e+00] [ 8.28422949e-03 -1.38610168e-04 9.99965676e-01 5.90032236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.02, Y:1.69, Z:0.60 [[ 9.98894826e-01 -4.62661340e-02 -8.28075148e-03 1.96016758e+02] [ 4.62654257e-02 9.98929143e-01 -2.77174537e-04 1.69209675e+00] [ 8.28470778e-03 -1.06244281e-04 9.99965676e-01 6.03324135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:1.69, Z:0.59 [[ 9.99152049e-01 -4.03314958e-02 -8.27973755e-03 1.96047543e+02] [ 4.03303326e-02 9.99186354e-01 -3.07473186e-04 1.69492769e+00] [ 8.28540163e-03 -2.67121050e-05 9.99965675e-01 5.89809973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.08, Y:1.70, Z:0.59 [[ 9.99240231e-01 -3.80839850e-02 -8.28076137e-03 1.96076653e+02] [ 3.80829984e-02 9.99274541e-01 -2.76850337e-04 1.69783323e+00] [ 8.28529758e-03 -3.87162265e-05 9.99965676e-01 5.89000384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.11, Y:1.70, Z:0.59 [[ 9.99235341e-01 -3.82120827e-02 -8.28072585e-03 1.96105944e+02] [ 3.82110917e-02 9.99269651e-01 -2.77908463e-04 1.69878292e+00] [ 8.28529749e-03 -3.87196177e-05 9.99965676e-01 5.89243309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:1.70, Z:0.59 [[ 9.99300294e-01 -3.64740111e-02 -8.28069009e-03 1.96134576e+02] [ 3.64729517e-02 9.99334602e-01 -2.78969973e-04 1.70124314e+00] [ 8.28535529e-03 -2.32464336e-05 9.99965676e-01 5.90219059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:196.16, Y:1.70, Z:0.60 [[ 9.99449109e-01 -3.21388910e-02 -8.28065410e-03 1.96163929e+02] [ 3.21376739e-02 9.99483412e-01 -2.80034278e-04 1.70419843e+00] [ 8.28537641e-03 1.37590487e-05 9.99965676e-01 6.01857574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:196.19, Y:1.71, Z:0.61 [[ 9.99434103e-01 -3.26021771e-02 -8.28075253e-03 1.96192723e+02] [ 3.26010000e-02 9.99468408e-01 -2.77131695e-04 1.70721089e+00] [ 8.28538564e-03 7.01405492e-06 9.99965676e-01 6.06849381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:1.71, Z:0.59 [[ 9.99553751e-01 -2.87010342e-02 -8.27945436e-03 1.96223135e+02] [ 2.86994052e-02 9.99588037e-01 -3.15517479e-04 1.71399366e+00] [ 8.28509921e-03 7.77612640e-05 9.99965675e-01 5.91229559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:1.72, Z:0.59 [[ 9.99562729e-01 -2.83862567e-02 -8.28072227e-03 1.96252163e+02] [ 2.83849300e-02 9.99597028e-01 -2.77711357e-04 1.71627138e+00] [ 8.28526856e-03 4.25421995e-05 9.99965676e-01 5.90520527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:1.72, Z:0.59 [[ 9.99536440e-01 -2.92973535e-02 -8.28068621e-03 1.96280442e+02] [ 2.92960493e-02 9.99570740e-01 -2.78782549e-04 1.71811039e+00] [ 8.28529923e-03 3.60619251e-05 9.99965676e-01 5.91035230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:196.31, Y:1.72, Z:0.59 [[ 9.99447138e-01 -3.22001349e-02 -8.28064076e-03 1.96309503e+02] [ 3.21989191e-02 9.99481441e-01 -2.80126061e-04 1.72203940e+00] [ 8.28536686e-03 1.33435078e-05 9.99965676e-01 5.90603747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.34, Y:1.73, Z:0.59 [[ 9.99372001e-01 -3.44533699e-02 -8.28060432e-03 1.96338109e+02] [ 3.44522226e-02 9.99406306e-01 -2.81199075e-04 1.72646081e+00] [ 8.28537643e-03 -4.26274126e-06 9.99965676e-01 5.90866304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:196.37, Y:1.73, Z:0.59 [[ 9.99309628e-01 -3.62173954e-02 -8.28056748e-03 1.96366856e+02] [ 3.62162997e-02 9.99343935e-01 -2.82279909e-04 1.72722547e+00] [ 8.28535833e-03 -1.78064823e-05 9.99965676e-01 5.89649090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:196.40, Y:1.73, Z:0.61 [[ 9.99258320e-01 -3.76064073e-02 -8.28053069e-03 1.96396147e+02] [ 3.76053504e-02 9.99292628e-01 -2.83354753e-04 1.72788329e+00] [ 8.28532924e-03 -2.82476636e-05 9.99965676e-01 6.05150973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:196.43, Y:1.73, Z:0.60 [[ 9.99261292e-01 -3.75276233e-02 -8.27937339e-03 1.96425098e+02] [ 3.75262830e-02 9.99295591e-01 -3.17234271e-04 1.73141167e+00] [ 8.28544637e-03 6.30581879e-06 9.99965675e-01 6.04462815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:196.46, Y:1.73, Z:0.59 [[ 9.99374383e-01 -3.43847657e-02 -8.27828891e-03 1.96457066e+02] [ 3.43830529e-02 9.99408667e-01 -3.49173991e-04 1.73396871e+00] [ 8.28539995e-03 6.43226966e-05 9.99965673e-01 5.89213098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:196.49, Y:1.74, Z:0.60 [[ 9.99431455e-01 -3.26833026e-02 -8.28066246e-03 1.96485629e+02] [ 3.26821158e-02 9.99465758e-01 -2.78636340e-04 1.73577442e+00] [ 8.28534534e-03 7.84835304e-06 9.99965676e-01 5.98964770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:196.52, Y:1.74, Z:0.59 [[ 9.99490221e-01 -3.08342065e-02 -8.27953164e-03 1.96516964e+02] [ 3.08326773e-02 9.99524511e-01 -3.12299848e-04 1.73866998e+00] [ 8.28522433e-03 5.68605166e-05 9.99965675e-01 5.89887435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:196.54, Y:1.74, Z:0.61 [[ 9.99459024e-01 -3.18290605e-02 -8.28075328e-03 1.96544489e+02] [ 3.18278695e-02 9.99493327e-01 -2.75593236e-04 1.74281145e+00] [ 8.28532952e-03 1.18854118e-05 9.99965676e-01 6.05324509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:196.58, Y:1.74, Z:0.59 [[ 9.99551735e-01 -2.87715296e-02 -8.27817090e-03 1.96576880e+02] [ 2.87695904e-02 9.99586007e-01 -3.53258159e-04 1.74471256e+00] [ 8.28490758e-03 1.14940219e-04 9.99965673e-01 5.88968653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:196.61, Y:1.75, Z:0.59 [[ 9.99520042e-01 -2.98515207e-02 -8.28080351e-03 1.96605457e+02] [ 2.98502786e-02 9.99554344e-01 -2.73572104e-04 1.74662997e+00] [ 8.28527966e-03 2.62565094e-05 9.99965676e-01 5.89159006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:196.63, Y:1.75, Z:0.59 [[ 9.99483230e-01 -3.10596341e-02 -8.28076830e-03 1.96634608e+02] [ 3.10584247e-02 9.99517533e-01 -2.74633625e-04 1.74853550e+00] [ 8.28530312e-03 1.73040838e-05 9.99965676e-01 5.88988488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:196.66, Y:1.75, Z:0.60 [[ 9.99386426e-01 -3.40323608e-02 -8.28073270e-03 1.96662187e+02] [ 3.40312446e-02 9.99420731e-01 -2.75702995e-04 1.75020071e+00] [ 8.28531875e-03 -6.26980912e-06 9.99965676e-01 6.02595241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:196.69, Y:1.75, Z:0.59 [[ 9.99423502e-01 -3.29262571e-02 -8.27796446e-03 1.96693706e+02] [ 3.29244101e-02 9.99457780e-01 -3.59336607e-04 1.75297773e+00] [ 8.28530759e-03 8.65823531e-05 9.99965673e-01 5.89501804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29864 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:196.72, Y:1.75, Z:0.60 [[ 9.99299261e-01 -3.65022368e-02 -8.28086525e-03 1.96721724e+02] [ 3.65012481e-02 9.99333571e-01 -2.70552149e-04 1.75441886e+00] [ 8.28522240e-03 -3.18993542e-05 9.99965676e-01 6.03289227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:196.75, Y:1.76, Z:0.59 [[ 9.99382149e-01 -3.41584548e-02 -8.27767814e-03 1.96753959e+02] [ 3.41565803e-02 9.99416426e-01 -3.67752747e-04 1.75774228e+00] [ 8.28540937e-03 8.47883526e-05 9.99965672e-01 5.90292721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:196.78, Y:1.76, Z:0.59 [[ 9.99386746e-01 -3.40229162e-02 -8.28089553e-03 1.96783229e+02] [ 3.40218591e-02 9.99421053e-01 -2.68540635e-04 1.75833567e+00] [ 8.28523786e-03 -1.33555092e-05 9.99965677e-01 5.90356246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38864 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:196.81, Y:1.76, Z:0.61 [[ 9.99317244e-01 -3.60065669e-02 -8.28087835e-03 1.96812470e+02] [ 3.60055735e-02 9.99351553e-01 -2.69069269e-04 1.75953652e+00] [ 8.28519690e-03 -2.92722136e-05 9.99965677e-01 6.07738625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:196.84, Y:1.76, Z:0.59 [[ 9.99308865e-01 -3.62385220e-02 -8.28016848e-03 1.96843136e+02] [ 3.62373562e-02 9.99343169e-01 -2.90821816e-04 1.76085810e+00] [ 8.28526876e-03 -9.43059633e-06 9.99965677e-01 5.91555454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:196.87, Y:1.76, Z:0.59 [[ 9.99231744e-01 -3.83059847e-02 -8.28086661e-03 1.96873100e+02] [ 3.83050678e-02 9.99266055e-01 -2.69359372e-04 1.76215707e+00] [ 8.28510699e-03 -4.80467221e-05 9.99965677e-01 5.90911716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47864 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:196.90, Y:1.76, Z:0.61 [[ 9.99156885e-01 -4.02112640e-02 -8.28084950e-03 1.96902084e+02] [ 4.02104082e-02 9.99191198e-01 -2.69884557e-04 1.76241398e+00] [ 8.28500433e-03 -6.33193249e-05 9.99965677e-01 6.05066804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:196.93, Y:1.76, Z:0.59 [[ 9.99205717e-01 -3.89794230e-02 -8.27883121e-03 1.96933198e+02] [ 3.89780086e-02 9.99240013e-01 -3.32182090e-04 1.76403461e+00] [ 8.28548768e-03 9.22588881e-06 9.99965675e-01 5.91391970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53864000000002 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:196.96, Y:1.77, Z:0.59 [[ 9.99253621e-01 -3.77309882e-02 -8.28095894e-03 1.96962404e+02] [ 3.77300800e-02 9.99287932e-01 -2.65924666e-04 1.76560367e+00] [ 8.28509594e-03 -4.67150579e-05 9.99965677e-01 5.92085810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864000000002 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:196.99, Y:1.77, Z:0.59 [[ 9.99293516e-01 -3.66591663e-02 -8.28094182e-03 1.96991483e+02] [ 3.66582169e-02 9.99327826e-01 -2.66456699e-04 1.76752395e+00] [ 8.28514367e-03 -3.72961091e-05 9.99965677e-01 5.92672526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59864000000002 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:197.02, Y:1.77, Z:0.59 [[ 9.99344590e-01 -3.52394267e-02 -8.28091642e-03 1.97021466e+02] [ 3.52384220e-02 9.99378898e-01 -2.67243873e-04 1.77076792e+00] [ 8.28519065e-03 -2.47377096e-05 9.99965677e-01 5.93188370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:197.05, Y:1.77, Z:0.59 [[ 9.99335747e-01 -3.54893089e-02 -8.28090792e-03 1.97051176e+02] [ 3.54883106e-02 9.99370056e-01 -2.67506979e-04 1.77388746e+00] [ 8.28518505e-03 -2.65461457e-05 9.99965677e-01 5.92729473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65864000000002 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:197.08, Y:1.78, Z:0.59 [[ 9.99286473e-01 -3.68506580e-02 -8.28089064e-03 1.97080705e+02] [ 3.68497021e-02 9.99320783e-01 -2.68040821e-04 1.77512789e+00] [ 8.28514360e-03 -3.72987862e-05 9.99965677e-01 5.92559686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:197.11, Y:1.78, Z:0.61 [[ 9.99176227e-01 -3.97277590e-02 -8.28087348e-03 1.97109277e+02] [ 3.97268975e-02 9.99210539e-01 -2.68569853e-04 1.77588340e+00] [ 8.28500574e-03 -6.06248001e-05 9.99965677e-01 6.08156500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:197.14, Y:1.78, Z:0.59 [[ 9.99085041e-01 -4.19586427e-02 -8.27970418e-03 1.97140622e+02] [ 4.19575589e-02 9.99119347e-01 -3.04631210e-04 1.77929541e+00] [ 8.28519455e-03 -4.30436910e-05 9.99965676e-01 5.93640504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:197.17, Y:1.78, Z:0.59 [[ 9.99017054e-01 -4.35471162e-02 -8.28094301e-03 1.97170358e+02] [ 4.35464065e-02 9.99051370e-01 -2.66075912e-04 1.78102199e+00] [ 8.28467430e-03 -9.47909370e-05 9.99965677e-01 5.93771134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77864 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:197.20, Y:1.78, Z:0.61 [[ 9.98893663e-01 -4.62912206e-02 -8.28092637e-03 1.97200379e+02] [ 4.62906008e-02 9.98927980e-01 -2.66592724e-04 1.78233653e+00] [ 8.28438995e-03 -1.17031275e-04 9.99965677e-01 6.08726079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:197.23, Y:1.78, Z:0.59 [[ 9.98896280e-01 -4.62349183e-02 -8.27975924e-03 1.97231997e+02] [ 4.62339941e-02 9.98930591e-01 -3.03092073e-04 1.78341662e+00] [ 8.28491823e-03 -8.00487959e-05 9.99965676e-01 5.94080983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:197.26, Y:1.78, Z:0.60 [[ 9.98823952e-01 -4.77717126e-02 -8.28103971e-03 1.97262596e+02] [ 4.77711757e-02 9.98858271e-01 -2.62733319e-04 1.78249371e+00] [ 8.28413623e-03 -1.33170671e-04 9.99965677e-01 5.95626319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:197.29, Y:1.78, Z:0.60 [[ 9.98805103e-01 -4.81641992e-02 -8.28103971e-03 1.97292984e+02] [ 4.81636758e-02 9.98839422e-01 -2.62733319e-04 1.78260897e+00] [ 8.28408326e-03 -1.36425932e-04 9.99965677e-01 5.96134921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:197.32, Y:1.78, Z:0.60 [[ 9.98844950e-01 -4.73306536e-02 -8.28103971e-03 1.97323355e+02] [ 4.73301015e-02 9.98879268e-01 -2.62733319e-04 1.78282638e+00] [ 8.28419423e-03 -1.29512601e-04 9.99965677e-01 5.96051013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:197.35, Y:1.79, Z:0.60 [[ 9.98899825e-01 -4.61580366e-02 -8.28103971e-03 1.97352888e+02] [ 4.61574443e-02 9.98934143e-01 -2.62733319e-04 1.78521661e+00] [ 8.28434056e-03 -1.19787363e-04 9.99965677e-01 5.96805141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:197.38, Y:1.79, Z:0.60 [[ 9.98973784e-01 -4.45286738e-02 -8.28103155e-03 1.97383268e+02] [ 4.45280233e-02 9.99008101e-01 -2.62990382e-04 1.78699786e+00] [ 8.28452821e-03 -1.06017469e-04 9.99965677e-01 5.96661915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:197.41, Y:1.79, Z:0.60 [[ 9.98997384e-01 -4.39960326e-02 -8.28103155e-03 1.97414194e+02] [ 4.39953639e-02 9.99031701e-01 -2.62990382e-04 1.78833685e+00] [ 8.28458356e-03 -1.01600292e-04 9.99965677e-01 5.96770214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:197.44, Y:1.79, Z:0.60 [[ 9.99013911e-01 -4.36191500e-02 -8.28103155e-03 1.97443357e+02] [ 4.36184684e-02 9.99048227e-01 -2.62990382e-04 1.78934359e+00] [ 8.28462130e-03 -9.84748621e-05 9.99965677e-01 5.97988206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04864 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:197.47, Y:1.79, Z:0.61 [[ 9.98949107e-01 -4.50788892e-02 -8.28102335e-03 1.97472616e+02] [ 4.50782556e-02 9.98983424e-01 -2.63248291e-04 1.79068680e+00] [ 8.28447200e-03 -1.10322441e-04 9.99965677e-01 6.12748843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:197.50, Y:1.79, Z:0.60 [[ 9.98936352e-01 -4.53608814e-02 -8.27977906e-03 1.97503765e+02] [ 4.53599310e-02 9.98970663e-01 -3.02643637e-04 1.79223729e+00] [ 8.28498456e-03 -7.32484760e-05 9.99965676e-01 5.98448096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:197.53, Y:1.79, Z:0.60 [[ 9.98890246e-01 -4.63648569e-02 -8.28112578e-03 1.97533341e+02] [ 4.63642968e-02 9.98924564e-01 -2.59700833e-04 1.79267922e+00] [ 8.28426095e-03 -1.24535945e-04 9.99965677e-01 5.99474652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:197.56, Y:1.79, Z:0.60 [[ 9.98887450e-01 -4.64250480e-02 -8.28111776e-03 1.97564087e+02] [ 4.64244878e-02 9.98921768e-01 -2.59956313e-04 1.79364541e+00] [ 8.28425728e-03 -1.24779552e-04 9.99965677e-01 5.99729223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:197.59, Y:1.80, Z:0.60 [[ 9.98942511e-01 -4.52248092e-02 -8.28111776e-03 1.97594556e+02] [ 4.52242078e-02 9.98976828e-01 -2.59956313e-04 1.79662300e+00] [ 8.28440123e-03 -1.14825579e-04 9.99965677e-01 6.00417610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19864 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:197.62, Y:1.80, Z:0.62 [[ 9.98988838e-01 -4.41896534e-02 -8.28111776e-03 1.97623692e+02] [ 4.41890165e-02 9.99023155e-01 -2.59956313e-04 1.79823979e+00] [ 8.28451577e-03 -1.06240994e-04 9.99965677e-01 6.15314500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:197.65, Y:1.80, Z:0.60 [[ 9.99092584e-01 -4.17785119e-02 -8.28041126e-03 1.97654934e+02] [ 4.17776062e-02 9.99126895e-01 -2.82394902e-04 1.80035472e+00] [ 8.28497963e-03 -6.37971087e-05 9.99965677e-01 6.01937531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:197.68, Y:1.80, Z:0.60 [[ 9.99170208e-01 -3.98788013e-02 -8.28112259e-03 1.97684376e+02] [ 3.98780183e-02 9.99204522e-01 -2.59713749e-04 1.80295600e+00] [ 8.28489221e-03 -7.07365182e-05 9.99965677e-01 6.00591256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:197.71, Y:1.81, Z:0.60 [[ 9.99215256e-01 -3.87336495e-02 -8.28110598e-03 1.97714197e+02] [ 3.87328228e-02 9.99249569e-01 -2.60242301e-04 1.80633055e+00] [ 8.28497172e-03 -6.07125336e-05 9.99965677e-01 6.01149989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:197.74, Y:1.81, Z:0.60 [[ 9.99219836e-01 -3.86153102e-02 -8.28108948e-03 1.97743351e+02] [ 3.86144752e-02 9.99254149e-01 -2.60766232e-04 1.80790290e+00] [ 8.28498259e-03 -5.92071326e-05 9.99965677e-01 6.01957789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.77, Y:1.81, Z:0.60 [[ 9.99191253e-01 -3.93479778e-02 -8.28107295e-03 1.97772592e+02] [ 3.93471635e-02 9.99225566e-01 -2.61290162e-04 1.80864695e+00] [ 8.28494105e-03 -6.47578876e-05 9.99965677e-01 6.03459280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37864000000002 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:197.80, Y:1.81, Z:0.62 [[ 9.99131611e-01 -4.08343969e-02 -8.28105637e-03 1.97803223e+02] [ 4.08336293e-02 9.99165925e-01 -2.61814576e-04 1.81049206e+00] [ 8.28484039e-03 -7.65583672e-05 9.99965677e-01 6.17615668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:197.83, Y:1.81, Z:0.62 [[ 9.99039493e-01 -4.30291609e-02 -8.28152789e-03 1.97834040e+02] [ 4.30285931e-02 9.99073811e-01 -2.46810407e-04 1.81385054e+00] [ 8.28447767e-03 -1.09769149e-04 9.99965677e-01 6.15231035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:197.86, Y:1.81, Z:0.62 [[ 9.98985223e-01 -4.42711374e-02 -8.28196569e-03 1.97864165e+02] [ 4.42707280e-02 9.99019544e-01 -2.32849727e-04 1.81464019e+00] [ 8.28415410e-03 -1.34035214e-04 9.99965677e-01 6.16040707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:1.81, Z:0.60 [[ 9.98951260e-01 -4.50310400e-02 -8.28158719e-03 1.97895118e+02] [ 4.50305563e-02 9.98985580e-01 -2.44947312e-04 1.81468536e+00] [ 8.28421641e-03 -1.28234052e-04 9.99965677e-01 6.03595251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:1.81, Z:0.60 [[ 9.98946143e-01 -4.51444997e-02 -8.28119523e-03 1.97926116e+02] [ 4.51439155e-02 9.98980461e-01 -2.57550140e-04 1.81415417e+00] [ 8.28437920e-03 -1.16566859e-04 9.99965677e-01 6.04860583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:1.82, Z:0.61 [[ 9.98946882e-01 -4.51281281e-02 -8.28119523e-03 1.97956904e+02] [ 4.51275434e-02 9.98981200e-01 -2.57550140e-04 1.81596237e+00] [ 8.28438111e-03 -1.16431088e-04 9.99965677e-01 6.05532127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:1.82, Z:0.61 [[ 9.98946882e-01 -4.51281260e-02 -8.28120331e-03 1.97987878e+02] [ 4.51275434e-02 9.98981200e-01 -2.57290290e-04 1.81692448e+00] [ 8.28437745e-03 -1.16691029e-04 9.99965677e-01 6.05788845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:198.02, Y:1.82, Z:0.62 [[ 9.98866042e-01 -4.68833766e-02 -8.28120331e-03 1.98017443e+02] [ 4.68828543e-02 9.98900361e-01 -2.57290290e-04 1.81868424e+00] [ 8.28415961e-03 -1.31247914e-04 9.99965677e-01 6.20257379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.05, Y:1.82, Z:0.61 [[ 9.98914856e-01 -4.58318142e-02 -8.27980276e-03 1.98049575e+02] [ 4.58308832e-02 9.98949167e-01 -3.02241998e-04 1.81869225e+00] [ 8.28495437e-03 -7.75566512e-05 9.99965676e-01 6.07105458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.08, Y:1.82, Z:0.61 [[ 9.98823284e-01 -4.77856488e-02 -8.28123487e-03 1.98079996e+02] [ 4.77851691e-02 9.98857604e-01 -2.55897176e-04 1.81674722e+00] [ 8.28400263e-03 -1.40124151e-04 9.99965677e-01 6.07544325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.11, Y:1.82, Z:0.61 [[ 9.98764163e-01 -4.90057967e-02 -8.28123487e-03 1.98110550e+02] [ 4.90053589e-02 9.98798483e-01 -2.55897176e-04 1.81695885e+00] [ 8.28382527e-03 -1.50243958e-04 9.99965677e-01 6.07517398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.14, Y:1.82, Z:0.61 [[ 9.98748753e-01 -4.93188568e-02 -8.28123487e-03 1.98141766e+02] [ 4.93184297e-02 9.98783073e-01 -2.55897176e-04 1.81597918e+00] [ 8.28377776e-03 -1.52840515e-04 9.99965677e-01 6.07759996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:1.82, Z:0.61 [[ 9.98739273e-01 -4.95104544e-02 -8.28125051e-03 1.98173136e+02] [ 4.95100381e-02 9.98773593e-01 -2.55389871e-04 1.81512998e+00] [ 8.28373880e-03 -1.54937134e-04 9.99965677e-01 6.07616606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:1.82, Z:0.61 [[ 9.98839694e-01 -4.74413973e-02 -8.28126616e-03 1.98203367e+02] [ 4.74409142e-02 9.98874013e-01 -2.54881465e-04 1.81594500e+00] [ 8.28403350e-03 -1.38285113e-04 9.99965677e-01 6.09971261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.23, Y:1.82, Z:0.61 [[ 9.98910428e-01 -4.59279585e-02 -8.28126616e-03 1.98233745e+02] [ 4.59274234e-02 9.98944747e-01 -2.54881465e-04 1.81842500e+00] [ 8.28423351e-03 -1.25733463e-04 9.99965677e-01 6.11262809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:198.26, Y:1.82, Z:0.63 [[ 9.99148481e-01 -4.04194740e-02 -8.28126616e-03 1.98263171e+02] [ 4.04187496e-02 9.99182796e-01 -2.54881465e-04 1.82130233e+00] [ 8.28480085e-03 -8.00539946e-05 9.99965677e-01 6.25115474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:1.82, Z:0.61 [[ 9.99289072e-01 -3.67801143e-02 -8.28097050e-03 1.98293242e+02] [ 3.67791851e-02 9.99323382e-01 -2.64521475e-04 1.82407902e+00] [ 8.28509657e-03 -4.02339281e-05 9.99965677e-01 6.11502252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:1.83, Z:0.61 [[ 9.99417352e-01 -3.31115744e-02 -8.28134013e-03 1.98323177e+02] [ 3.31106197e-02 9.99451661e-01 -2.52393519e-04 1.82966623e+00] [ 8.28515629e-03 -2.19538416e-05 9.99965677e-01 6.12836145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:1.83, Z:0.61 [[ 9.99454667e-01 -3.19654145e-02 -8.28132401e-03 1.98351675e+02] [ 3.19644161e-02 9.99488975e-01 -2.52921291e-04 1.83355750e+00] [ 8.28517678e-03 -1.19243212e-05 9.99965677e-01 6.12728324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:198.38, Y:1.84, Z:0.63 [[ 9.99517191e-01 -2.99466943e-02 -8.28129136e-03 1.98380601e+02] [ 2.99456178e-02 9.99551497e-01 -2.53985679e-04 1.83862701e+00] [ 8.28518321e-03 5.87466608e-06 9.99965677e-01 6.25719430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:1.84, Z:0.61 [[ 9.99539361e-01 -2.91972089e-02 -8.28180793e-03 1.98410670e+02] [ 2.91962463e-02 9.99573671e-01 -2.37137346e-04 1.84247239e+00] [ 8.28520090e-03 -4.76959233e-06 9.99965677e-01 6.13335405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.44, Y:1.85, Z:0.61 [[ 9.99475840e-01 -3.12964178e-02 -8.28133122e-03 1.98439441e+02] [ 3.12953978e-02 9.99510147e-01 -2.52756344e-04 1.84805297e+00] [ 8.28518495e-03 -6.54369546e-06 9.99965677e-01 6.14054110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:1.85, Z:0.61 [[ 9.99449815e-01 -3.21167620e-02 -8.28129849e-03 1.98469131e+02] [ 3.21157613e-02 9.99484124e-01 -2.53824163e-04 1.84982747e+00] [ 8.28517837e-03 -1.22756930e-05 9.99965677e-01 6.13679166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:198.50, Y:1.85, Z:0.63 [[ 9.99382733e-01 -3.41405029e-02 -8.28128228e-03 1.98497927e+02] [ 3.41395674e-02 9.99417043e-01 -2.54351932e-04 1.85025813e+00] [ 8.28513835e-03 -2.85244649e-05 9.99965677e-01 6.26156482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.53, Y:1.85, Z:0.61 [[ 9.99422521e-01 -3.29553175e-02 -8.28073982e-03 1.98528731e+02] [ 3.29541953e-02 9.99456826e-01 -2.71961519e-04 1.85201209e+00] [ 8.28520451e-03 -1.08065019e-06 9.99965677e-01 6.12503800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:1.85, Z:0.61 [[ 9.99423977e-01 -3.29110180e-02 -8.28128917e-03 1.98558031e+02] [ 3.29100426e-02 9.99458286e-01 -2.54054570e-04 1.85352747e+00] [ 8.28516427e-03 -1.86293511e-05 9.99965677e-01 6.12523060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:198.59, Y:1.85, Z:0.63 [[ 9.99430582e-01 -3.27098238e-02 -8.28127304e-03 1.98588352e+02] [ 3.27088373e-02 9.99464890e-01 -2.54579390e-04 1.85375453e+00] [ 8.28516889e-03 -1.64363847e-05 9.99965677e-01 6.25461923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.62, Y:1.85, Z:0.62 [[ 9.99457974e-01 -3.18617728e-02 -8.28158668e-03 1.98617978e+02] [ 3.18608413e-02 9.99492285e-01 -2.44417007e-04 1.85402964e+00] [ 8.28516955e-03 -1.95737924e-05 9.99965677e-01 6.22595699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:1.86, Z:0.61 [[ 9.99464521e-01 -3.16559274e-02 -8.28092009e-03 1.98648174e+02] [ 3.16548105e-02 9.99498826e-01 -2.65936637e-04 1.85577473e+00] [ 8.28518837e-03 3.66327688e-06 9.99965677e-01 6.12500488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:198.68, Y:1.86, Z:0.62 [[ 9.99485782e-01 -3.09772854e-02 -8.28126137e-03 1.98677681e+02] [ 3.09762371e-02 9.99520089e-01 -2.54846568e-04 1.85644401e+00] [ 8.28518156e-03 -1.80679448e-06 9.99965677e-01 6.23475860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:1.85, Z:0.61 [[ 9.99481427e-01 -3.11173971e-02 -8.28157550e-03 1.98708501e+02] [ 3.11164387e-02 9.99515736e-01 -2.44586817e-04 1.85472034e+00] [ 8.28517594e-03 -1.32331553e-05 9.99965677e-01 6.12131235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:1.85, Z:0.61 [[ 9.99477373e-01 -3.12473980e-02 -8.28132278e-03 1.98737348e+02] [ 3.12463754e-02 9.99511681e-01 -2.52863319e-04 1.85486293e+00] [ 8.28518017e-03 -6.03015483e-06 9.99965677e-01 6.12733132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:1.86, Z:0.61 [[ 9.99491166e-01 -3.08030578e-02 -8.28129022e-03 1.98765755e+02] [ 3.08020112e-02 9.99525473e-01 -2.53925099e-04 1.85603993e+00] [ 8.28518220e-03 -1.28450072e-06 9.99965677e-01 6.13014774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.79, Y:1.86, Z:0.61 [[ 9.99510028e-01 -3.01848283e-02 -8.28125751e-03 1.98794212e+02] [ 3.01837516e-02 9.99544334e-01 -2.54987485e-04 1.85744065e+00] [ 8.28518078e-03 4.90312820e-06 9.99965677e-01 6.12723077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:1.86, Z:0.61 [[ 9.99540223e-01 -2.91678573e-02 -8.28122485e-03 1.98822810e+02] [ 2.91667370e-02 9.99574527e-01 -2.56043891e-04 1.85829084e+00] [ 8.28516967e-03 1.43898607e-05 9.99965677e-01 6.12765734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:1.86, Z:0.61 [[ 9.99538006e-01 -2.92437358e-02 -8.28119175e-03 1.98851365e+02] [ 2.92426093e-02 9.99572310e-01 -2.57109880e-04 1.86042563e+00] [ 8.28516883e-03 1.48274419e-05 9.99965677e-01 6.14130965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.88, Y:1.86, Z:0.61 [[ 9.99499874e-01 -3.05192499e-02 -8.28115835e-03 1.98880654e+02] [ 3.05181583e-02 9.99534179e-01 -2.58181133e-04 1.86409608e+00] [ 8.28518031e-03 5.32630852e-06 9.99965677e-01 6.14290076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:1.86, Z:0.61 [[ 9.99478481e-01 -3.12119957e-02 -8.28115007e-03 1.98909595e+02] [ 3.12109257e-02 9.99512787e-01 -2.58446626e-04 1.86492269e+00] [ 8.28518202e-03 -1.50517597e-07 9.99965677e-01 6.14199149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.94, Y:1.87, Z:0.61 [[ 9.99416641e-01 -3.31330849e-02 -8.28111622e-03 1.98939163e+02] [ 3.31320719e-02 9.99450949e-01 -2.59526702e-04 1.86579214e+00] [ 8.28516838e-03 -1.49952326e-05 9.99965677e-01 6.13764637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:1.87, Z:0.61 [[ 9.99405580e-01 -3.34650644e-02 -8.28109938e-03 1.98968707e+02] [ 3.34640583e-02 9.99439888e-01 -2.60062790e-04 1.86835166e+00] [ 8.28516406e-03 -1.72109890e-05 9.99965677e-01 6.14812185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:1.87, Z:0.61 [[ 9.99400031e-01 -3.36303724e-02 -8.28108264e-03 1.98998559e+02] [ 3.36293675e-02 9.99434339e-01 -2.60594930e-04 1.87175239e+00] [ 8.28516226e-03 -1.80489910e-05 9.99965677e-01 6.14368896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.03, Y:1.88, Z:0.62 [[ 9.99408017e-01 -3.33922045e-02 -8.28106587e-03 1.99027615e+02] [ 3.33911871e-02 9.99442325e-01 -2.61126568e-04 1.87607588e+00] [ 8.28516732e-03 -1.55426344e-05 9.99965677e-01 6.15241349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.06, Y:1.88, Z:0.61 [[ 9.99381295e-01 -3.41826111e-02 -8.28103825e-03 1.99057408e+02] [ 3.41816136e-02 9.99415604e-01 -2.61999603e-04 1.87835357e+00] [ 8.28515467e-03 -2.12217468e-05 9.99965677e-01 6.14497560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.09, Y:1.88, Z:0.62 [[ 9.99339019e-01 -3.53970371e-02 -8.28102145e-03 1.99086752e+02] [ 3.53960769e-02 9.99373328e-01 -2.62529539e-04 1.88257150e+00] [ 8.28512474e-03 -3.07596607e-05 9.99965677e-01 6.15331499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:1.88, Z:0.62 [[ 9.99311722e-01 -3.61594639e-02 -8.28100473e-03 1.99117579e+02] [ 3.61585255e-02 9.99346032e-01 -2.63056009e-04 1.88447135e+00] [ 8.28510118e-03 -3.65539675e-05 9.99965677e-01 6.15424243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:1.89, Z:0.62 [[ 9.99235274e-01 -3.82137607e-02 -8.28100473e-03 1.99148292e+02] [ 3.82128929e-02 9.99269586e-01 -2.63056009e-04 1.88638526e+00] [ 8.28500853e-03 -5.35863031e-05 9.99965677e-01 6.15291556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:1.89, Z:0.62 [[ 9.99188664e-01 -3.94136746e-02 -8.28100473e-03 1.99178745e+02] [ 3.94128480e-02 9.99222977e-01 -2.63056009e-04 1.88844791e+00] [ 8.28493820e-03 -6.35353982e-05 9.99965677e-01 6.16971681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:1.89, Z:0.62 [[ 9.99164773e-01 -4.00147750e-02 -8.28100473e-03 1.99209674e+02] [ 4.00139690e-02 9.99199086e-01 -2.63056009e-04 1.89068730e+00] [ 8.28489848e-03 -6.85195690e-05 9.99965677e-01 6.17094467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:1.89, Z:0.62 [[ 9.99150296e-01 -4.03746199e-02 -8.28102095e-03 1.99241345e+02] [ 4.03738305e-02 9.99184610e-01 -2.62544389e-04 1.89326900e+00] [ 8.28486882e-03 -7.20152323e-05 9.99965677e-01 6.17404089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:1.89, Z:0.62 [[ 9.99130778e-01 -4.08547743e-02 -8.28103733e-03 1.99272549e+02] [ 4.08540057e-02 9.99165092e-01 -2.62026658e-04 1.89464226e+00] [ 8.28482847e-03 -7.65146478e-05 9.99965677e-01 6.17081065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:1.90, Z:0.62 [[ 9.99149667e-01 -4.03901898e-02 -8.28105364e-03 1.99303323e+02] [ 4.03894095e-02 9.99183981e-01 -2.61510160e-04 1.89653572e+00] [ 8.28485859e-03 -7.31790779e-05 9.99965677e-01 6.18037260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:1.90, Z:0.62 [[ 9.99191558e-01 -3.93402400e-02 -8.28106186e-03 1.99334316e+02] [ 3.93394258e-02 9.99225871e-01 -2.61249689e-04 1.89815492e+00] [ 8.28492887e-03 -6.47337344e-05 9.99965677e-01 6.16490244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.36, Y:1.90, Z:0.63 [[ 9.99212002e-01 -3.88174981e-02 -8.28107817e-03 1.99364960e+02] [ 3.88166703e-02 9.99246315e-01 -2.60731482e-04 1.89944202e+00] [ 8.28495779e-03 -6.09178547e-05 9.99965677e-01 6.30991205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:1.90, Z:0.62 [[ 9.99290783e-01 -3.67336556e-02 -8.28065416e-03 1.99396242e+02] [ 3.67326438e-02 9.99325091e-01 -2.74296394e-04 1.90205133e+00] [ 8.28514138e-03 -3.00684606e-05 9.99965677e-01 6.18468844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:1.90, Z:0.62 [[ 9.99306467e-01 -3.63043567e-02 -8.28118393e-03 1.99427081e+02] [ 3.63034715e-02 9.99340779e-01 -2.57241820e-04 1.90393187e+00] [ 8.28506380e-03 -4.35723102e-05 9.99965677e-01 6.18037254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:1.91, Z:0.62 [[ 9.99309264e-01 -3.62272976e-02 -8.28118393e-03 1.99457889e+02] [ 3.62264097e-02 9.99343575e-01 -2.57241820e-04 1.90601419e+00] [ 8.28506713e-03 -4.29334283e-05 9.99965677e-01 6.18628684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.49, Y:1.91, Z:0.62 [[ 9.99301244e-01 -3.64478405e-02 -8.28118393e-03 1.99488381e+02] [ 3.64469601e-02 9.99335556e-01 -2.57241820e-04 1.90783027e+00] [ 8.28505746e-03 -4.47619097e-05 9.99965677e-01 6.19106488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.52, Y:1.91, Z:0.63 [[ 9.99134043e-01 -4.07748201e-02 -8.28118393e-03 1.99517103e+02] [ 4.07740884e-02 9.99168358e-01 -2.57241820e-04 1.90978220e+00] [ 8.28478594e-03 -8.06386660e-05 9.99965677e-01 6.34474138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:199.55, Y:1.91, Z:0.64 [[ 9.99067846e-01 -4.23661705e-02 -8.27923741e-03 1.99548163e+02] [ 4.23649778e-02 9.99102150e-01 -3.19460642e-04 1.90998857e+00] [ 8.28533823e-03 -3.15868541e-05 9.99965675e-01 6.35841319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:1.91, Z:0.62 [[ 9.98911195e-01 -4.59115517e-02 -8.27973047e-03 1.99579950e+02] [ 4.59106128e-02 9.98945506e-01 -3.03529670e-04 1.90878765e+00] [ 8.28493506e-03 -7.69283149e-05 9.99965676e-01 6.19476482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.61, Y:1.91, Z:0.62 [[ 9.98851598e-01 -4.71901014e-02 -8.28123587e-03 1.99612618e+02] [ 4.71896123e-02 9.98885917e-01 -2.54556137e-04 1.90934132e+00] [ 8.28402242e-03 -1.36524505e-04 9.99965678e-01 6.19189732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:199.64, Y:1.91, Z:0.64 [[ 9.98419296e-01 -5.55907269e-02 -8.28134348e-03 1.99637454e+02] [ 5.55905559e-02 9.98453618e-01 -2.51005767e-04 1.90698189e+00] [ 8.28249095e-03 -2.09755487e-04 9.99965678e-01 6.35973444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.67, Y:1.91, Z:0.62 [[ 9.98766931e-01 -4.89504283e-02 -8.27482995e-03 1.99674013e+02] [ 4.89482580e-02 9.98801207e-01 -4.64711832e-04 1.90759846e+00] [ 8.28765799e-03 5.91002987e-05 9.99965655e-01 6.21344061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:1.91, Z:0.62 [[ 9.98769880e-01 -4.88891148e-02 -8.28133470e-03 1.99706317e+02] [ 4.88887762e-02 9.98804199e-01 -2.43445713e-04 1.90694535e+00] [ 8.28333372e-03 -1.61718072e-04 9.99965680e-01 6.21321439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:199.74, Y:1.91, Z:0.64 [[ 9.98770084e-01 -4.88849390e-02 -8.28143684e-03 1.99735059e+02] [ 4.88846294e-02 9.98804403e-01 -2.39920048e-04 1.90508678e+00] [ 8.28326405e-03 -1.65210005e-04 9.99965680e-01 6.36498109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:199.77, Y:1.90, Z:0.64 [[ 9.98801504e-01 -4.82390902e-02 -8.27923881e-03 1.99765177e+02] [ 4.82381288e-02 9.98835814e-01 -3.15892966e-04 1.90474529e+00] [ 8.28483862e-03 -8.38606178e-05 9.99965677e-01 6.37821333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.80, Y:1.90, Z:0.62 [[ 9.99044368e-01 -4.29165315e-02 -8.27785090e-03 1.99799432e+02] [ 4.29149807e-02 9.99078661e-01 -3.64966310e-04 1.90154968e+00] [ 8.28588728e-03 9.37372520e-06 9.99965671e-01 6.20506281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:1.90, Z:0.62 [[ 9.98996055e-01 -4.40260903e-02 -8.28160919e-03 1.99831291e+02] [ 4.40257032e-02 9.99030372e-01 -2.29131386e-04 1.89606863e+00] [ 8.28366687e-03 -1.35702317e-04 9.99965681e-01 6.20487712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:199.86, Y:1.89, Z:0.64 [[ 9.98856574e-01 -4.70846077e-02 -8.28162322e-03 1.99859537e+02] [ 4.70843299e-02 9.98890892e-01 -2.28623326e-04 1.89351789e+00] [ 8.28320264e-03 -1.61572768e-04 9.99965681e-01 6.37867615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.89, Y:1.89, Z:0.62 [[ 9.99048019e-01 -4.28312656e-02 -8.27874243e-03 1.99892487e+02] [ 4.28299783e-02 9.99082320e-01 -3.32805335e-04 1.89280363e+00] [ 8.28539967e-03 -2.20898480e-05 9.99965675e-01 6.21406351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.92, Y:1.89, Z:0.62 [[ 9.99048034e-01 -4.28303664e-02 -8.28168206e-03 1.99923467e+02] [ 4.28299787e-02 9.99082350e-01 -2.24240227e-04 1.89354906e+00] [ 8.28368667e-03 -1.30677508e-04 9.99965681e-01 6.21645223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:199.95, Y:1.89, Z:0.64 [[ 9.99112934e-01 -4.12887280e-02 -8.28168206e-03 1.99952424e+02] [ 4.12882874e-02 9.99147250e-01 -2.24240227e-04 1.89433305e+00] [ 8.28387845e-03 -1.17895158e-04 9.99965681e-01 6.37380353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:199.98, Y:1.90, Z:0.62 [[ 9.99347803e-01 -3.51484832e-02 -8.27965173e-03 1.99984728e+02] [ 3.51472109e-02 9.99382101e-01 -2.99160276e-04 1.89599709e+00] [ 8.28505077e-03 7.95849899e-06 9.99965678e-01 6.22301269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:1.90, Z:0.62 [[ 9.99459750e-01 -3.18059912e-02 -8.28171283e-03 2.00014069e+02] [ 3.18052401e-02 9.99494061e-01 -2.22415605e-04 1.89651932e+00] [ 8.28459693e-03 -4.11064201e-05 9.99965681e-01 6.21923872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59864000000002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:200.04, Y:1.90, Z:0.64 [[ 9.99595997e-01 -2.71892785e-02 -8.28169884e-03 2.00041660e+02] [ 2.71883646e-02 9.99630303e-01 -2.22935418e-04 1.89850563e+00] [ 8.28469857e-03 -2.32049649e-06 9.99965681e-01 6.39161733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864000000002 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:200.07, Y:1.90, Z:0.64 [[ 9.99677554e-01 -2.40048945e-02 -8.27965382e-03 2.00071457e+02] [ 2.40032453e-02 9.99711836e-01 -2.98523918e-04 1.90171766e+00] [ 8.28443395e-03 9.96890988e-05 9.99965679e-01 6.39036314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.10, Y:1.91, Z:0.62 [[ 9.99849800e-01 -1.52258762e-02 -8.27950590e-03 2.00103048e+02] [ 1.52238803e-02 9.99884064e-01 -3.04037321e-04 1.90737157e+00] [ 8.28317524e-03 1.77945448e-04 9.99965678e-01 6.24264152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.13, Y:1.91, Z:0.62 [[ 9.99891389e-01 -1.21911435e-02 -8.28172476e-03 2.00131798e+02] [ 1.21897326e-02 9.99925678e-01 -2.20821912e-04 1.91055407e+00] [ 8.28380132e-03 1.19845918e-04 9.99965682e-01 6.24773326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.16, Y:1.92, Z:0.62 [[ 9.99905934e-01 -1.09333128e-02 -8.28169652e-03 2.00160607e+02] [ 1.09318500e-02 9.99940221e-01 -2.21875810e-04 1.91835939e+00] [ 8.28362729e-03 1.31320675e-04 9.99965682e-01 6.24633597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.19, Y:1.92, Z:0.63 [[ 9.99902435e-01 -1.12487841e-02 -8.28166799e-03 2.00189381e+02] [ 1.12473233e-02 9.99936722e-01 -2.22935845e-04 1.92312918e+00] [ 8.28365170e-03 1.29767496e-04 9.99965682e-01 6.25248424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:200.22, Y:1.93, Z:0.64 [[ 9.99864204e-01 -1.42473565e-02 -8.28163944e-03 2.00217637e+02] [ 1.42459898e-02 9.99898496e-01 -2.23991510e-04 1.92663144e+00] [ 8.28399010e-03 1.05980942e-04 9.99965682e-01 6.41330056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.25, Y:1.93, Z:0.63 [[ 9.99864821e-01 -1.42047329e-02 -8.28039144e-03 2.00248432e+02] [ 1.42029844e-02 9.99899096e-01 -2.69937896e-04 1.93053855e+00] [ 8.28339031e-03 1.52295136e-04 9.99965681e-01 6.25568581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:200.28, Y:1.94, Z:0.63 [[ 9.99828429e-01 -1.65688536e-02 -8.28164494e-03 2.00277002e+02] [ 1.65675708e-02 9.99862723e-01 -2.23488039e-04 1.93543710e+00] [ 8.28421100e-03 8.62429567e-05 9.99965682e-01 6.25655302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:1.94, Z:0.63 [[ 9.99809659e-01 -1.76652577e-02 -8.28161650e-03 2.00305798e+02] [ 1.76640037e-02 9.99843954e-01 -2.24537018e-04 1.93896078e+00] [ 8.28429069e-03 7.82077746e-05 9.99965682e-01 6.26282715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.33, Y:1.94, Z:0.63 [[ 9.99775486e-01 -1.95036571e-02 -8.28158786e-03 2.00334316e+02] [ 1.95024576e-02 9.99809784e-01 -2.25588347e-04 1.94187869e+00] [ 8.28441236e-03 6.40263839e-05 9.99965682e-01 6.26520877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:200.36, Y:1.95, Z:0.63 [[ 9.99727181e-01 -2.18398550e-02 -8.28155930e-03 2.00362717e+02] [ 2.18387270e-02 9.99761481e-01 -2.26632081e-04 1.94603768e+00] [ 8.28453360e-03 4.57115394e-05 9.99965682e-01 6.27366805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:200.39, Y:1.95, Z:0.64 [[ 9.99660459e-01 -2.47059150e-02 -8.28153044e-03 2.00391704e+02] [ 2.47048766e-02 9.99694762e-01 -2.27681643e-04 1.95024871e+00] [ 8.28462769e-03 2.30101483e-05 9.99965682e-01 6.42334851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:200.42, Y:1.95, Z:0.64 [[ 9.99634127e-01 -2.57498635e-02 -8.27995028e-03 2.00421786e+02] [ 2.57483866e-02 9.99668415e-01 -2.84933474e-04 1.95213193e+00] [ 8.28454177e-03 7.16338632e-05 9.99965680e-01 6.44090571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:200.45, Y:1.95, Z:0.65 [[ 9.99624293e-01 -2.61288061e-02 -8.28000594e-03 2.00451942e+02] [ 2.61273591e-02 9.99658582e-01 -2.82900970e-04 1.95462835e+00] [ 8.28457086e-03 6.64599937e-05 9.99965680e-01 6.46108687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.48, Y:1.96, Z:0.63 [[ 9.99623551e-01 -2.61571378e-02 -8.28011246e-03 2.00483170e+02] [ 2.61557241e-02 9.99657842e-01 -2.78989547e-04 1.95869776e+00] [ 8.28457692e-03 6.23121839e-05 9.99965680e-01 6.30215674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.51, Y:1.96, Z:0.63 [[ 9.99576698e-01 -2.78897770e-02 -8.28164221e-03 2.00512738e+02] [ 2.78888958e-02 9.99611004e-01 -2.21896740e-04 1.96080196e+00] [ 8.28460934e-03 -9.16304606e-06 9.99965682e-01 6.30337851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:200.54, Y:1.96, Z:0.65 [[ 9.99438281e-01 -3.24736494e-02 -8.28162822e-03 2.00540917e+02] [ 3.24729212e-02 9.99472591e-01 -2.22417704e-04 1.96281248e+00] [ 8.28448312e-03 -4.66358927e-05 9.99965682e-01 6.46692148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:200.57, Y:1.96, Z:0.64 [[ 9.99499635e-01 -3.05276336e-02 -8.27913887e-03 2.00572404e+02] [ 3.05260756e-02 9.99533921e-01 -3.14515098e-04 1.96426204e+00] [ 8.28488154e-03 6.16281062e-05 9.99965678e-01 6.44427494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.60, Y:1.97, Z:0.63 [[ 9.99451608e-01 -3.20610023e-02 -8.28107295e-03 2.00603366e+02] [ 3.20600965e-02 9.99485914e-01 -2.42136124e-04 1.96644805e+00] [ 8.28457889e-03 -2.34886599e-05 9.99965682e-01 6.31034828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:200.63, Y:1.97, Z:0.63 [[ 9.99426594e-01 -3.28313561e-02 -8.28165182e-03 2.00633609e+02] [ 3.28306570e-02 9.99460904e-01 -2.20383488e-04 1.96729030e+00] [ 8.28442270e-03 -5.16349516e-05 9.99965682e-01 6.31018196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.66, Y:1.97, Z:0.63 [[ 9.99344453e-01 -3.52431351e-02 -8.28165182e-03 2.00663681e+02] [ 3.52425188e-02 9.99378765e-01 -2.20383488e-04 1.96648196e+00] [ 8.28427397e-03 -7.16272536e-05 9.99965682e-01 6.30200999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:200.69, Y:1.97, Z:0.65 [[ 9.99234698e-01 -3.82286931e-02 -8.28165182e-03 2.00693434e+02] [ 3.82281793e-02 9.99269012e-01 -2.20383488e-04 1.96620007e+00] [ 8.28402300e-03 -9.63776430e-05 9.99965682e-01 6.46680174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.73, Y:1.97, Z:0.63 [[ 9.99260369e-01 -3.75520119e-02 -8.28018004e-03 2.00726582e+02] [ 3.75510186e-02 9.99294674e-01 -2.75457784e-04 1.96648413e+00] [ 8.28468381e-03 -3.56751478e-05 9.99965681e-01 6.30459732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.76, Y:1.96, Z:0.63 [[ 9.99156126e-01 -4.02299457e-02 -8.28170838e-03 2.00758045e+02] [ 4.02295272e-02 9.99190441e-01 -2.17177723e-04 1.96411306e+00] [ 8.28374090e-03 -1.16174761e-04 9.99965682e-01 6.30531047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864000000002 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:200.79, Y:1.96, Z:0.63 [[ 9.99147661e-01 -4.04396536e-02 -8.28172167e-03 2.00790149e+02] [ 4.04392466e-02 9.99181976e-01 -2.16669656e-04 1.96333398e+00] [ 8.28370907e-03 -1.18421605e-04 9.99965682e-01 6.30574037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:200.82, Y:1.96, Z:0.63 [[ 9.99169851e-01 -3.98875935e-02 -8.28181231e-03 2.00822542e+02] [ 3.98871967e-02 9.99204166e-01 -2.13147895e-04 1.96016550e+00] [ 8.28372332e-03 -1.17367326e-04 9.99965682e-01 6.29086372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864000000002 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:200.85, Y:1.96, Z:0.64 [[ 9.99058695e-01 -4.25809093e-02 -8.28190142e-03 2.00851502e+02] [ 4.25806342e-02 9.99093012e-01 -2.09627449e-04 1.95819312e+00] [ 8.28331596e-03 -1.43218488e-04 9.99965682e-01 6.44135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:200.88, Y:1.96, Z:0.63 [[ 9.99197559e-01 -3.91877452e-02 -8.27999107e-03 2.00884417e+02] [ 3.91867285e-02 9.99231865e-01 -2.85043668e-04 1.95553920e+00] [ 8.28480114e-03 -3.96508250e-05 9.99965680e-01 6.30409565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:200.92, Y:1.95, Z:0.63 [[ 9.99235891e-01 -3.81974307e-02 -8.28197229e-03 2.00915918e+02] [ 3.81970433e-02 9.99270206e-01 -2.05006362e-04 1.95495707e+00] [ 8.28375887e-03 -1.11497139e-04 9.99965683e-01 6.31088705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:200.95, Y:1.95, Z:0.65 [[ 9.99216254e-01 -3.87077051e-02 -8.28198490e-03 2.00945164e+02] [ 3.87073394e-02 9.99250569e-01 -2.04495426e-04 1.95427172e+00] [ 8.28369368e-03 -1.16238448e-04 9.99965683e-01 6.48371013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:200.98, Y:1.95, Z:0.65 [[ 9.99235896e-01 -3.81975815e-02 -8.28062378e-03 2.00975905e+02] [ 3.81967403e-02 9.99270204e-01 -2.59770217e-04 1.95493798e+00] [ 8.28450322e-03 -5.67211114e-05 9.99965681e-01 6.46707843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.01, Y:1.96, Z:0.63 [[ 9.99315769e-01 -3.60475635e-02 -8.28056170e-03 2.01007895e+02] [ 3.60466274e-02 9.99350075e-01 -2.62317836e-04 1.95615044e+00] [ 8.28463587e-03 -3.63479725e-05 9.99965681e-01 6.30383914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:201.04, Y:1.96, Z:0.65 [[ 9.99266616e-01 -3.73849885e-02 -8.28208721e-03 2.01037359e+02] [ 3.73846251e-02 9.99300931e-01 -1.98749172e-04 1.95781245e+00] [ 8.28372769e-03 -1.11019312e-04 9.99965683e-01 6.45153804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:1.96, Z:0.63 [[ 9.99260945e-01 -3.75364574e-02 -8.28117601e-03 2.01069469e+02] [ 3.75357823e-02 9.99295256e-01 -2.36987058e-04 1.96009612e+00] [ 8.28423556e-03 -7.40285084e-05 9.99965682e-01 6.32094334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:201.10, Y:1.96, Z:0.65 [[ 9.99137014e-01 -4.07017571e-02 -8.28216315e-03 2.01098626e+02] [ 4.07015380e-02 9.99171330e-01 -1.95077972e-04 1.96077823e+00] [ 8.28323998e-03 -1.42187155e-04 9.99965683e-01 6.46687852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.13, Y:1.96, Z:0.63 [[ 9.99152404e-01 -4.03225171e-02 -8.28058018e-03 2.01131621e+02] [ 4.03217314e-02 9.99186714e-01 -2.61874295e-04 1.96090968e+00] [ 8.28440513e-03 -7.22349990e-05 9.99965681e-01 6.32039369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:201.16, Y:1.96, Z:0.65 [[ 9.99091806e-01 -4.17967612e-02 -8.28217989e-03 2.01160738e+02] [ 4.17965940e-02 9.99126122e-01 -1.93351823e-04 1.96139939e+00] [ 8.28302376e-03 -1.52990689e-04 9.99965683e-01 6.48486812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.19, Y:1.96, Z:0.63 [[ 9.99050115e-01 -4.27819312e-02 -8.28097558e-03 2.01193398e+02] [ 4.27813707e-02 9.99084428e-01 -2.44902829e-04 1.96173378e+00] [ 8.28387116e-03 -1.09601286e-04 9.99965682e-01 6.31876398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:201.22, Y:1.96, Z:0.65 [[ 9.98923501e-01 -4.56425542e-02 -8.28224314e-03 2.01222933e+02] [ 4.56425509e-02 9.98957818e-01 -1.89505263e-04 1.96135857e+00] [ 8.28226103e-03 -1.88721443e-04 9.99965684e-01 6.48940049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:1.96, Z:0.63 [[ 9.98952219e-01 -4.50098989e-02 -8.28084375e-03 2.01256231e+02] [ 4.50093715e-02 9.98986533e-01 -2.50131934e-04 1.96058211e+00] [ 8.28370981e-03 -1.22845723e-04 9.99965682e-01 6.31415730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.29, Y:1.96, Z:0.63 [[ 9.98884241e-01 -4.64938480e-02 -8.28226107e-03 2.01288746e+02] [ 4.64938903e-02 9.98918557e-01 -1.87540107e-04 1.95687959e+00] [ 8.28202374e-03 -1.97743680e-04 9.99965684e-01 6.32443273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.32, Y:1.96, Z:0.63 [[ 9.98892571e-01 -4.63145187e-02 -8.28233871e-03 2.01321344e+02] [ 4.63145837e-02 9.98926887e-01 -1.84046523e-04 1.95597050e+00] [ 8.28197485e-03 -1.99750365e-04 9.99965684e-01 6.33352914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:201.35, Y:1.95, Z:0.63 [[ 9.98935218e-01 -4.53853717e-02 -8.28241461e-03 2.01354021e+02] [ 4.53854337e-02 9.98969534e-01 -1.80564901e-04 1.95256899e+00] [ 8.28207487e-03 -1.95528340e-04 9.99965684e-01 6.31934688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.39, Y:1.95, Z:0.63 [[ 9.98998886e-01 -4.39616488e-02 -8.28248913e-03 2.01386320e+02] [ 4.39616908e-02 9.99033202e-01 -1.77079276e-04 1.95074259e+00] [ 8.28226633e-03 -1.87210227e-04 9.99965684e-01 6.32264688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:201.42, Y:1.95, Z:0.65 [[ 9.98963878e-01 -4.47500873e-02 -8.28256175e-03 2.01415057e+02] [ 4.47501851e-02 9.98998194e-01 -1.73614804e-04 1.94744015e+00] [ 8.28203351e-03 -1.97211254e-04 9.99965684e-01 6.47748208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:201.45, Y:1.95, Z:0.65 [[ 9.99008763e-01 -4.37369706e-02 -8.28057244e-03 2.01445547e+02] [ 4.37362502e-02 9.99043076e-01 -2.68149326e-04 1.94671609e+00] [ 8.28437660e-03 -9.42776613e-05 9.99965680e-01 6.49089379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:201.48, Y:1.94, Z:0.63 [[ 9.99170705e-01 -3.98665579e-02 -8.28006796e-03 2.01479013e+02] [ 3.98655041e-02 9.99205012e-01 -2.92335547e-04 1.94345766e+00] [ 8.28513982e-03 -3.79959692e-05 9.99965677e-01 6.34776616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.51, Y:1.94, Z:0.64 [[ 9.99172502e-01 -3.98209803e-02 -8.28258470e-03 2.01509601e+02] [ 3.98209472e-02 9.99206817e-01 -1.68980028e-04 1.94238929e+00] [ 8.28274405e-03 -1.60980171e-04 9.99965685e-01 6.35001594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864000000002 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:201.54, Y:1.94, Z:0.65 [[ 9.99068341e-01 -4.23538537e-02 -8.28258470e-03 2.01538319e+02] [ 4.23539076e-02 9.99102656e-01 -1.68980028e-04 1.94061976e+00] [ 8.28230933e-03 -1.81977231e-04 9.99965685e-01 6.49499645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.57, Y:1.94, Z:0.64 [[ 9.99159452e-01 -4.01474139e-02 -8.28099971e-03 2.01570750e+02] [ 4.01467486e-02 9.99193764e-01 -2.46629363e-04 1.93986785e+00] [ 8.28422480e-03 -8.60331538e-05 9.99965682e-01 6.35325717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.60, Y:1.94, Z:0.64 [[ 9.99129776e-01 -4.08789470e-02 -8.28260215e-03 2.01601365e+02] [ 4.08789642e-02 9.99164092e-01 -1.67296464e-04 1.93820475e+00] [ 8.28251755e-03 -1.71433318e-04 9.99965685e-01 6.35997125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.63, Y:1.94, Z:0.64 [[ 9.99087737e-01 -4.18938291e-02 -8.28260215e-03 2.01631969e+02] [ 4.18938811e-02 9.99122052e-01 -1.67296464e-04 1.93593612e+00] [ 8.28233914e-03 -1.79846504e-04 9.99965685e-01 6.36506919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:201.66, Y:1.93, Z:0.65 [[ 9.98831207e-01 -4.76195185e-02 -8.28260215e-03 2.01660622e+02] [ 4.76197672e-02 9.98865521e-01 -1.67296464e-04 1.93452214e+00] [ 8.28117229e-03 -2.27314657e-04 9.99965685e-01 6.49550330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:1.93, Z:0.64 [[ 9.98824513e-01 -4.77599587e-02 -8.28127159e-03 2.01692983e+02] [ 4.77596714e-02 9.98858829e-01 -2.32556880e-04 1.93288434e+00] [ 8.28292815e-03 -1.63227298e-04 9.99965683e-01 6.35872116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:1.93, Z:0.64 [[ 9.98700736e-01 -5.02815812e-02 -8.28260639e-03 2.01724338e+02] [ 5.02819326e-02 9.98735050e-01 -1.65928997e-04 1.93083433e+00] [ 8.28047248e-03 -2.50752045e-04 9.99965685e-01 6.36443387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.76, Y:1.93, Z:0.64 [[ 9.98481335e-01 -5.44648697e-02 -8.28261623e-03 2.01755353e+02] [ 5.44653690e-02 9.98515646e-01 -1.65436588e-04 1.92662251e+00] [ 8.27933238e-03 -2.85930404e-04 9.99965685e-01 6.37271527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.79, Y:1.93, Z:0.64 [[ 9.98412760e-01 -5.57077905e-02 -8.28262603e-03 2.01787205e+02] [ 5.57083365e-02 9.98447071e-01 -1.64944524e-04 1.92545930e+00] [ 8.27895239e-03 -2.96728601e-04 9.99965685e-01 6.36969555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:201.82, Y:1.92, Z:0.65 [[ 9.98335257e-01 -5.70798682e-02 -8.28269263e-03 2.01816482e+02] [ 5.70804897e-02 9.98369567e-01 -1.61529399e-04 1.91952657e+00] [ 8.27840833e-03 -3.11519658e-04 9.99965685e-01 6.52022411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:201.85, Y:1.92, Z:0.65 [[ 9.98369227e-01 -5.64827547e-02 -8.28162563e-03 2.01848233e+02] [ 5.64829001e-02 9.98403543e-01 -2.16522932e-04 1.92053000e+00] [ 8.28063418e-03 -2.51600400e-04 9.99965683e-01 6.52293228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:1.92, Z:0.64 [[ 9.98500999e-01 -5.41033182e-02 -8.28170745e-03 2.01880134e+02] [ 5.41034178e-02 9.98535315e-01 -2.12177037e-04 1.91804621e+00] [ 8.28105684e-03 -2.36209695e-04 9.99965684e-01 6.38481435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:1.91, Z:0.64 [[ 9.98591696e-01 -5.24024833e-02 -8.28280350e-03 2.01911069e+02] [ 5.24030169e-02 9.98626006e-01 -1.52741849e-04 1.91440062e+00] [ 8.27942704e-03 -2.81517149e-04 9.99965685e-01 6.39172616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.94, Y:1.91, Z:0.64 [[ 9.98664709e-01 -5.09920909e-02 -8.28281247e-03 2.01942058e+02] [ 5.09925800e-02 9.98699021e-01 -1.52254201e-04 1.91281926e+00] [ 8.27980046e-03 -2.70311081e-04 9.99965685e-01 6.40122209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.97, Y:1.91, Z:0.64 [[ 9.98752585e-01 -4.92409269e-02 -8.28281247e-03 2.01972597e+02] [ 4.92413559e-02 9.98786897e-01 -1.52254201e-04 1.91029787e+00] [ 8.28026170e-03 -2.55792640e-04 9.99965685e-01 6.39636094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.00, Y:1.90, Z:0.64 [[ 9.98918974e-01 -4.57414201e-02 -8.28281247e-03 2.02002713e+02] [ 4.57417289e-02 9.98953288e-01 -1.52254201e-04 1.90448176e+00] [ 8.28110707e-03 -2.26780552e-04 9.99965685e-01 6.39873851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:1.90, Z:0.64 [[ 9.98999288e-01 -4.39524481e-02 -8.28280324e-03 2.02032594e+02] [ 4.39526913e-02 9.99033602e-01 -1.52754790e-04 1.90307911e+00] [ 8.28151270e-03 -2.11449567e-04 9.99965685e-01 6.39540050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:1.90, Z:0.64 [[ 9.99100514e-01 -4.15879661e-02 -8.28279394e-03 2.02062068e+02] [ 4.15881240e-02 9.99134828e-01 -1.53256983e-04 1.90065625e+00] [ 8.28200155e-03 -1.91346731e-04 9.99965685e-01 6.39978785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:1.90, Z:0.64 [[ 9.99173489e-01 -3.97961720e-02 -8.28278463e-03 2.02091458e+02] [ 3.97962642e-02 9.99207803e-01 -1.53758458e-04 1.89903934e+00] [ 8.28234204e-03 -1.75992511e-04 9.99965685e-01 6.40440725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.12, Y:1.90, Z:0.64 [[ 9.99302013e-01 -3.64264065e-02 -8.28277516e-03 2.02120725e+02] [ 3.64263787e-02 9.99336327e-01 -1.54266900e-04 1.89619936e+00] [ 8.28289750e-03 -1.47552281e-04 9.99965685e-01 6.41206178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:1.90, Z:0.64 [[ 9.99370373e-01 -3.45000524e-02 -8.28275595e-03 2.02149452e+02] [ 3.44999499e-02 9.99404687e-01 -1.55291990e-04 1.89584069e+00] [ 8.28318270e-03 -1.30560452e-04 9.99965685e-01 6.40300077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:202.18, Y:1.89, Z:0.65 [[ 9.99436727e-01 -3.25211576e-02 -8.28273640e-03 2.02178339e+02] [ 3.25209787e-02 9.99471041e-01 -1.56327624e-04 1.89217222e+00] [ 8.28343913e-03 -1.13123124e-04 9.99965685e-01 6.54264854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.21, Y:1.89, Z:0.64 [[ 9.99466833e-01 -3.15824589e-02 -8.28239528e-03 2.02208568e+02] [ 3.15820989e-02 9.99501146e-01 -1.74286070e-04 1.89147405e+00] [ 8.28376795e-03 -8.73822805e-05 9.99965685e-01 6.40060416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:202.24, Y:1.89, Z:0.65 [[ 9.99458433e-01 -3.18470878e-02 -8.28273079e-03 2.02236667e+02] [ 3.18468840e-02 9.99492747e-01 -1.56533269e-04 1.88992872e+00] [ 8.28351447e-03 -1.07330671e-04 9.99965685e-01 6.54408621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:202.27, Y:1.89, Z:0.66 [[ 9.99546908e-01 -2.89378007e-02 -8.28143449e-03 2.02267813e+02] [ 2.89369365e-02 9.99581214e-01 -2.24179026e-04 1.89073320e+00] [ 8.28445359e-03 -1.55618924e-05 9.99965683e-01 6.55827903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:202.30, Y:1.89, Z:0.66 [[ 9.99590466e-01 -2.73917438e-02 -8.28209697e-03 2.02296305e+02] [ 2.73911152e-02 9.99624775e-01 -1.89333484e-04 1.89145900e+00] [ 8.28417550e-03 -3.75999277e-05 9.99965685e-01 6.56438726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:1.90, Z:0.64 [[ 9.99701659e-01 -2.29782180e-02 -8.28220624e-03 2.02326401e+02] [ 2.29774853e-02 9.99735966e-01 -1.83625638e-04 1.89591661e+00] [ 8.28423885e-03 -6.73341785e-06 9.99965685e-01 6.43037482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:1.90, Z:0.64 [[ 9.99788843e-01 -1.88060135e-02 -8.28268701e-03 2.02355355e+02] [ 1.88053458e-02 9.99823151e-01 -1.58502793e-04 1.90080069e+00] [ 8.28420304e-03 2.71053109e-06 9.99965685e-01 6.42769374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:202.38, Y:1.90, Z:0.66 [[ 9.99801655e-01 -1.81120909e-02 -8.28266645e-03 2.02384899e+02] [ 1.81113905e-02 9.99835963e-01 -1.59569977e-04 1.90332394e+00] [ 8.28419793e-03 9.52772071e-06 9.99965685e-01 6.57110647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:202.41, Y:1.91, Z:0.66 [[ 9.99831367e-01 -1.63902193e-02 -8.28235430e-03 2.02414429e+02] [ 1.63893266e-02 9.99865671e-01 -1.75645402e-04 1.90724032e+00] [ 8.28412061e-03 3.98735731e-05 9.99965685e-01 6.59443054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:202.44, Y:1.91, Z:0.66 [[ 9.99842401e-01 -1.57026640e-02 -8.28249133e-03 2.02444363e+02] [ 1.57018060e-02 9.99876705e-01 -1.68622543e-04 1.91035564e+00] [ 8.28411796e-03 3.85458971e-05 9.99965685e-01 6.57499460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.47, Y:1.91, Z:0.64 [[ 9.99853321e-01 -1.49912983e-02 -8.28237712e-03 2.02474808e+02] [ 1.49903671e-02 9.99887623e-01 -1.74500952e-04 1.91438041e+00] [ 8.28406236e-03 5.03194828e-05 9.99965685e-01 6.43427779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:202.50, Y:1.92, Z:0.66 [[ 9.99849866e-01 -1.52198302e-02 -8.28266280e-03 2.02503924e+02] [ 1.52190296e-02 9.99884171e-01 -1.59682764e-04 1.92060163e+00] [ 8.28413377e-03 3.36047000e-05 9.99965685e-01 6.57484502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:202.53, Y:1.92, Z:0.66 [[ 9.99855236e-01 -1.48627798e-02 -8.28276052e-03 2.02533188e+02] [ 1.48620086e-02 9.99889542e-01 -1.54658536e-04 1.92397740e+00] [ 8.28414428e-03 3.15376893e-05 9.99965685e-01 6.59234563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:202.56, Y:1.93, Z:0.66 [[ 9.99860014e-01 -1.45375954e-02 -8.28314566e-03 2.02562842e+02] [ 1.45369763e-02 9.99894323e-01 -1.34942480e-04 1.93075205e+00] [ 8.28423206e-03 1.45116981e-05 9.99965685e-01 6.58155907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:202.59, Y:1.93, Z:0.66 [[ 9.99847178e-01 -1.53951868e-02 -8.28303568e-03 2.02591085e+02] [ 1.53945508e-02 9.99881487e-01 -1.40546906e-04 1.93293412e+00] [ 8.28421778e-03 1.30118144e-05 9.99965685e-01 6.57862009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:202.62, Y:1.93, Z:0.66 [[ 9.99831669e-01 -1.63716173e-02 -8.28279120e-03 2.02619566e+02] [ 1.63709122e-02 9.99865976e-01 -1.52931875e-04 1.93383429e+00] [ 8.28418484e-03 1.73092841e-05 9.99965685e-01 6.58716913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.65, Y:1.94, Z:0.64 [[ 9.99784009e-01 -1.90610039e-02 -8.28328491e-03 2.02648454e+02] [ 1.90605962e-02 9.99818322e-01 -1.28168406e-04 1.93543837e+00] [ 8.28422304e-03 -2.97436258e-05 9.99965685e-01 6.43715927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.68, Y:1.94, Z:0.64 [[ 9.99714416e-01 -2.24162133e-02 -8.28253940e-03 2.02677725e+02] [ 2.24156116e-02 9.99748725e-01 -1.65481919e-04 1.93751407e+00] [ 8.28416769e-03 -2.02235261e-05 9.99965685e-01 6.43733970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.71, Y:1.94, Z:0.64 [[ 9.99669414e-01 -2.43405601e-02 -8.28251800e-03 2.02706788e+02] [ 2.43400157e-02 9.99703724e-01 -1.66546270e-04 1.93743971e+00] [ 8.28411792e-03 -3.51054058e-05 9.99965685e-01 6.43622445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.74, Y:1.94, Z:0.64 [[ 9.99627885e-01 -2.59902135e-02 -8.28249669e-03 2.02735525e+02] [ 2.59897170e-02 9.99662196e-01 -1.67599481e-04 1.93684361e+00] [ 8.28405478e-03 -4.77226303e-05 9.99965685e-01 6.43664317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:1.94, Z:0.65 [[ 9.99576875e-01 -2.78831656e-02 -8.28247526e-03 2.02764721e+02] [ 2.78827253e-02 9.99611187e-01 -1.68651709e-04 1.93832823e+00] [ 8.28395747e-03 -6.23576334e-05 9.99965685e-01 6.45046815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.79, Y:1.94, Z:0.65 [[ 9.99540341e-01 -2.91634787e-02 -8.28245367e-03 2.02793534e+02] [ 2.91630736e-02 9.99574653e-01 -1.69705704e-04 1.93913213e+00] [ 8.28387996e-03 -7.19141083e-05 9.99965685e-01 6.45003898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:1.94, Z:0.65 [[ 9.99528207e-01 -2.95764053e-02 -8.28243223e-03 2.02822797e+02] [ 2.95760058e-02 9.99562520e-01 -1.70745501e-04 1.93806063e+00] [ 8.28385887e-03 -7.42963190e-05 9.99965685e-01 6.45674036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.85, Y:1.94, Z:0.65 [[ 9.99510190e-01 -3.01791752e-02 -8.28241068e-03 2.02852037e+02] [ 3.01787878e-02 9.99544502e-01 -1.71784526e-04 1.93723507e+00] [ 8.28382237e-03 -7.82527302e-05 9.99965685e-01 6.45389357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:1.94, Z:0.65 [[ 9.99463187e-01 -3.16976338e-02 -8.28238862e-03 2.02880563e+02] [ 3.16972897e-02 9.99497500e-01 -1.72841875e-04 1.93706147e+00] [ 8.28370539e-03 -8.97801805e-05 9.99965685e-01 6.45213840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:1.94, Z:0.65 [[ 9.99430508e-01 -3.27118162e-02 -8.28236681e-03 2.02909764e+02] [ 3.27114983e-02 9.99464821e-01 -1.73880709e-04 1.93713624e+00] [ 8.28362221e-03 -9.71469422e-05 9.99965685e-01 6.45433573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.94, Y:1.93, Z:0.65 [[ 9.99406033e-01 -3.34512140e-02 -8.28234474e-03 2.02938774e+02] [ 3.34509128e-02 9.99440346e-01 -1.74925317e-04 1.93448764e+00] [ 8.28356096e-03 -1.02230575e-04 9.99965685e-01 6.46024371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:202.97, Y:1.93, Z:0.66 [[ 9.99384056e-01 -3.41015042e-02 -8.28232819e-03 2.02968206e+02] [ 3.41012189e-02 9.99418369e-01 -1.75705552e-04 1.93320800e+00] [ 8.28350275e-03 -1.06840160e-04 9.99965685e-01 6.60469064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.00, Y:1.93, Z:0.65 [[ 9.99407804e-01 -3.33983676e-02 -8.28189819e-03 2.02999654e+02] [ 3.33978909e-02 9.99442116e-01 -1.95883959e-04 1.93278368e+00] [ 8.28382005e-03 -8.08299748e-05 9.99965685e-01 6.47239562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.03, Y:1.93, Z:0.65 [[ 9.99400206e-01 -3.36248519e-02 -8.28233148e-03 2.03028355e+02] [ 3.36245525e-02 9.99434519e-01 -1.75427316e-04 1.93256053e+00] [ 8.28354670e-03 -1.03167594e-04 9.99965686e-01 6.48027087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59864000000002 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:203.06, Y:1.93, Z:0.66 [[ 9.99410126e-01 -3.33287091e-02 -8.28230935e-03 2.03058106e+02] [ 3.33283910e-02 9.99444439e-01 -1.76466144e-04 1.93222437e+00] [ 8.28358941e-03 -9.96739937e-05 9.99965686e-01 6.62057117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864000000002 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:203.09, Y:1.93, Z:0.66 [[ 9.99463341e-01 -3.16928558e-02 -8.28209510e-03 2.03088220e+02] [ 3.16923991e-02 9.99497652e-01 -1.86414025e-04 1.93087874e+00] [ 8.28384260e-03 -7.61654794e-05 9.99965685e-01 6.63767188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:1.93, Z:0.65 [[ 9.99543490e-01 -2.90554817e-02 -8.28197490e-03 2.03118596e+02] [ 2.90548881e-02 9.99577799e-01 -1.91998410e-04 1.93121133e+00] [ 8.28405685e-03 -4.87210932e-05 9.99965685e-01 6.50003494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:1.93, Z:0.65 [[ 9.99558738e-01 -2.85260095e-02 -8.28229189e-03 2.03147069e+02] [ 2.85255206e-02 9.99593049e-01 -1.77180605e-04 1.93121629e+00] [ 8.28397566e-03 -5.91542664e-05 9.99965686e-01 6.49308372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:203.18, Y:1.93, Z:0.66 [[ 9.99567040e-01 -2.82335912e-02 -8.28226903e-03 2.03176053e+02] [ 2.82330834e-02 9.99601351e-01 -1.78243119e-04 1.93107882e+00] [ 8.28399975e-03 -5.56680451e-05 9.99965686e-01 6.64825106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:1.93, Z:0.65 [[ 9.99608325e-01 -2.67321515e-02 -8.28182032e-03 2.03206745e+02] [ 2.67314204e-02 9.99642632e-01 -1.98982232e-04 1.93104149e+00] [ 8.28417988e-03 -2.24805249e-05 9.99965685e-01 6.50755361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.24, Y:1.93, Z:0.65 [[ 9.99609188e-01 -2.66997369e-02 -8.28223880e-03 2.03235171e+02] [ 2.66991645e-02 9.99643498e-01 -1.79694417e-04 1.93079708e+00] [ 8.28408395e-03 -4.15046651e-05 9.99965686e-01 6.51585557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.26, Y:1.93, Z:0.65 [[ 9.99601748e-01 -2.69768439e-02 -8.28221578e-03 2.03263536e+02] [ 2.69762723e-02 9.99636058e-01 -1.80749172e-04 1.92940224e+00] [ 8.28407757e-03 -4.27461190e-05 9.99965686e-01 6.51547809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:203.29, Y:1.93, Z:0.67 [[ 9.99603062e-01 -2.69281125e-02 -8.28219257e-03 2.03293136e+02] [ 2.69275304e-02 9.99637372e-01 -1.81806496e-04 1.92952792e+00] [ 8.28408492e-03 -4.12846615e-05 9.99965686e-01 6.67525044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:203.32, Y:1.93, Z:0.65 [[ 9.99598201e-01 -2.71079251e-02 -8.28226841e-03 2.03322866e+02] [ 2.71073776e-02 9.99632512e-01 -1.78368898e-04 1.93117594e+00] [ 8.28405999e-03 -4.62133474e-05 9.99965686e-01 6.53796280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.35, Y:1.93, Z:0.65 [[ 9.99592196e-01 -2.73285245e-02 -8.28217356e-03 2.03352010e+02] [ 2.73279490e-02 9.99626505e-01 -1.82669296e-04 1.93153555e+00] [ 8.28407230e-03 -4.37400143e-05 9.99965686e-01 6.52639950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.38, Y:1.93, Z:0.65 [[ 9.99597982e-01 -2.71160545e-02 -8.28215007e-03 2.03380341e+02] [ 2.71154629e-02 9.99632291e-01 -1.83728592e-04 1.93131945e+00] [ 8.28408664e-03 -4.09196024e-05 9.99965686e-01 6.53142528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.41, Y:1.93, Z:0.65 [[ 9.99607566e-01 -2.67604338e-02 -8.28212067e-03 2.03409037e+02] [ 2.67598191e-02 9.99641875e-01 -1.85044240e-04 1.93249045e+00] [ 8.28410650e-03 -3.66564289e-05 9.99965686e-01 6.53722555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:1.93, Z:0.65 [[ 9.99616870e-01 -2.64106239e-02 -8.28209699e-03 2.03438146e+02] [ 2.64099885e-02 9.99651178e-01 -1.86098189e-04 1.93404870e+00] [ 8.28412298e-03 -3.27031969e-05 9.99965686e-01 6.54310681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.47, Y:1.94, Z:0.66 [[ 9.99649925e-01 -2.51283742e-02 -8.28207306e-03 2.03467254e+02] [ 2.51276860e-02 9.99684232e-01 -1.87157284e-04 1.93643726e+00] [ 8.28416080e-03 -2.10175662e-05 9.99965686e-01 6.55017677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.50, Y:1.94, Z:0.65 [[ 9.99651668e-01 -2.50589283e-02 -8.28204879e-03 2.03496245e+02] [ 2.50582289e-02 9.99685976e-01 -1.88225199e-04 1.93758199e+00] [ 8.28416474e-03 -1.93738396e-05 9.99965686e-01 6.54270309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:203.53, Y:1.94, Z:0.67 [[ 9.99641022e-01 -2.54801016e-02 -8.28202446e-03 2.03525101e+02] [ 2.54794079e-02 9.99675329e-01 -1.89289487e-04 1.93981620e+00] [ 8.28415864e-03 -2.17995432e-05 9.99965686e-01 6.69485175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:1.94, Z:0.66 [[ 9.99586071e-01 -2.75515032e-02 -8.28262554e-03 2.03554441e+02] [ 2.75510972e-02 9.99620383e-01 -1.63136148e-04 1.94147825e+00] [ 8.28397597e-03 -6.51268005e-05 9.99965685e-01 6.55248164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:1.94, Z:0.66 [[ 9.99553489e-01 -2.87094354e-02 -8.28197540e-03 2.03583634e+02] [ 2.87088359e-02 9.99587798e-01 -1.91285101e-04 1.94267300e+00] [ 8.28405325e-03 -4.65661828e-05 9.99965686e-01 6.55266618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:1.94, Z:0.66 [[ 9.99515885e-01 -2.99900692e-02 -8.28195078e-03 2.03612716e+02] [ 2.99895049e-02 9.99550195e-01 -1.92345172e-04 1.94327438e+00] [ 8.28399397e-03 -5.61195488e-05 9.99965686e-01 6.56392640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.64, Y:1.94, Z:0.66 [[ 9.99475736e-01 -3.12995595e-02 -8.28192625e-03 2.03641986e+02] [ 3.12990315e-02 9.99510047e-01 -1.93395759e-04 1.94437623e+00] [ 8.28392170e-03 -6.59219022e-05 9.99965686e-01 6.56702665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.67, Y:1.95, Z:0.66 [[ 9.99406181e-01 -3.34469164e-02 -8.28190167e-03 2.03670514e+02] [ 3.34464534e-02 9.99440492e-01 -1.94442833e-04 1.94504697e+00] [ 8.28377139e-03 -8.26728688e-05 9.99965686e-01 6.56644976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:203.70, Y:1.94, Z:0.66 [[ 9.99286840e-01 -3.68404831e-02 -8.28187675e-03 2.03699483e+02] [ 3.68401278e-02 9.99321153e-01 -1.95498529e-04 1.94301949e+00] [ 8.28345688e-03 -1.09746291e-04 9.99965686e-01 6.56342514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:203.73, Y:1.94, Z:0.66 [[ 9.99284515e-01 -3.69035134e-02 -8.28185219e-03 2.03729623e+02] [ 3.69031517e-02 9.99318827e-01 -1.96533290e-04 1.94371865e+00] [ 8.28346359e-03 -1.09233774e-04 9.99965686e-01 6.56592405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:203.76, Y:1.94, Z:0.66 [[ 9.99226356e-01 -3.84460702e-02 -8.28183976e-03 2.03759093e+02] [ 3.84457572e-02 9.99260669e-01 -1.97055617e-04 1.94219320e+00] [ 8.28329276e-03 -1.21498435e-04 9.99965686e-01 6.56185282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:203.79, Y:1.94, Z:0.66 [[ 9.99191274e-01 -3.93472827e-02 -8.28182733e-03 2.03788993e+02] [ 3.93469963e-02 9.99225588e-01 -1.97576688e-04 1.94028510e+00] [ 8.28318789e-03 -1.28448127e-04 9.99965686e-01 6.56069239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:1.94, Z:0.66 [[ 9.99202705e-01 -3.90559264e-02 -8.28181491e-03 2.03818257e+02] [ 3.90556257e-02 9.99237018e-01 -1.98096031e-04 1.94018443e+00] [ 8.28323286e-03 -1.25513373e-04 9.99965686e-01 6.57398901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:1.94, Z:0.66 [[ 9.99266011e-01 -3.74012196e-02 -8.28180257e-03 2.03847434e+02] [ 3.74008578e-02 9.99300323e-01 -1.98610445e-04 1.93849702e+00] [ 8.28343626e-03 -1.11281854e-04 9.99965686e-01 6.57473165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43864 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:203.88, Y:1.94, Z:0.67 [[ 9.99305737e-01 -3.63243189e-02 -8.28177749e-03 2.03876754e+02] [ 3.63239115e-02 9.99340049e-01 -1.99650929e-04 1.93829316e+00] [ 8.28356411e-03 -1.01314234e-04 9.99965686e-01 6.73149290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:1.94, Z:0.66 [[ 9.99330862e-01 -3.56264520e-02 -8.28157510e-03 2.03906796e+02] [ 3.56259511e-02 9.99365173e-01 -2.08051393e-04 1.93919824e+00] [ 8.28372986e-03 -8.71268108e-05 9.99965686e-01 6.58242475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:203.94, Y:1.94, Z:0.67 [[ 9.99394490e-01 -3.37944414e-02 -8.28181834e-03 2.03936129e+02] [ 3.37939619e-02 9.99428801e-01 -1.97870630e-04 1.93990777e+00] [ 8.28377470e-03 -8.21246359e-05 9.99965686e-01 6.73485016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:203.97, Y:1.94, Z:0.66 [[ 9.99413461e-01 -3.32287153e-02 -8.28166852e-03 2.03966323e+02] [ 3.32281643e-02 9.99447771e-01 -2.04151469e-04 1.94095710e+00] [ 8.28387884e-03 -7.11529166e-05 9.99965686e-01 6.58013990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.00, Y:1.94, Z:0.66 [[ 9.99481798e-01 -3.11054306e-02 -8.28180374e-03 2.03995099e+02] [ 3.11048535e-02 9.99516107e-01 -1.98510177e-04 1.94371369e+00] [ 8.28397098e-03 -5.91969841e-05 9.99965686e-01 6.58960983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:1.95, Z:0.66 [[ 9.99554542e-01 -2.86728180e-02 -8.28177845e-03 2.04024020e+02] [ 2.86721487e-02 9.99588850e-01 -1.99559960e-04 1.94674003e+00] [ 8.28409534e-03 -3.79853187e-05 9.99965686e-01 6.58910477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:1.95, Z:0.66 [[ 9.99649194e-01 -2.51575525e-02 -8.28175284e-03 2.04053187e+02] [ 2.51567538e-02 9.99683499e-01 -2.00617228e-04 1.95251790e+00] [ 8.28417869e-03 -7.79516730e-06 9.99965686e-01 6.59136527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:1.96, Z:0.66 [[ 9.99697523e-01 -2.31576125e-02 -8.28173338e-03 2.04082430e+02] [ 2.31567386e-02 9.99731826e-01 -2.01417335e-04 1.95571540e+00] [ 8.28417678e-03 9.57847688e-06 9.99965686e-01 6.58688303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:204.11, Y:1.96, Z:0.67 [[ 9.99719441e-01 -2.21912525e-02 -8.28170727e-03 2.04112129e+02] [ 2.21903366e-02 9.99753744e-01 -2.02485207e-04 1.96183939e+00] [ 8.28416124e-03 1.86545262e-05 9.99965686e-01 6.73714935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:204.14, Y:1.97, Z:0.67 [[ 9.99718156e-01 -2.22490358e-02 -8.28186739e-03 2.04141179e+02] [ 2.22481758e-02 9.99752459e-01 -1.95973292e-04 1.96560291e+00] [ 8.28417751e-03 1.16616166e-05 9.99965686e-01 6.74359551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:204.17, Y:1.97, Z:0.68 [[ 9.99734160e-01 -2.15179193e-02 -8.28186431e-03 2.04171943e+02] [ 2.15170331e-02 9.99768463e-01 -1.96097722e-04 1.96993212e+00] [ 8.28416636e-03 1.78444424e-05 9.99965686e-01 6.76793057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:204.20, Y:1.98, Z:0.67 [[ 9.99696882e-01 -2.31850696e-02 -8.28229012e-03 2.04201222e+02] [ 2.31843838e-02 9.99731190e-01 -1.78816691e-04 1.97541966e+00] [ 8.28420963e-03 -1.32573046e-05 9.99965685e-01 6.74283827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.23, Y:1.98, Z:0.66 [[ 9.99675592e-01 -2.40857797e-02 -8.28162347e-03 2.04231578e+02] [ 2.40849020e-02 9.99709896e-01 -2.05705704e-04 1.97885780e+00] [ 8.28417552e-03 6.17688199e-06 9.99965686e-01 6.58498162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:204.26, Y:1.98, Z:0.67 [[ 9.99599866e-01 -2.70466815e-02 -8.28162857e-03 2.04259237e+02] [ 2.70459072e-02 9.99634171e-01 -2.05500139e-04 1.98338431e+00] [ 8.28415701e-03 -1.85662458e-05 9.99965686e-01 6.73525267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:204.29, Y:1.99, Z:0.67 [[ 9.99617513e-01 -2.63866594e-02 -8.28084633e-03 2.04288405e+02] [ 2.63856018e-02 9.99651811e-01 -2.36955591e-04 1.98669034e+00] [ 8.28421550e-03 1.83698442e-05 9.99965685e-01 6.74047645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:1.99, Z:0.66 [[ 9.99634976e-01 -2.57164977e-02 -8.28108098e-03 2.04318580e+02] [ 2.57154949e-02 9.99669276e-01 -2.27570771e-04 1.99343571e+00] [ 8.28419455e-03 1.45356064e-05 9.99965685e-01 6.58207642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:2.00, Z:0.66 [[ 9.99634129e-01 -2.57492361e-02 -8.28161062e-03 2.04347201e+02] [ 2.57484106e-02 9.99668433e-01 -2.06310211e-04 1.99633452e+00] [ 8.28417705e-03 -7.00358245e-06 9.99965686e-01 6.57627335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:204.38, Y:2.00, Z:0.67 [[ 9.99591708e-01 -2.73465120e-02 -8.28158427e-03 2.04376557e+02] [ 2.73457325e-02 9.99626014e-01 -2.07362517e-04 1.99902164e+00] [ 8.28415772e-03 -1.91881359e-05 9.99965686e-01 6.70972458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.41, Y:2.00, Z:0.66 [[ 9.99523619e-01 -2.97312327e-02 -8.28181042e-03 2.04406112e+02] [ 2.97306103e-02 9.99557928e-01 -1.98281752e-04 2.00078446e+00] [ 8.28404443e-03 -4.80359840e-05 9.99965686e-01 6.57914872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.44, Y:2.00, Z:0.66 [[ 9.99434370e-01 -3.25937999e-02 -8.28161765e-03 2.04435726e+02] [ 3.25932116e-02 9.99468679e-01 -2.06030536e-04 2.00335752e+00] [ 8.28393277e-03 -6.40105180e-05 9.99965686e-01 6.58088801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.47, Y:2.01, Z:0.66 [[ 9.99260624e-01 -3.75449026e-02 -8.28160478e-03 2.04465369e+02] [ 3.75444800e-02 9.99294936e-01 -2.06546539e-04 2.00631274e+00] [ 8.28352049e-03 -1.04534721e-04 9.99965686e-01 6.58751615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:204.50, Y:2.01, Z:0.67 [[ 9.99163005e-01 -4.00587753e-02 -8.28159195e-03 2.04495091e+02] [ 4.00584348e-02 9.99197317e-01 -2.07059722e-04 2.00709335e+00] [ 8.28323902e-03 -1.24861197e-04 9.99965686e-01 6.72675240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:204.53, Y:2.01, Z:0.68 [[ 9.98920161e-01 -4.57156735e-02 -8.28182294e-03 2.04525778e+02] [ 4.57156034e-02 9.98954476e-01 -1.97870836e-04 2.00815394e+00] [ 8.28220989e-03 -1.80951365e-04 9.99965686e-01 6.76194614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:204.56, Y:2.01, Z:0.67 [[ 9.98853735e-01 -4.71448599e-02 -8.28120072e-03 2.04557123e+02] [ 4.71446338e-02 9.98888049e-01 -2.22628282e-04 2.01031161e+00] [ 8.28248821e-03 -1.68041084e-04 9.99965685e-01 6.71994696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:2.01, Z:0.66 [[ 9.98751262e-01 -4.92679224e-02 -8.28181756e-03 2.04588163e+02] [ 4.92679734e-02 9.98785576e-01 -1.97984403e-04 2.01343588e+00] [ 8.28151421e-03 -2.10291195e-04 9.99965686e-01 6.59022753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:204.62, Y:2.01, Z:0.67 [[ 9.98675054e-01 -5.07892823e-02 -8.28161260e-03 2.04618986e+02] [ 5.07893174e-02 9.98709368e-01 -2.06215693e-04 2.01407101e+00] [ 8.28139763e-03 -2.14674983e-04 9.99965686e-01 6.72746044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:2.01, Z:0.66 [[ 9.98464670e-01 -5.47696813e-02 -8.28164459e-03 2.04650385e+02] [ 5.47698638e-02 9.98498983e-01 -2.04927598e-04 2.01346746e+00] [ 8.28043753e-03 -2.48971580e-04 9.99965686e-01 6.58567920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:204.68, Y:2.01, Z:0.66 [[ 9.98363812e-01 -5.65783908e-02 -8.28164026e-03 2.04683184e+02] [ 5.65786341e-02 9.98398125e-01 -2.05102542e-04 2.01411588e+00] [ 8.27997848e-03 -2.63796938e-04 9.99965686e-01 6.58409318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:2.01, Z:0.66 [[ 9.98204077e-01 -5.93298630e-02 -8.28173465e-03 2.04716262e+02] [ 5.93302330e-02 9.98238390e-01 -2.01217579e-04 2.01116275e+00] [ 8.27908368e-03 -2.90501038e-04 9.99965686e-01 6.58110549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:204.75, Y:2.01, Z:0.67 [[ 9.98074541e-01 -6.14704977e-02 -8.28182784e-03 2.04746109e+02] [ 6.14709737e-02 9.98108852e-01 -1.97306292e-04 2.00915249e+00] [ 8.27829419e-03 -3.12165635e-04 9.99965686e-01 6.73551635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.78, Y:2.01, Z:0.66 [[ 9.97955057e-01 -6.33808251e-02 -8.28107170e-03 2.04778966e+02] [ 6.33811026e-02 9.97989370e-01 -2.29185236e-04 2.00674825e+00] [ 8.27894748e-03 -2.96146890e-04 9.99965685e-01 6.58423145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:2.01, Z:0.66 [[ 9.97985275e-01 -6.29031064e-02 -8.28190667e-03 2.04811535e+02] [ 6.29036637e-02 9.98019585e-01 -1.93436682e-04 2.00724039e+00] [ 8.27767282e-03 -3.27915311e-04 9.99965686e-01 6.58467742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:204.84, Y:2.00, Z:0.68 [[ 9.98116171e-01 -6.07907788e-02 -8.28198374e-03 2.04842209e+02] [ 6.07912913e-02 9.98150481e-01 -1.90078495e-04 2.00495149e+00] [ 8.27822107e-03 -3.13752067e-04 9.99965686e-01 6.75082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:2.00, Z:0.66 [[ 9.98140525e-01 -6.03896036e-02 -8.28183039e-03 2.04874072e+02] [ 6.03900466e-02 9.98174836e-01 -1.96800246e-04 2.00342973e+00] [ 8.27859938e-03 -3.03705823e-04 9.99965686e-01 6.60516664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:2.00, Z:0.66 [[ 9.98311076e-01 -5.75013372e-02 -8.28206108e-03 2.04906429e+02] [ 5.75017658e-02 9.98345387e-01 -1.86559083e-04 1.99835822e+00] [ 8.27908487e-03 -2.89989138e-04 9.99965686e-01 6.61904658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.94, Y:2.00, Z:0.66 [[ 9.98423401e-01 -5.55168397e-02 -8.28208830e-03 2.04939127e+02] [ 5.55172102e-02 9.98457713e-01 -1.85342662e-04 1.99692428e+00] [ 8.27960459e-03 -2.74747987e-04 9.99965686e-01 6.62148780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:1.99, Z:0.66 [[ 9.98558269e-01 -5.30357425e-02 -8.28216407e-03 2.04971080e+02] [ 5.30360562e-02 9.98592581e-01 -1.81892800e-04 1.99385212e+00] [ 8.28015442e-03 -2.57622760e-04 9.99965686e-01 6.61108733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:1.99, Z:0.66 [[ 9.98612703e-01 -5.20007117e-02 -8.28218010e-03 2.05002133e+02] [ 5.20009960e-02 9.98647017e-01 -1.81160057e-04 1.99170271e+00] [ 8.28039490e-03 -2.49772880e-04 9.99965686e-01 6.61526020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.03, Y:1.99, Z:0.66 [[ 9.98657610e-01 -5.11310357e-02 -8.28219089e-03 2.05032222e+02] [ 5.11312942e-02 9.98691924e-01 -1.80665079e-04 1.98992943e+00] [ 8.28059475e-03 -2.43056583e-04 9.99965686e-01 6.61469880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:1.99, Z:0.66 [[ 9.98803517e-01 -4.81968758e-02 -8.28219628e-03 2.05063107e+02] [ 4.81970356e-02 9.98837831e-01 -1.80417975e-04 1.98700903e+00] [ 8.28126655e-03 -2.18975201e-04 9.99965686e-01 6.63712122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:205.09, Y:1.99, Z:0.66 [[ 9.98881225e-01 -4.65586121e-02 -8.28219628e-03 2.05093574e+02] [ 4.65587156e-02 9.98915539e-01 -1.80417975e-04 1.98594614e+00] [ 8.28161457e-03 -2.05392293e-04 9.99965686e-01 6.63396888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:205.12, Y:1.98, Z:0.68 [[ 9.99048637e-01 -4.28161924e-02 -8.28219628e-03 2.05123676e+02] [ 4.28161673e-02 9.99082951e-01 -1.80417975e-04 1.98188928e+00] [ 8.28232591e-03 -1.74365570e-04 9.99965686e-01 6.78070779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:1.98, Z:0.66 [[ 9.99103176e-01 -4.15240360e-02 -8.28245823e-03 2.05153526e+02] [ 4.15240662e-02 9.99137490e-01 -1.68385217e-04 1.97855970e+00] [ 8.28230656e-03 -1.75687139e-04 9.99965686e-01 6.63674018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:1.98, Z:0.66 [[ 9.99094366e-01 -4.17354995e-02 -8.28221236e-03 2.05182818e+02] [ 4.17354431e-02 9.99128681e-01 -1.79716352e-04 1.97652099e+00] [ 8.28249646e-03 -1.66108208e-04 9.99965686e-01 6.63139216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:1.97, Z:0.66 [[ 9.99028850e-01 -4.32754171e-02 -8.28220123e-03 2.05212595e+02] [ 4.32754094e-02 9.99063164e-01 -1.80227616e-04 1.97215881e+00] [ 8.28224160e-03 -1.78363061e-04 9.99965686e-01 6.63448883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.24, Y:1.97, Z:0.66 [[ 9.98967986e-01 -4.46583592e-02 -8.28219024e-03 2.05242546e+02] [ 4.46583948e-02 9.99002300e-01 -1.80731298e-04 1.97042750e+00] [ 8.28199826e-03 -1.89324540e-04 9.99965686e-01 6.64414467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.27, Y:1.97, Z:0.66 [[ 9.98907553e-01 -4.59902791e-02 -8.28217916e-03 2.05272367e+02] [ 4.59903563e-02 9.98941867e-01 -1.81237696e-04 1.96874893e+00] [ 8.28175069e-03 -1.99860668e-04 9.99965686e-01 6.64587585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.30, Y:1.96, Z:0.66 [[ 9.98781999e-01 -4.86407608e-02 -8.28216798e-03 2.05302291e+02] [ 4.86409248e-02 9.98816313e-01 -1.81747385e-04 1.96362223e+00] [ 8.28120481e-03 -2.21326293e-04 9.99965686e-01 6.64324408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:1.96, Z:0.67 [[ 9.98722942e-01 -4.98386436e-02 -8.28215683e-03 2.05331807e+02] [ 4.98388445e-02 9.98757256e-01 -1.82253781e-04 1.96108870e+00] [ 8.28094751e-03 -2.30752095e-04 9.99965686e-01 6.65568855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.36, Y:1.96, Z:0.67 [[ 9.98623181e-01 -5.17991102e-02 -8.28214575e-03 2.05361319e+02] [ 5.17993744e-02 9.98657495e-01 -1.82755934e-04 1.95617008e+00] [ 8.28049352e-03 -2.46505656e-04 9.99965686e-01 6.65725330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:1.95, Z:0.67 [[ 9.98603030e-01 -5.21861569e-02 -8.28213473e-03 2.05390809e+02] [ 5.21864302e-02 9.98637343e-01 -1.83253915e-04 1.95474294e+00] [ 8.28041234e-03 -2.49217132e-04 9.99965686e-01 6.66415549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:1.95, Z:0.67 [[ 9.98616485e-01 -5.19280429e-02 -8.28212371e-03 2.05420284e+02] [ 5.19283032e-02 9.98650799e-01 -1.83750754e-04 1.95373894e+00] [ 8.28049128e-03 -2.46580099e-04 9.99965686e-01 6.66574466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.45, Y:1.95, Z:0.67 [[ 9.98799173e-01 -4.82868446e-02 -8.28211261e-03 2.05449766e+02] [ 4.82869757e-02 9.98833487e-01 -1.84249880e-04 1.95046921e+00] [ 8.28134826e-03 -2.15889543e-04 9.99965686e-01 6.65939418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.48, Y:1.95, Z:0.68 [[ 9.99141343e-01 -4.05953743e-02 -8.28210131e-03 2.05481133e+02] [ 4.05952370e-02 9.99175657e-01 -1.84756360e-04 1.94610132e+00] [ 8.28277427e-03 -1.51616148e-04 9.99965686e-01 6.79958309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.51, Y:1.95, Z:0.67 [[ 9.99137821e-01 -4.06816592e-02 -8.28356752e-03 2.05510036e+02] [ 4.06820751e-02 9.99172135e-01 -1.18356662e-04 1.94504567e+00] [ 8.28152478e-03 -2.18738099e-04 9.99965684e-01 6.66999726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:205.54, Y:1.94, Z:0.68 [[ 9.99305654e-01 -3.63265301e-02 -8.28205368e-03 2.05538835e+02] [ 3.63262373e-02 9.99339967e-01 -1.85826941e-04 1.94287232e+00] [ 8.28333770e-03 -1.15157935e-04 9.99965686e-01 6.83206945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.57, Y:1.94, Z:0.67 [[ 9.99350312e-01 -3.50764785e-02 -8.28221714e-03 2.05568324e+02] [ 3.50762027e-02 9.99384625e-01 -1.78605452e-04 1.94234863e+00] [ 8.28338532e-03 -1.12019313e-04 9.99965686e-01 6.67312214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.60, Y:1.94, Z:0.67 [[ 9.99386144e-01 -3.40403347e-02 -8.28201614e-03 2.05597495e+02] [ 3.40399497e-02 9.99420455e-01 -1.87484705e-04 1.94062436e+00] [ 8.28359838e-03 -9.45497968e-05 9.99965686e-01 6.66948929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.63, Y:1.94, Z:0.67 [[ 9.99381845e-01 -3.41663151e-02 -8.28199213e-03 2.05626797e+02] [ 3.41659257e-02 9.99416157e-01 -1.88539431e-04 1.94125808e+00] [ 8.28359844e-03 -9.45390428e-05 9.99965686e-01 6.67191814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:205.66, Y:1.94, Z:0.68 [[ 9.99414945e-01 -3.31839938e-02 -8.28196823e-03 2.05655447e+02] [ 3.31835620e-02 9.99449256e-01 -1.89583403e-04 1.93905841e+00] [ 8.28369812e-03 -8.53527201e-05 9.99965686e-01 6.83313913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:1.94, Z:0.67 [[ 9.99465050e-01 -3.16391324e-02 -8.28130992e-03 2.05685673e+02] [ 3.16384104e-02 9.99499356e-01 -2.18208399e-04 1.94000418e+00] [ 8.28406786e-03 -4.39158136e-05 9.99965686e-01 6.68798854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.72, Y:1.94, Z:0.68 [[ 9.99578760e-01 -2.78156755e-02 -8.28194522e-03 2.05715272e+02] [ 2.78150509e-02 9.99613068e-01 -1.90604163e-04 1.94018332e+00] [ 8.28404246e-03 -3.98388550e-05 9.99965686e-01 6.84619776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:205.74, Y:1.94, Z:0.68 [[ 9.99615459e-01 -2.64638452e-02 -8.28244907e-03 2.05743817e+02] [ 2.64633556e-02 9.99649770e-01 -1.68721059e-04 1.94117149e+00] [ 8.28401332e-03 -5.05252160e-05 9.99965686e-01 6.84563337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:1.94, Z:0.67 [[ 9.99640234e-01 -2.55109142e-02 -8.28224670e-03 2.05773408e+02] [ 2.55103194e-02 9.99674543e-01 -1.77462529e-04 1.94294540e+00] [ 8.28407841e-03 -3.38840744e-05 9.99965686e-01 6.69844516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:205.80, Y:1.95, Z:0.68 [[ 9.99718489e-01 -2.22340537e-02 -8.28186416e-03 2.05802114e+02] [ 2.22332111e-02 9.99752793e-01 -1.93809116e-04 1.94621811e+00] [ 8.28412599e-03 9.62212207e-06 9.99965686e-01 6.84220673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:205.83, Y:1.95, Z:0.68 [[ 9.99760780e-01 -2.02432555e-02 -8.28213903e-03 2.05830596e+02] [ 2.02424409e-02 9.99795084e-01 -1.82186452e-04 1.94924170e+00] [ 8.28412994e-03 1.44921596e-05 9.99965686e-01 6.84798232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:205.86, Y:1.95, Z:0.69 [[ 9.99760910e-01 -2.02367974e-02 -8.28219584e-03 2.05858762e+02] [ 2.02360022e-02 9.99795215e-01 -1.79810613e-04 1.95114781e+00] [ 8.28413857e-03 1.21690888e-05 9.99965686e-01 6.85131326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:1.95, Z:0.67 [[ 9.99736431e-01 -2.14121103e-02 -8.28192828e-03 2.05888932e+02] [ 2.14112632e-02 9.99770734e-01 -1.90947426e-04 1.95448575e+00] [ 8.28411811e-03 1.35705521e-05 9.99965686e-01 6.70765634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:1.96, Z:0.67 [[ 9.99715509e-01 -2.23676918e-02 -8.28174864e-03 2.05917518e+02] [ 2.23668154e-02 9.99749812e-01 -1.98444623e-04 1.95590661e+00] [ 8.28411539e-03 1.31518243e-05 9.99965686e-01 6.70495467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:1.96, Z:0.67 [[ 9.99693705e-01 -2.33218490e-02 -8.28172252e-03 2.05946644e+02] [ 2.33209963e-02 9.99728009e-01 -1.99528512e-04 1.95702124e+00] [ 8.28412334e-03 6.32937705e-06 9.99965686e-01 6.71923254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:205.98, Y:1.96, Z:0.69 [[ 9.99630785e-01 -2.58787004e-02 -8.28169636e-03 2.05975324e+02] [ 2.58779265e-02 9.99665090e-01 -2.00608664e-04 1.95752631e+00] [ 8.28411423e-03 -1.37785340e-05 9.99965686e-01 6.85550308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:206.00, Y:1.96, Z:0.68 [[ 9.99589861e-01 -2.74140763e-02 -8.28122689e-03 2.06004096e+02] [ 2.74131959e-02 9.99624164e-01 -2.19832585e-04 1.95649247e+00] [ 8.28414101e-03 -7.27247115e-06 9.99965686e-01 6.84560509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:1.96, Z:0.67 [[ 9.99529867e-01 -2.95205213e-02 -8.28150281e-03 2.06034428e+02] [ 2.95198071e-02 9.99564174e-01 -2.08492260e-04 1.95657883e+00] [ 8.28404831e-03 -3.60741243e-05 9.99965686e-01 6.69995306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:206.06, Y:1.96, Z:0.68 [[ 9.99491720e-01 -3.07850004e-02 -8.28165038e-03 2.06062552e+02] [ 3.07843795e-02 9.99526028e-01 -2.02455880e-04 1.95662742e+00] [ 8.28395771e-03 -5.25924931e-05 9.99965686e-01 6.84155211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:206.09, Y:1.96, Z:0.68 [[ 9.99442112e-01 -3.23555936e-02 -8.28131759e-03 2.06092433e+02] [ 3.23549139e-02 9.99476419e-01 -2.16073433e-04 1.95525468e+00] [ 8.28397283e-03 -5.19884284e-05 9.99965686e-01 6.83015595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:1.95, Z:0.67 [[ 9.99420199e-01 -3.30254117e-02 -8.28181823e-03 2.06123151e+02] [ 3.30249246e-02 9.99454509e-01 -1.95599685e-04 1.95431601e+00] [ 8.28376033e-03 -7.80201469e-05 9.99965686e-01 6.71165539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.15, Y:1.95, Z:0.67 [[ 9.99433207e-01 -3.26294164e-02 -8.28166414e-03 2.06152004e+02] [ 3.26288633e-02 9.99467516e-01 -2.01919407e-04 1.95111422e+00] [ 8.28384281e-03 -6.84163266e-05 9.99965686e-01 6.71267984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:1.95, Z:0.67 [[ 9.99468738e-01 -3.15222998e-02 -8.28163818e-03 2.06180939e+02] [ 3.15217000e-02 9.99503047e-01 -2.02978639e-04 1.94967743e+00] [ 8.28392095e-03 -5.81805104e-05 9.99965686e-01 6.70716838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.21, Y:1.95, Z:0.67 [[ 9.99571056e-01 -2.80912728e-02 -8.28161183e-03 2.06209691e+02] [ 2.80905464e-02 9.99605362e-01 -2.04048123e-04 1.94657752e+00] [ 8.28407556e-03 -2.86744037e-05 9.99965686e-01 6.71527152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:1.95, Z:0.67 [[ 9.99622881e-01 -2.61822616e-02 -8.28158526e-03 2.06238647e+02] [ 2.61814607e-02 9.99657186e-01 -2.05121066e-04 1.94565392e+00] [ 8.28411675e-03 -1.17802882e-05 9.99965686e-01 6.72284493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:1.95, Z:0.67 [[ 9.99780138e-01 -1.92637106e-02 -8.28155841e-03 2.06267119e+02] [ 1.92626634e-02 9.99814436e-01 -2.06199542e-04 1.94560164e+00] [ 8.28399382e-03 4.66293343e-05 9.99965686e-01 6.74393793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:1.95, Z:0.67 [[ 9.99840560e-01 -1.58199213e-02 -8.28153151e-03 2.06296197e+02] [ 1.58187471e-02 9.99874854e-01 -2.07274317e-04 1.94605160e+00] [ 8.28377417e-03 7.62378174e-05 9.99965686e-01 6.74777469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:1.94, Z:0.68 [[ 9.99919809e-01 -9.58082540e-03 -8.28147985e-03 2.06323770e+02] [ 9.57942031e-03 9.99954094e-01 -2.09318020e-04 1.94403057e+00] [ 8.28310512e-03 1.29969459e-04 9.99965686e-01 6.75025754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:1.94, Z:0.68 [[ 9.99944124e-01 -6.57019579e-03 -8.28136716e-03 2.06352808e+02] [ 6.56865132e-03 9.99978403e-01 -2.13685334e-04 1.94435501e+00] [ 8.28259226e-03 1.59275981e-04 9.99965686e-01 6.75577892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:1.95, Z:0.68 [[ 9.99961784e-01 -2.80180123e-03 -8.28133860e-03 2.06381512e+02] [ 2.80011847e-03 9.99996057e-01 -2.14786538e-04 1.94578416e+00] [ 8.28190773e-03 1.91589601e-04 9.99965686e-01 6.76201565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.41, Y:1.95, Z:0.69 [[ 9.99958011e-01 -3.92387157e-03 -8.28123766e-03 2.06409967e+02] [ 3.92219562e-03 9.99992284e-01 -2.18610340e-04 1.94685524e+00] [ 8.28203156e-03 1.86120527e-04 9.99965686e-01 6.87227533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:1.95, Z:0.69 [[ 9.99958455e-01 -3.81011706e-03 -8.28083020e-03 2.06438644e+02] [ 3.80831085e-03 9.99992721e-01 -2.33877336e-04 1.94806967e+00] [ 8.28166102e-03 2.02331644e-04 9.99965686e-01 6.87730830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:1.95, Z:0.68 [[ 9.99963433e-01 -2.13566801e-03 -8.28083019e-03 2.06468823e+02] [ 2.13380442e-03 9.99997696e-01 -2.33877722e-04 1.94927682e+00] [ 8.28131059e-03 2.16199498e-04 9.99965686e-01 6.76917175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:1.95, Z:0.69 [[ 9.99955813e-01 -4.44916468e-03 -8.28111548e-03 2.06497748e+02] [ 4.44746793e-03 9.99990085e-01 -2.23297608e-04 1.95150723e+00] [ 8.28202686e-03 1.86457746e-04 9.99965686e-01 6.87120077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:1.95, Z:0.69 [[ 9.99948615e-01 -5.84732118e-03 -8.28109121e-03 2.06525614e+02] [ 5.84566495e-03 9.99982889e-01 -2.24192746e-04 1.95413395e+00] [ 8.28226043e-03 1.75772741e-04 9.99965686e-01 6.86729323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.56, Y:1.96, Z:0.68 [[ 9.99957201e-01 -4.12659239e-03 -8.28050263e-03 2.06555622e+02] [ 4.12469903e-03 9.99991463e-01 -2.45717283e-04 1.95647141e+00] [ 8.28144591e-03 2.11552185e-04 9.99965686e-01 6.75269616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:1.96, Z:0.67 [[ 9.99959380e-01 -3.55872699e-03 -8.28097532e-03 2.06583954e+02] [ 3.55695590e-03 9.99993648e-01 -2.28593524e-04 1.95876036e+00] [ 8.28173622e-03 1.99129175e-04 9.99965686e-01 6.74983955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:1.96, Z:0.68 [[ 9.99963515e-01 -2.09625038e-03 -8.28094519e-03 2.06611806e+02] [ 2.09442017e-03 9.99997780e-01 -2.29680028e-04 1.96254860e+00] [ 8.28140827e-03 2.12327869e-04 9.99965686e-01 6.75118622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:206.64, Y:1.97, Z:0.69 [[ 9.99958863e-01 -3.70131456e-03 -8.28089951e-03 2.06641239e+02] [ 3.69952582e-03 9.99993130e-01 -2.31315266e-04 1.96514790e+00] [ 8.28169879e-03 2.00670349e-04 9.99965686e-01 6.88044294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:206.67, Y:1.97, Z:0.68 [[ 9.99963301e-01 -2.19696632e-03 -8.28065271e-03 2.06671092e+02] [ 2.19505365e-03 9.99997562e-01 -2.40062789e-04 1.97045083e+00] [ 8.28115994e-03 2.21877502e-04 9.99965686e-01 6.75542846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:206.70, Y:1.97, Z:0.69 [[ 9.99957563e-01 -4.03735590e-03 -8.28081521e-03 2.06700228e+02] [ 4.03555381e-03 9.99991830e-01 -2.34320339e-04 1.97408177e+00] [ 8.28169358e-03 2.00892720e-04 9.99965686e-01 6.87487575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:206.73, Y:1.98, Z:0.67 [[ 9.99964583e-01 -1.50610718e-03 -8.28038482e-03 2.06730540e+02] [ 1.50409349e-03 9.99998838e-01 -2.49409560e-04 1.98054464e+00] [ 8.28075083e-03 2.36946254e-04 9.99965686e-01 6.74575694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:206.76, Y:1.98, Z:0.68 [[ 9.99963261e-01 -2.21511665e-03 -8.28072818e-03 2.06758827e+02] [ 2.21322635e-03 9.99997523e-01 -2.37434676e-04 1.98446239e+00] [ 8.28123361e-03 2.19098827e-04 9.99965686e-01 6.75177778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:206.79, Y:1.99, Z:0.67 [[ 9.99962396e-01 -2.57618469e-03 -8.28069705e-03 2.06787221e+02] [ 2.57429781e-03 9.99996658e-01 -2.38515527e-04 1.98838462e+00] [ 8.28128383e-03 2.17189578e-04 9.99965686e-01 6.73992560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864000000002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:206.81, Y:1.99, Z:0.68 [[ 9.99948220e-01 -5.91508450e-03 -8.28066571e-03 2.06814790e+02] [ 5.91330307e-03 9.99982488e-01 -2.39598442e-04 1.99447084e+00] [ 8.28193794e-03 1.90619950e-04 9.99965686e-01 6.84421959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:206.85, Y:2.00, Z:0.67 [[ 9.99939950e-01 -7.17995442e-03 -8.27917120e-03 2.06846172e+02] [ 7.17778810e-03 9.99974197e-01 -2.91344015e-04 2.00022649e+00] [ 8.28104941e-03 2.31900384e-04 9.99965685e-01 6.74156330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:206.87, Y:2.00, Z:0.68 [[ 9.99916305e-01 -9.94049401e-03 -8.28070688e-03 2.06874433e+02] [ 9.93886470e-03 9.99950580e-01 -2.37888714e-04 2.00349997e+00] [ 8.28266238e-03 1.55567978e-04 9.99965686e-01 6.75050023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49864 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:206.90, Y:2.01, Z:0.69 [[ 9.99880464e-01 -1.30571038e-02 -8.28067571e-03 2.06904196e+02] [ 1.30555724e-02 9.99914744e-01 -2.38968732e-04 2.00672120e+00] [ 8.28308997e-03 1.30831206e-04 9.99965686e-01 6.89193214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52864 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:206.93, Y:2.01, Z:0.69 [[ 9.99790530e-01 -1.87169181e-02 -8.28093298e-03 2.06933792e+02] [ 1.87156541e-02 9.99824820e-01 -2.30112130e-04 2.01122246e+00] [ 8.28378932e-03 7.50808508e-05 9.99965686e-01 6.86882671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55864 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:206.96, Y:2.01, Z:0.67 [[ 9.99763171e-01 -2.01254109e-02 -8.28072267e-03 2.06963912e+02] [ 2.01241352e-02 9.99797461e-01 -2.37358317e-04 2.01344417e+00] [ 8.28382243e-03 7.06597209e-05 9.99965686e-01 6.72420461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58864 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:206.99, Y:2.02, Z:0.69 [[ 9.99636876e-01 -2.56426934e-02 -8.28063877e-03 2.06994208e+02] [ 2.56415830e-02 9.99671172e-01 -2.40250205e-04 2.01544431e+00] [ 8.28407652e-03 2.78342772e-05 9.99965686e-01 6.86523362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:207.02, Y:2.02, Z:0.67 [[ 9.99600347e-01 -2.70291982e-02 -8.28067883e-03 2.07024711e+02] [ 2.70281468e-02 9.99634644e-01 -2.38870617e-04 2.01718929e+00] [ 8.28410992e-03 1.49637484e-05 9.99965686e-01 6.73302200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64864 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:207.06, Y:2.02, Z:0.69 [[ 9.99509580e-01 -3.01998475e-02 -8.28063246e-03 2.07055132e+02] [ 3.01988917e-02 9.99543881e-01 -2.40467350e-04 2.01778218e+00] [ 8.28411758e-03 -9.71650216e-06 9.99965686e-01 6.86563501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67864 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:207.08, Y:2.02, Z:0.68 [[ 9.99432709e-01 -3.26448488e-02 -8.28095241e-03 2.07083391e+02] [ 3.26440688e-02 9.99467014e-01 -2.29370815e-04 2.01796794e+00] [ 8.28402655e-03 -4.10832858e-05 9.99965686e-01 6.82009089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70864 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:207.11, Y:2.02, Z:0.68 [[ 9.99407469e-01 -3.34089157e-02 -8.27980151e-03 2.07113087e+02] [ 3.34078295e-02 9.99441766e-01 -2.69498931e-04 2.01835239e+00] [ 8.28418311e-03 -7.27095221e-06 9.99965686e-01 6.81113204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73864 meters Centerline goodness : 0.892703 Centerline is valid? [True, False] Translation: X:207.11, Y:2.02, Z:0.68 [[ 9.99793870e-01 -1.96519662e-02 -5.10085155e-03 2.07111765e+02] [ 1.96199539e-02 9.99787964e-01 -6.25182586e-03 2.02454224e+00] [ 5.22263066e-03 6.15045869e-03 9.99967447e-01 6.80390847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76864 meters Centerline goodness : 0.996563 Centerline is valid? [False, True] Translation: X:207.11, Y:2.03, Z:0.68 [[ 9.99940985e-01 -9.32099738e-03 -5.58076890e-03 2.07113077e+02] [ 9.22781715e-03 9.99821351e-01 -1.64958661e-02 2.03297412e+00] [ 5.73352982e-03 1.64433943e-02 9.99848359e-01 6.80540125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79864 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:207.14, Y:2.02, Z:0.68 [[ 9.99929327e-01 -1.04855377e-02 -5.60304464e-03 2.07141838e+02] [ 1.04855289e-02 9.99945025e-01 -3.09396914e-05 2.01619555e+00] [ 5.60306103e-03 -2.78133819e-05 9.99984302e-01 6.78879375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82864 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:207.20, Y:2.04, Z:0.66 [[ 9.98762745e-01 4.94123846e-02 -5.60308387e-03 2.07199739e+02] [-4.94131938e-02 9.98778422e-01 -5.97773398e-06 2.04110028e+00] [ 5.59594390e-03 2.82836607e-04 9.99984303e-01 6.64380960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:207.20, Y:2.01, Z:0.68 [[ 9.99857912e-01 -1.58987133e-02 -5.60230960e-03 2.07198110e+02] [ 1.59033432e-02 9.99873227e-01 7.82840908e-04 2.00877615e+00] [ 5.58915321e-03 -8.71825128e-04 9.99984001e-01 6.77811508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88864 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:207.23, Y:2.01, Z:0.68 [[ 9.99849644e-01 -1.64117437e-02 -5.59860381e-03 2.07227130e+02] [ 1.64118556e-02 9.99865316e-01 -2.59551663e-05 2.00759431e+00] [ 5.59827574e-03 -6.59322135e-05 9.99984327e-01 6.80287897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:207.26, Y:2.00, Z:0.68 [[ 9.99850241e-01 -1.63753032e-02 -5.59858997e-03 2.07255766e+02] [ 1.63753979e-02 9.99865914e-01 -2.89268996e-05 2.00341101e+00] [ 5.59831296e-03 -6.27565710e-05 9.99984327e-01 6.79558238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94864 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:207.29, Y:2.00, Z:0.67 [[ 9.99854522e-01 -1.61118156e-02 -5.59855652e-03 2.07286409e+02] [ 1.61118657e-02 9.99870195e-01 -3.61531738e-05 2.00261423e+00] [ 5.59841229e-03 -5.40552768e-05 9.99984327e-01 6.65701358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97864 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:207.32, Y:2.00, Z:0.67 [[ 9.99871701e-01 -1.50079158e-02 -5.59860639e-03 2.07317083e+02] [ 1.50080112e-02 9.99887373e-01 -2.49744464e-05 1.99955837e+00] [ 5.59835065e-03 -5.90527052e-05 9.99984327e-01 6.74533438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00864 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:207.35, Y:2.00, Z:0.67 [[ 9.99882135e-01 -1.42958758e-02 -5.59859243e-03 2.07346642e+02] [ 1.42959421e-02 9.99897807e-01 -2.81641777e-05 1.99814910e+00] [ 5.59842293e-03 -5.18762954e-05 9.99984327e-01 6.66565663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03864000000002 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:207.38, Y:2.00, Z:0.67 [[ 9.99890592e-01 -1.36915997e-02 -5.59860572e-03 2.07375144e+02] [ 1.36916731e-02 9.99906264e-01 -2.52152753e-05 1.99645390e+00] [ 5.59842616e-03 -5.14417627e-05 9.99984327e-01 6.67680060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864000000002 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:207.41, Y:1.99, Z:0.68 [[ 9.99912431e-01 -1.19911023e-02 -5.59860246e-03 2.07405726e+02] [ 1.19911451e-02 9.99928103e-01 -2.59192913e-05 1.99226218e+00] [ 5.59851074e-03 -4.12166330e-05 9.99984327e-01 6.82357653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09864000000002 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:207.43, Y:1.99, Z:0.68 [[ 9.99909991e-01 -1.21928029e-02 -5.59863967e-03 2.07434037e+02] [ 1.21928942e-02 9.99925664e-01 -1.78306400e-05 1.99230978e+00] [ 5.59844089e-03 -5.04345861e-05 9.99984327e-01 6.82515438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864000000002 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:207.46, Y:1.99, Z:0.67 [[ 9.99882636e-01 -1.42607516e-02 -5.59863421e-03 2.07464073e+02] [ 1.42608689e-02 9.99898308e-01 -1.89661921e-05 1.98720255e+00] [ 5.59833535e-03 -6.08774224e-05 9.99984327e-01 6.67770002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15864000000002 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:207.49, Y:1.98, Z:0.68 [[ 9.99863330e-01 -1.55556011e-02 -5.59859364e-03 2.07493573e+02] [ 1.55556921e-02 9.99879003e-01 -2.72899251e-05 1.98420296e+00] [ 5.59834073e-03 -5.98038036e-05 9.99984327e-01 6.82448454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:207.52, Y:1.98, Z:0.68 [[ 9.99828984e-01 -1.76255125e-02 -5.59851563e-03 2.07522022e+02] [ 1.76255475e-02 9.99844657e-01 -4.30849320e-05 1.97968591e+00] [ 5.59840533e-03 -5.55993395e-05 9.99984327e-01 6.83463817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21864 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:207.55, Y:1.98, Z:0.67 [[ 9.99836960e-01 -1.71671505e-02 -5.59849446e-03 2.07552979e+02] [ 1.71671543e-02 9.99852632e-01 -4.73863739e-05 1.97920549e+00] [ 5.59848291e-03 -4.87315700e-05 9.99984327e-01 6.69345062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24864 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:207.58, Y:1.98, Z:0.68 [[ 9.99877800e-01 -1.45959377e-02 -5.59859235e-03 2.07581547e+02] [ 1.45960133e-02 9.99893472e-01 -2.73414285e-05 1.97755295e+00] [ 5.59839502e-03 -5.43790412e-05 9.99984327e-01 6.82792357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27864 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:207.61, Y:1.98, Z:0.67 [[ 9.99901824e-01 -1.28451631e-02 -5.59857555e-03 2.07611884e+02] [ 1.28451923e-02 9.99917497e-01 -3.07516696e-05 1.97639264e+00] [ 5.59850866e-03 -4.11661288e-05 9.99984327e-01 6.70263180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30864 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:207.64, Y:1.97, Z:0.67 [[ 9.99940373e-01 -9.37585645e-03 -5.59859051e-03 2.07640292e+02] [ 9.37584814e-03 9.99956045e-01 -2.77305129e-05 1.97431751e+00] [ 5.59860443e-03 -2.47626751e-05 9.99984327e-01 6.71780067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33864 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:207.67, Y:1.97, Z:0.67 [[ 9.99953129e-01 -7.89911495e-03 -5.59858686e-03 2.07668651e+02] [ 7.89907946e-03 9.99968801e-01 -2.84506266e-05 1.97400365e+00] [ 5.59863692e-03 -1.57743893e-05 9.99984327e-01 6.71679972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36864 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:207.70, Y:1.97, Z:0.68 [[ 9.99956440e-01 -7.46824597e-03 -5.59858307e-03 2.07698076e+02] [ 7.46819966e-03 9.99972112e-01 -2.91777518e-05 1.97322677e+00] [ 5.59864484e-03 -1.26348554e-05 9.99984327e-01 6.81856247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39864 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:207.73, Y:1.97, Z:0.69 [[ 9.99967011e-01 -5.88501026e-03 -5.59859914e-03 2.07727087e+02] [ 5.88495576e-03 9.99982683e-01 -2.62088123e-05 1.97051967e+00] [ 5.59865642e-03 -6.73956052e-06 9.99984327e-01 6.86802669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:207.76, Y:1.97, Z:0.69 [[ 9.99972578e-01 -4.84759367e-03 -5.59856638e-03 2.07757172e+02] [ 4.84748904e-03 9.99988250e-01 -3.22582146e-05 1.96894762e+00] [ 5.59865697e-03 5.11834088e-06 9.99984327e-01 6.85651509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:207.79, Y:1.97, Z:0.69 [[ 9.99974538e-01 -4.42479474e-03 -5.59858559e-03 2.07785392e+02] [ 4.42470296e-03 9.99990211e-01 -2.87809076e-05 1.96915862e+00] [ 5.59865813e-03 4.00809664e-06 9.99984327e-01 6.85476864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48864 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:207.82, Y:1.97, Z:0.67 [[ 9.99982547e-01 -1.88765649e-03 -5.59849898e-03 2.07815635e+02] [ 1.88744092e-03 9.99998218e-01 -4.37893517e-05 1.96974390e+00] [ 5.59857167e-03 3.32217514e-05 9.99984327e-01 6.74190769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51864 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:207.84, Y:1.97, Z:0.67 [[ 9.99982482e-01 1.92163332e-03 -5.59856072e-03 2.07844050e+02] [-1.92185076e-03 9.99998153e-01 -3.34601498e-05 1.97046602e+00] [ 5.59848608e-03 4.42191618e-05 9.99984327e-01 6.73894777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54864 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:207.87, Y:1.97, Z:0.67 [[ 9.99979509e-01 3.10448937e-03 -5.59854419e-03 2.07872169e+02] [-3.10473972e-03 9.99995180e-01 -3.60279186e-05 1.97088957e+00] [ 5.59840536e-03 5.34092029e-05 9.99984327e-01 6.73886643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57864 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:207.90, Y:1.97, Z:0.67 [[ 9.99976344e-01 3.99589201e-03 -5.59852363e-03 2.07900438e+02] [-3.99617287e-03 9.99992015e-01 -3.89816956e-05 1.97184935e+00] [ 5.59832315e-03 6.13534417e-05 9.99984327e-01 6.74582930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:207.93, Y:1.97, Z:0.69 [[ 9.99968580e-01 5.61208367e-03 -5.59850157e-03 2.07930218e+02] [-5.61240634e-03 9.99984249e-01 -4.19266860e-05 1.97325681e+00] [ 5.59817810e-03 7.33464344e-05 9.99984327e-01 6.85520083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:207.96, Y:1.97, Z:0.69 [[ 9.99972501e-01 4.86338654e-03 -5.59863889e-03 2.07958546e+02] [-4.86359531e-03 9.99988172e-01 -2.36758408e-05 1.97352158e+00] [ 5.59845752e-03 5.09047036e-05 9.99984327e-01 6.88943454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:207.99, Y:1.97, Z:0.68 [[ 9.99977729e-01 3.63243771e-03 -5.59874784e-03 2.07988799e+02] [-3.63255285e-03 9.99993402e-01 -1.03968643e-05 1.97406158e+00] [ 5.59867314e-03 3.07343802e-05 9.99984327e-01 6.82829700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:208.02, Y:1.97, Z:0.67 [[ 9.99980998e-01 2.58046506e-03 -5.59866339e-03 2.08018322e+02] [-2.58061849e-03 9.99996670e-01 -2.01817533e-05 1.97427206e+00] [ 5.59859267e-03 3.46293841e-05 9.99984327e-01 6.73490734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:1.97, Z:0.67 [[ 9.99984328e-01 -4.98886006e-05 -5.59840322e-03 2.08047111e+02] [ 4.96118793e-05 9.99999998e-01 -4.95674789e-05 1.97474417e+00] [ 5.59840568e-03 4.92889548e-05 9.99984328e-01 6.72489303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:208.08, Y:1.97, Z:0.69 [[ 9.99983377e-01 -1.38000196e-03 -5.59839667e-03 2.08077841e+02] [ 1.37974199e-03 9.99999047e-01 -5.02970833e-05 1.97470445e+00] [ 5.59846074e-03 4.25719042e-05 9.99984328e-01 6.87077120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.11, Y:1.97, Z:0.69 [[ 9.99979998e-01 -2.94246692e-03 -5.59870519e-03 2.08106510e+02] [ 2.94242520e-03 9.99995671e-01 -1.56891528e-05 1.97463082e+00] [ 5.59872712e-03 -7.84932263e-07 9.99984327e-01 6.88212583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.14, Y:1.97, Z:0.67 [[ 9.99963398e-01 -6.46985266e-03 -5.59862378e-03 2.08135431e+02] [ 6.46981636e-03 9.99979070e-01 -2.45940182e-05 1.97372799e+00] [ 5.59866572e-03 -1.16289498e-05 9.99984327e-01 6.72996710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.17, Y:1.97, Z:0.69 [[ 9.99961982e-01 -6.68528345e-03 -5.59837899e-03 2.08165166e+02] [ 6.68510099e-03 9.99977653e-01 -5.13052527e-05 1.97336855e+00] [ 5.59859688e-03 1.38775732e-05 9.99984328e-01 6.86874327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.19, Y:1.97, Z:0.69 [[ 9.99963821e-01 -6.40408850e-03 -5.59852692e-03 2.08194135e+02] [ 6.40399167e-03 9.99979494e-01 -3.52221717e-05 1.97311529e+00] [ 5.59863768e-03 -6.32022354e-07 9.99984328e-01 6.87135275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:1.97, Z:0.67 [[ 9.99968293e-01 -5.66295183e-03 -5.59851259e-03 2.08223815e+02] [ 5.66283485e-03 9.99983965e-01 -3.67467849e-05 1.97407917e+00] [ 5.59863092e-03 5.04216754e-06 9.99984328e-01 6.74308001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:1.98, Z:0.67 [[ 9.99981744e-01 -2.27365343e-03 -5.59835420e-03 2.08252198e+02] [ 2.27339031e-03 9.99997414e-01 -5.33631979e-05 1.97672526e+00] [ 5.59846106e-03 4.06349795e-05 9.99984328e-01 6.74569668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:1.98, Z:0.69 [[ 9.99984323e-01 -1.15893322e-04 -5.59832882e-03 2.08282434e+02] [ 1.15582156e-04 9.99999992e-01 -5.59054170e-05 1.97863500e+00] [ 5.59833525e-03 5.52574736e-05 9.99984328e-01 6.86908449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:1.98, Z:0.67 [[ 9.99983961e-01 8.56414820e-04 -5.59861567e-03 2.08311560e+02] [-8.56583982e-04 9.99999633e-01 -2.78172621e-05 1.98093382e+00] [ 5.59858979e-03 3.26125004e-05 9.99984327e-01 6.74896318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:1.98, Z:0.69 [[ 9.99978978e-01 3.27134826e-03 -5.59829148e-03 2.08342522e+02] [-3.27172827e-03 9.99994646e-01 -5.87236189e-05 1.98415548e+00] [ 5.59806940e-03 7.70384730e-05 9.99984328e-01 6.88637669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:208.37, Y:1.99, Z:0.69 [[ 9.99975622e-01 4.17268638e-03 -5.59851022e-03 2.08371607e+02] [-4.17296379e-03 9.99991292e-01 -3.78687208e-05 1.98635733e+00] [ 5.59830346e-03 6.12301781e-05 9.99984328e-01 6.88354701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.40, Y:1.99, Z:0.69 [[ 9.99976629e-01 3.92396353e-03 -5.59852038e-03 2.08399925e+02] [-3.92423176e-03 9.99992299e-01 -3.69262072e-05 1.99213135e+00] [ 5.59833237e-03 5.88952357e-05 9.99984327e-01 6.88139934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:2.00, Z:0.69 [[ 9.99980798e-01 2.65731905e-03 -5.59837898e-03 2.08428321e+02] [-2.65763794e-03 9.99996467e-01 -4.95215942e-05 1.99714453e+00] [ 5.59822761e-03 6.43991077e-05 9.99984328e-01 6.85560221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.46, Y:2.00, Z:0.69 [[ 9.99983347e-01 1.40078108e-03 -5.59845258e-03 2.08456951e+02] [-1.40104492e-03 9.99999018e-01 -4.32057673e-05 1.99877215e+00] [ 5.59838656e-03 5.10487313e-05 9.99984328e-01 6.87857074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:2.00, Z:0.69 [[ 9.99984047e-01 -7.50161575e-04 -5.59847503e-03 2.08485282e+02] [ 7.49941961e-04 9.99999718e-01 -4.13267096e-05 2.00036108e+00] [ 5.59850446e-03 3.71275190e-05 9.99984328e-01 6.87919180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.51, Y:2.00, Z:0.69 [[ 9.99981663e-01 -2.30895008e-03 -5.59841738e-03 2.08512853e+02] [ 2.30872852e-03 9.99997334e-01 -4.60368577e-05 2.00198804e+00] [ 5.59850875e-03 3.31107877e-05 9.99984328e-01 6.88192432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:2.01, Z:0.68 [[ 9.99974154e-01 -4.51096696e-03 -5.59836469e-03 2.08542941e+02] [ 4.51075641e-03 9.99989825e-01 -5.02343863e-05 2.00514358e+00] [ 5.59853434e-03 2.49802285e-05 9.99984328e-01 6.75729694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.57, Y:2.01, Z:0.69 [[ 9.99979712e-01 -3.03918368e-03 -5.59810273e-03 2.08574186e+02] [ 3.03883430e-03 9.99995380e-01 -7.09141672e-05 2.00655994e+00] [ 5.59829239e-03 5.39010218e-05 9.99984328e-01 6.87707677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:208.60, Y:2.01, Z:0.69 [[ 9.99982480e-01 -1.92296356e-03 -5.59845494e-03 2.08602913e+02] [ 1.92275100e-03 9.99998151e-01 -4.33500702e-05 2.00730591e+00] [ 5.59852795e-03 3.25848759e-05 9.99984328e-01 6.88509613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:208.63, Y:2.01, Z:0.69 [[ 9.99983771e-01 -1.05542483e-03 -5.59856724e-03 2.08631650e+02] [ 1.05524585e-03 9.99999443e-01 -3.49219570e-05 2.00858259e+00] [ 5.59860098e-03 2.90135254e-05 9.99984327e-01 6.88978786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:208.66, Y:2.01, Z:0.68 [[ 9.99980543e-01 2.75137122e-03 -5.59856611e-03 2.08660728e+02] [-2.75161032e-03 9.99996214e-01 -3.50055635e-05 2.01255490e+00] [ 5.59844860e-03 5.04099547e-05 9.99984327e-01 6.84811009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:208.69, Y:2.01, Z:0.69 [[ 9.99969504e-01 5.44490641e-03 -5.59855830e-03 2.08689488e+02] [-5.44519090e-03 9.99985174e-01 -3.55726576e-05 2.01469890e+00] [ 5.59828161e-03 6.60567915e-05 9.99984327e-01 6.90270038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.72, Y:2.02, Z:0.68 [[ 9.99970611e-01 5.23759657e-03 -5.59867068e-03 2.08717702e+02] [-5.23783431e-03 9.99986282e-01 -2.78022807e-05 2.01624477e+00] [ 5.59844827e-03 5.71263731e-05 9.99984327e-01 6.75809060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:2.02, Z:0.68 [[ 9.99961414e-01 6.77014456e-03 -5.59781602e-03 2.08746667e+02] [-6.77072336e-03 9.99977075e-01 -8.44527190e-05 2.02052103e+00] [ 5.59711594e-03 1.22350724e-04 9.99984329e-01 6.76061084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.78, Y:2.02, Z:0.68 [[ 9.99958354e-01 7.20799589e-03 -5.59777643e-03 2.08775299e+02] [-7.20859580e-03 9.99974014e-01 -8.69999558e-05 2.02279470e+00] [ 5.59700388e-03 1.27348440e-04 9.99984329e-01 6.76125038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:208.81, Y:2.02, Z:0.69 [[ 9.99947179e-01 8.62004807e-03 -5.59773546e-03 2.08805896e+02] [-8.62068442e-03 9.99962837e-01 -8.95609440e-05 2.02465810e+00] [ 5.59675541e-03 1.37812524e-04 9.99984329e-01 6.87741997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:208.83, Y:2.03, Z:0.69 [[ 9.99955007e-01 7.65774392e-03 -5.59841351e-03 2.08834187e+02] [-7.65812946e-03 9.99970675e-01 -4.74318078e-05 2.02842285e+00] [ 5.59788611e-03 9.03030491e-05 9.99984328e-01 6.87895735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:2.03, Z:0.68 [[ 9.99970101e-01 5.33442646e-03 -5.59826828e-03 2.08862933e+02] [-5.33482421e-03 9.99985768e-01 -5.61175075e-05 2.03087292e+00] [ 5.59788925e-03 8.59816068e-05 9.99984328e-01 6.77610836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:208.90, Y:2.03, Z:0.69 [[ 9.99976544e-01 3.94699067e-03 -5.59757133e-03 2.08895296e+02] [-3.94759284e-03 9.99992204e-01 -9.65317091e-05 2.03423321e+00] [ 5.59714668e-03 1.18626377e-04 9.99984329e-01 6.91092209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:208.92, Y:2.04, Z:0.68 [[ 9.99979048e-01 -3.24928127e-03 -5.59875258e-03 2.08923002e+02] [ 3.24917943e-03 9.99994721e-01 -2.72857342e-05 2.03537707e+00] [ 5.59881169e-03 9.09381081e-06 9.99984326e-01 6.76296005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:208.95, Y:2.04, Z:0.68 [[ 9.99955867e-01 -7.54531450e-03 -5.59749892e-03 2.08951488e+02] [ 7.54488123e-03 9.99971532e-01 -9.85168629e-05 2.03618188e+00] [ 5.59808291e-03 5.62800506e-05 9.99984329e-01 6.76300550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:208.98, Y:2.04, Z:0.69 [[ 9.99863291e-01 -1.55585383e-02 -5.59748607e-03 2.08982252e+02] [ 1.55582265e-02 9.99878959e-01 -9.92416271e-05 2.03505524e+00] [ 5.59835260e-03 1.21411034e-05 9.99984329e-01 6.90083947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:209.01, Y:2.03, Z:0.69 [[ 9.99820798e-01 -1.80841658e-02 -5.59782249e-03 2.09012440e+02] [ 1.80839995e-02 9.99836468e-01 -8.03236754e-05 2.03319624e+00] [ 5.59835966e-03 -2.09217378e-05 9.99984329e-01 6.91401639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.04, Y:2.03, Z:0.68 [[ 9.99695808e-01 -2.40198511e-02 -5.59806452e-03 2.09041436e+02] [ 2.40198536e-02 9.99711479e-01 -6.67969705e-05 2.02886021e+00] [ 5.59805382e-03 -6.76880391e-05 9.99984328e-01 6.76808215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.07, Y:2.03, Z:0.68 [[ 9.99658769e-01 -2.55149737e-02 -5.59743496e-03 2.09070503e+02] [ 2.55148052e-02 9.99674439e-01 -1.01511705e-04 2.02832509e+00] [ 5.59820272e-03 -4.13403969e-05 9.99984329e-01 6.76718239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:209.10, Y:2.03, Z:0.69 [[ 9.99696378e-01 -2.39962731e-02 -5.59742201e-03 2.09100988e+02] [ 2.39960769e-02 9.99712047e-01 -1.02220681e-04 2.02755280e+00] [ 5.59826314e-03 -3.21265248e-05 9.99984329e-01 6.92866586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:2.02, Z:0.68 [[ 9.99672913e-01 -2.49545847e-02 -5.59787875e-03 2.09130136e+02] [ 2.49545453e-02 9.99688584e-01 -7.68904654e-05 2.02454140e+00] [ 5.59805425e-03 -6.28272035e-05 9.99984329e-01 6.77012415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:209.16, Y:2.02, Z:0.69 [[ 9.99707597e-01 -2.35242238e-02 -5.59744129e-03 2.09160048e+02] [ 2.35240264e-02 9.99723267e-01 -1.01108482e-04 2.02254489e+00] [ 5.59827079e-03 -3.05954399e-05 9.99984329e-01 6.93643593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:209.19, Y:2.02, Z:0.68 [[ 9.99707198e-01 -2.35411265e-02 -5.59764766e-03 2.09189837e+02] [ 2.35409936e-02 9.99722868e-01 -8.96265222e-05 2.02201428e+00] [ 5.59820628e-03 -4.21739085e-05 9.99984329e-01 6.77076947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.22, Y:2.02, Z:0.68 [[ 9.99708205e-01 -2.34983757e-02 -5.59746272e-03 2.09218279e+02] [ 2.34981842e-02 9.99723875e-01 -9.99802122e-05 2.01785304e+00] [ 5.59826649e-03 -3.15791716e-05 9.99984329e-01 6.77106619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.25, Y:2.02, Z:0.68 [[ 9.99724545e-01 -2.27925859e-02 -5.59744991e-03 2.09247211e+02] [ 2.27923794e-02 9.99740215e-01 -1.00692510e-04 2.01566451e+00] [ 5.59829082e-03 -2.69144281e-05 9.99984329e-01 6.78235399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:209.28, Y:2.02, Z:0.68 [[ 9.99721644e-01 -2.29194982e-02 -5.59743706e-03 2.09276514e+02] [ 2.29192897e-02 9.99737313e-01 -1.01401889e-04 2.01616114e+00] [ 5.59829077e-03 -2.69156176e-05 9.99984329e-01 6.78399538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:209.31, Y:2.01, Z:0.69 [[ 9.99741260e-01 -2.20472598e-02 -5.59742410e-03 2.09305296e+02] [ 2.20470336e-02 9.99756929e-01 -1.02112457e-04 2.01496090e+00] [ 5.59831483e-03 -2.13205609e-05 9.99984329e-01 6.93301502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:209.33, Y:2.02, Z:0.69 [[ 9.99770019e-01 -2.07021523e-02 -5.59737166e-03 2.09334444e+02] [ 2.07018890e-02 9.99785687e-01 -1.04977075e-04 2.01553464e+00] [ 5.59834532e-03 -1.09232345e-05 9.99984329e-01 6.93479771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:209.36, Y:2.02, Z:0.68 [[ 9.99787917e-01 -1.98189164e-02 -5.59748887e-03 2.09364394e+02] [ 1.98186746e-02 9.99803586e-01 -9.86548220e-05 2.01561481e+00] [ 5.59834468e-03 -1.23009119e-05 9.99984329e-01 6.78517772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:209.39, Y:2.01, Z:0.70 [[ 9.99829586e-01 -1.75916821e-02 -5.59739557e-03 2.09393145e+02] [ 1.75913773e-02 9.99845254e-01 -1.03691567e-04 2.01246465e+00] [ 5.59835351e-03 5.20799913e-06 9.99984329e-01 6.95966358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:2.01, Z:0.68 [[ 9.99855513e-01 -1.60506139e-02 -5.59731407e-03 2.09423289e+02] [ 1.60502603e-02 9.99871180e-01 -1.08089841e-04 2.01286784e+00] [ 5.59832794e-03 1.82358762e-05 9.99984329e-01 6.81212293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:209.45, Y:2.01, Z:0.68 [[ 9.99902618e-01 -1.27836949e-02 -5.59738368e-03 2.09452439e+02] [ 1.27833111e-02 9.99918285e-01 -1.04356052e-04 2.01399220e+00] [ 5.59826035e-03 3.27927927e-05 9.99984329e-01 6.83095415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:209.48, Y:2.01, Z:0.68 [[ 9.99915993e-01 -1.16908552e-02 -5.59737010e-03 2.09481349e+02] [ 1.16904502e-02 9.99931659e-01 -1.05079564e-04 2.01489058e+00] [ 5.59821604e-03 3.96349603e-05 9.99984329e-01 6.82252503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:209.51, Y:2.02, Z:0.70 [[ 9.99916178e-01 -1.16750512e-02 -5.59735639e-03 2.09510017e+02] [ 1.16746418e-02 9.99931843e-01 -1.05804731e-04 2.01531737e+00] [ 5.59821017e-03 4.04487312e-05 9.99984329e-01 6.97492576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.54, Y:2.02, Z:0.68 [[ 9.99920440e-01 -1.13043902e-02 -5.59682578e-03 2.09541303e+02] [ 1.13038198e-02 9.99936101e-01 -1.33545388e-04 2.01666461e+00] [ 5.59797780e-03 7.02692529e-05 9.99984329e-01 6.84551975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:209.57, Y:2.02, Z:0.68 [[ 9.99907133e-01 -1.24255944e-02 -5.59735487e-03 2.09569660e+02] [ 1.24251987e-02 9.99922799e-01 -1.05465542e-04 2.01681228e+00] [ 5.59823322e-03 3.59075015e-05 9.99984329e-01 6.83569659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31864000000002 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:209.60, Y:2.02, Z:0.70 [[ 9.99872103e-01 -1.49815488e-02 -5.59734104e-03 2.09598665e+02] [ 1.49811891e-02 9.99887770e-01 -1.06194314e-04 2.01626759e+00] [ 5.59830381e-03 2.23259071e-05 9.99984329e-01 6.99596232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:209.63, Y:2.02, Z:0.69 [[ 9.99882140e-01 -1.42962388e-02 -5.59684154e-03 2.09629449e+02] [ 1.42957226e-02 9.99897802e-01 -1.32222442e-04 2.01669871e+00] [ 5.59815984e-03 5.21959645e-05 9.99984329e-01 6.86801651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:209.66, Y:2.02, Z:0.69 [[ 9.99859406e-01 -1.58062391e-02 -5.59732782e-03 2.09657966e+02] [ 1.58058893e-02 9.99875073e-01 -1.06717370e-04 2.01788396e+00] [ 5.59831536e-03 1.82316223e-05 9.99984329e-01 6.87591105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:209.69, Y:2.02, Z:0.69 [[ 9.99838951e-01 -1.70511855e-02 -5.59731379e-03 2.09686535e+02] [ 1.70508512e-02 9.99854618e-01 -1.07447955e-04 2.01901949e+00] [ 5.59833216e-03 1.19916860e-05 9.99984329e-01 6.87713202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.72, Y:2.02, Z:0.69 [[ 9.99825407e-01 -1.78276667e-02 -5.59729969e-03 2.09715207e+02] [ 1.78273405e-02 9.99841074e-01 -1.08177977e-04 2.01969903e+00] [ 5.59833869e-03 8.37412260e-06 9.99984329e-01 6.90729044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:209.74, Y:2.02, Z:0.69 [[ 9.99819156e-01 -1.81748457e-02 -5.59728558e-03 2.09744196e+02] [ 1.81745208e-02 9.99834824e-01 -1.08903135e-04 2.01990083e+00] [ 5.59834034e-03 7.15545722e-06 9.99984329e-01 6.91379849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:209.77, Y:2.02, Z:0.69 [[ 9.99810281e-01 -1.86567262e-02 -5.59727132e-03 2.09773111e+02] [ 1.86564048e-02 9.99825948e-01 -1.09630781e-04 2.02071274e+00] [ 5.59834246e-03 5.18502238e-06 9.99984329e-01 6.91909979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:209.80, Y:2.02, Z:0.69 [[ 9.99773295e-01 -2.05433367e-02 -5.59725693e-03 2.09801848e+02] [ 2.05430408e-02 9.99788963e-01 -1.10360798e-04 2.02309671e+00] [ 5.59834288e-03 -4.64889933e-06 9.99984329e-01 6.93818137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:209.83, Y:2.02, Z:0.69 [[ 9.99757123e-01 -2.13158440e-02 -5.59724259e-03 2.09830888e+02] [ 2.13155562e-02 9.99772792e-01 -1.11083610e-04 2.02393247e+00] [ 5.59833869e-03 -8.25170869e-06 9.99984329e-01 6.94142578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:209.86, Y:2.03, Z:0.69 [[ 9.99777568e-01 -2.03343460e-02 -5.59722804e-03 2.09859869e+02] [ 2.03340387e-02 9.99793236e-01 -1.11811808e-04 2.02536068e+00] [ 5.59834435e-03 -2.02731390e-06 9.99984329e-01 6.94925287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:209.89, Y:2.03, Z:0.70 [[ 9.99791141e-01 -1.96556602e-02 -5.59721336e-03 2.09888224e+02] [ 1.96553381e-02 9.99806809e-01 -1.12541819e-04 2.02747607e+00] [ 5.59834411e-03 2.50319246e-06 9.99984329e-01 6.96827554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:209.92, Y:2.03, Z:0.70 [[ 9.99772836e-01 -2.05656761e-02 -5.59719850e-03 2.09916520e+02] [ 2.05653642e-02 9.99788504e-01 -1.13276187e-04 2.02943674e+00] [ 5.59834432e-03 -1.85797082e-06 9.99984329e-01 6.96360996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:209.94, Y:2.03, Z:0.70 [[ 9.99760610e-01 -2.11516943e-02 -5.59718359e-03 2.09944824e+02] [ 2.11513875e-02 9.99776278e-01 -1.14008153e-04 2.03234530e+00] [ 5.59834284e-03 -4.40733872e-06 9.99984329e-01 6.97126465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:209.97, Y:2.03, Z:0.70 [[ 9.99701669e-01 -2.37748565e-02 -5.59716877e-03 2.09973676e+02] [ 2.37745868e-02 9.99717338e-01 -1.14731088e-04 2.03090734e+00] [ 5.59831438e-03 -1.83735145e-05 9.99984329e-01 6.97186267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.00, Y:2.03, Z:0.70 [[ 9.99645755e-01 -2.60199255e-02 -5.59715375e-03 2.10002582e+02] [ 2.60196869e-02 9.99661424e-01 -1.15459411e-04 2.03060226e+00] [ 5.59826293e-03 -3.02176774e-05 9.99984329e-01 6.97023774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.03, Y:2.03, Z:0.70 [[ 9.99598966e-01 -2.77593213e-02 -5.59713859e-03 2.10031102e+02] [ 2.77591059e-02 9.99614635e-01 -1.16189547e-04 2.03014172e+00] [ 5.59820699e-03 -3.92286114e-05 9.99984329e-01 6.97111210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:2.03, Z:0.70 [[ 9.99497239e-01 -3.12080249e-02 -5.59712363e-03 2.10060596e+02] [ 3.12078595e-02 9.99512909e-01 -1.16905822e-04 2.02675813e+00] [ 5.59804572e-03 -5.78272013e-05 9.99984329e-01 6.96601084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:2.02, Z:0.70 [[ 9.99443667e-01 -3.28790078e-02 -5.59711613e-03 2.10089364e+02] [ 3.28788666e-02 9.99459337e-01 -1.17263932e-04 2.02458816e+00] [ 5.59794549e-03 -6.68281403e-05 9.99984329e-01 6.97274585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:2.02, Z:0.70 [[ 9.99409158e-01 -3.39117485e-02 -5.59710117e-03 2.10119446e+02] [ 3.39116196e-02 9.99424829e-01 -1.17973397e-04 2.02150569e+00] [ 5.59788256e-03 -7.19030724e-05 9.99984329e-01 6.97654711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:2.02, Z:0.70 [[ 9.99435506e-01 -3.31261461e-02 -5.59709370e-03 2.10147908e+02] [ 3.31260029e-02 9.99451176e-01 -1.18326656e-04 2.02076360e+00] [ 5.59794159e-03 -6.71494813e-05 9.99984329e-01 6.97257966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:2.02, Z:0.70 [[ 9.99493981e-01 -3.13122199e-02 -5.59707863e-03 2.10176866e+02] [ 3.13120442e-02 9.99509651e-01 -1.19035461e-04 2.01977892e+00] [ 5.59806137e-03 -5.62807474e-05 9.99984329e-01 6.97950403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:2.02, Z:0.70 [[ 9.99646977e-01 -2.59729558e-02 -5.59706339e-03 2.10205771e+02] [ 2.59726924e-02 9.99662646e-01 -1.19747709e-04 2.01709571e+00] [ 5.59828540e-03 -2.56653706e-05 9.99984329e-01 6.97222704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:210.24, Y:2.02, Z:0.71 [[ 9.99764199e-01 -2.09813952e-02 -5.59704782e-03 2.10237959e+02] [ 2.09810496e-02 9.99779866e-01 -1.20471180e-04 2.01732409e+00] [ 5.59834337e-03 3.01083446e-06 9.99984329e-01 7.12208464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:2.02, Z:0.70 [[ 9.99850669e-01 -1.63493101e-02 -5.59820805e-03 2.10266671e+02] [ 1.63491958e-02 9.99866341e-01 -6.61875204e-05 2.01880041e+00] [ 5.59854192e-03 -2.53485629e-05 9.99984328e-01 6.98982192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.30, Y:2.02, Z:0.71 [[ 9.99915141e-01 -1.17637156e-02 -5.59701562e-03 2.10298961e+02] [ 1.17632213e-02 9.99930804e-01 -1.21237473e-04 2.01947595e+00] [ 5.59805453e-03 5.53882517e-05 9.99984329e-01 7.10886680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:2.02, Z:0.70 [[ 9.99911463e-01 -1.20714014e-02 -5.59887728e-03 2.10325901e+02] [ 1.20714013e-02 9.99927137e-01 -3.38128771e-05 2.02095349e+00] [ 5.59887750e-03 -3.37764109e-05 9.99984326e-01 6.99699975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.36, Y:2.02, Z:0.71 [[ 9.99952973e-01 -7.92003514e-03 -5.59693414e-03 2.10357628e+02] [ 7.91947321e-03 9.99968633e-01 -1.22554750e-04 2.02351570e+00] [ 5.59772922e-03 7.82242167e-05 9.99984330e-01 7.12548327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:210.39, Y:2.02, Z:0.71 [[ 9.99953845e-01 -7.80791173e-03 -5.59854091e-03 2.10386852e+02] [ 7.80776078e-03 9.99969518e-01 -4.88188647e-05 2.02425972e+00] [ 5.59875143e-03 5.10454337e-06 9.99984327e-01 7.13640391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:210.41, Y:2.03, Z:0.71 [[ 9.99933266e-01 -1.01053584e-02 -5.59874914e-03 2.10414543e+02] [ 1.01052958e-02 9.99948939e-01 -3.94620767e-05 2.02546139e+00] [ 5.59886205e-03 -1.71175731e-05 9.99984326e-01 7.11020449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.44, Y:2.03, Z:0.70 [[ 9.99902299e-01 -1.28083567e-02 -5.59799470e-03 2.10442267e+02] [ 1.28081512e-02 9.99917970e-01 -7.25580804e-05 2.02700483e+00] [ 5.59846485e-03 8.51028798e-07 9.99984328e-01 6.99735947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:210.47, Y:2.03, Z:0.70 [[ 9.99896607e-01 -1.32458668e-02 -5.59668103e-03 2.10470755e+02] [ 1.32453501e-02 9.99912268e-01 -1.29383432e-04 2.02871810e+00] [ 5.59790382e-03 5.52400549e-05 9.99984330e-01 6.99903854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.50, Y:2.03, Z:0.70 [[ 9.99883774e-01 -1.41814997e-02 -5.59666405e-03 2.10499470e+02] [ 1.41809936e-02 9.99899436e-01 -1.30113932e-04 2.02984037e+00] [ 5.59794644e-03 5.07325524e-05 9.99984330e-01 7.00842388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:2.03, Z:0.70 [[ 9.99871655e-01 -1.50116892e-02 -5.59664700e-03 2.10528228e+02] [ 1.50111919e-02 9.99887317e-01 -1.30843308e-04 2.03032962e+00] [ 5.59798053e-03 4.68141729e-05 9.99984330e-01 7.00483972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:210.56, Y:2.03, Z:0.70 [[ 9.99851700e-01 -1.62866886e-02 -5.59662976e-03 2.10557031e+02] [ 1.62862072e-02 9.99867362e-01 -1.31576332e-04 2.03014562e+00] [ 5.59803038e-03 4.04089466e-05 9.99984330e-01 7.01399484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:210.59, Y:2.03, Z:0.71 [[ 9.99866896e-01 -1.53253823e-02 -5.59661250e-03 2.10587732e+02] [ 1.53248818e-02 9.99882558e-01 -1.32306399e-04 2.02970508e+00] [ 5.59798287e-03 4.65213635e-05 9.99984330e-01 7.14663797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:210.62, Y:2.03, Z:0.71 [[ 9.99850527e-01 -1.63582390e-02 -5.59754592e-03 2.10617442e+02] [ 1.63579750e-02 9.99866195e-01 -9.29428118e-05 2.02911081e+00] [ 5.59831732e-03 1.36440280e-06 9.99984329e-01 7.14221787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:210.65, Y:2.03, Z:0.71 [[ 9.99884136e-01 -1.41556375e-02 -5.59746118e-03 2.10645879e+02] [ 1.41553192e-02 9.99899804e-01 -9.64740861e-05 2.03081546e+00] [ 5.59826599e-03 1.72290584e-05 9.99984329e-01 7.14783846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:210.67, Y:2.03, Z:0.70 [[ 9.99890767e-01 -1.36792220e-02 -5.59758305e-03 2.10673841e+02] [ 1.36789244e-02 9.99906435e-01 -9.14592926e-05 2.03386310e+00] [ 5.59831040e-03 1.48803870e-05 9.99984329e-01 7.02548247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:210.70, Y:2.04, Z:0.71 [[ 9.99928249e-01 -1.05913423e-02 -5.59647595e-03 2.10704863e+02] [ 1.05907427e-02 9.99943907e-01 -1.36763113e-04 2.03747311e+00] [ 5.59761053e-03 7.74824634e-05 9.99984330e-01 7.11951433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:210.74, Y:2.04, Z:0.72 [[ 9.99939966e-01 -9.41999269e-03 -5.59713486e-03 2.10735245e+02] [ 9.41952670e-03 9.99955629e-01 -1.09612016e-04 2.03858337e+00] [ 5.59791905e-03 5.68830748e-05 9.99984330e-01 7.15196925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:210.76, Y:2.04, Z:0.72 [[ 9.99941547e-01 -9.25049844e-03 -5.59740047e-03 2.10764240e+02] [ 9.25009115e-03 9.99957212e-01 -9.86492289e-05 2.04026647e+00] [ 5.59807352e-03 4.68669980e-05 9.99984330e-01 7.16353775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:210.79, Y:2.05, Z:0.72 [[ 9.99933992e-01 -1.00339555e-02 -5.59741324e-03 2.10791864e+02] [ 1.00335634e-02 9.99949658e-01 -9.81310168e-05 2.04540152e+00] [ 5.59811609e-03 4.19625389e-05 9.99984330e-01 7.16956312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:210.82, Y:2.05, Z:0.72 [[ 9.99925674e-01 -1.08313664e-02 -5.59706656e-03 2.10820282e+02] [ 1.08309098e-02 9.99941338e-01 -1.11891169e-04 2.04845856e+00] [ 5.59795016e-03 5.12615301e-05 9.99984330e-01 7.17279343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:210.85, Y:2.05, Z:0.72 [[ 9.99904413e-01 -1.26427729e-02 -5.59695052e-03 2.10849422e+02] [ 1.26423191e-02 9.99920076e-01 -1.16450303e-04 2.05058545e+00] [ 5.59797544e-03 4.56807374e-05 9.99984330e-01 7.15298305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:210.88, Y:2.05, Z:0.70 [[ 9.99885903e-01 -1.40305328e-02 -5.59692384e-03 2.10878181e+02] [ 1.40300950e-02 9.99901566e-01 -1.17486792e-04 2.05157676e+00] [ 5.59802132e-03 3.89480136e-05 9.99984330e-01 7.03788745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:210.91, Y:2.05, Z:0.72 [[ 9.99862323e-01 -1.56210761e-02 -5.59617401e-03 2.10908116e+02] [ 1.56205026e-02 9.99877982e-01 -1.46190342e-04 2.05401434e+00] [ 5.59777483e-03 5.87551640e-05 9.99984331e-01 7.15270989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:210.94, Y:2.06, Z:0.71 [[ 9.99867081e-01 -1.53134684e-02 -5.59632195e-03 2.10937908e+02] [ 1.53129215e-02 9.99882740e-01 -1.40551411e-04 2.05566147e+00] [ 5.59781805e-03 5.48366901e-05 9.99984331e-01 7.06074194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:210.97, Y:2.06, Z:0.72 [[ 9.99860937e-01 -1.57095252e-02 -5.59616715e-03 2.10967201e+02] [ 1.57089515e-02 9.99876596e-01 -1.46466000e-04 2.05691318e+00] [ 5.59777747e-03 5.85357138e-05 9.99984331e-01 7.17157159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.00, Y:2.06, Z:0.71 [[ 9.99879950e-01 -1.44486800e-02 -5.59652962e-03 2.10996447e+02] [ 1.44481640e-02 9.99895611e-01 -1.32626771e-04 2.05892817e+00] [ 5.59786168e-03 5.17512714e-05 9.99984331e-01 7.05016076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:211.03, Y:2.06, Z:0.71 [[ 9.99893475e-01 -1.34804006e-02 -5.59612846e-03 2.11025379e+02] [ 1.34797844e-02 9.99909133e-01 -1.47814104e-04 2.06098318e+00] [ 5.59761255e-03 7.23637531e-05 9.99984331e-01 7.05612547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81864000000002 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:211.05, Y:2.07, Z:0.72 [[ 9.99913503e-01 -1.19025223e-02 -5.59610918e-03 2.11054668e+02] [ 1.19018773e-02 9.99929159e-01 -1.48540486e-04 2.06516309e+00] [ 5.59748076e-03 8.19234329e-05 9.99984331e-01 7.18422865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:211.08, Y:2.07, Z:0.71 [[ 9.99924966e-01 -1.08971165e-02 -5.59606971e-03 2.11083674e+02] [ 1.08964475e-02 9.99940621e-01 -1.50017161e-04 2.06785208e+00] [ 5.59737217e-03 8.90286247e-05 9.99984331e-01 7.14659706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:211.11, Y:2.07, Z:0.72 [[ 9.99936675e-01 -9.76423096e-03 -5.59514339e-03 2.11112913e+02] [ 9.76334908e-03 9.99952320e-01 -1.84908509e-04 2.07353880e+00] [ 5.59668210e-03 1.30269461e-04 9.99984330e-01 7.15243186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:211.14, Y:2.07, Z:0.72 [[ 9.99935839e-01 -9.84910636e-03 -5.59571264e-03 2.11141225e+02] [ 9.84834561e-03 9.99951491e-01 -1.63491637e-04 2.07424948e+00] [ 5.59705145e-03 1.08372635e-04 9.99984331e-01 7.15399214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.17, Y:2.08, Z:0.71 [[ 9.99945801e-01 -8.77969138e-03 -5.59570204e-03 2.11171146e+02] [ 8.77891166e-03 9.99961451e-01 -1.63889565e-04 2.07785392e+00] [ 5.59692523e-03 1.14756509e-04 9.99984331e-01 7.06293090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:211.20, Y:2.08, Z:0.71 [[ 9.99942833e-01 -9.11121259e-03 -5.59610032e-03 2.11199929e+02] [ 9.11052178e-03 9.99958487e-01 -1.48923254e-04 2.08149502e+00] [ 5.59722488e-03 9.79313469e-05 9.99984331e-01 7.06294651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:211.23, Y:2.09, Z:0.72 [[ 9.99916530e-01 -1.16455096e-02 -5.59608080e-03 2.11229086e+02] [ 1.16448544e-02 9.99932185e-01 -1.49653252e-04 2.08809908e+00] [ 5.59744409e-03 8.44752145e-05 9.99984331e-01 7.18398763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:211.26, Y:2.10, Z:0.71 [[ 9.99903759e-01 -1.26946811e-02 -5.59619711e-03 2.11258550e+02] [ 1.26940665e-02 9.99919417e-01 -1.45329149e-04 2.09562429e+00] [ 5.59759105e-03 7.42766644e-05 9.99984331e-01 7.07116849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:211.29, Y:2.10, Z:0.71 [[ 9.99889494e-01 -1.37725874e-02 -5.59606314e-03 2.11287008e+02] [ 1.37719618e-02 9.99905151e-01 -1.50316396e-04 2.09980644e+00] [ 5.59760261e-03 7.32310172e-05 9.99984331e-01 7.06871112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.32, Y:2.10, Z:0.71 [[ 9.99872121e-01 -1.49808539e-02 -5.59604333e-03 2.11315354e+02] [ 1.49802431e-02 9.99887778e-01 -1.51050612e-04 2.10399655e+00] [ 5.59767820e-03 6.72012063e-05 9.99984331e-01 7.06893440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:211.34, Y:2.11, Z:0.71 [[ 9.99834189e-01 -1.73285808e-02 -5.59602361e-03 2.11344480e+02] [ 1.73280027e-02 9.99849847e-01 -1.51777540e-04 2.11092106e+00] [ 5.59781344e-03 5.47844607e-05 9.99984331e-01 7.06052034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.37, Y:2.11, Z:0.71 [[ 9.99792636e-01 -1.95798210e-02 -5.59599182e-03 2.11373179e+02] [ 1.95792717e-02 9.99808296e-01 -1.52940536e-04 2.11400893e+00] [ 5.59791360e-03 4.33433772e-05 9.99984331e-01 7.05601489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:211.40, Y:2.12, Z:0.71 [[ 9.99687071e-01 -2.43812305e-02 -5.59597200e-03 2.11402294e+02] [ 2.43807523e-02 9.99702733e-01 -1.53662635e-04 2.11935322e+00] [ 5.59805498e-03 1.71805421e-05 9.99984331e-01 7.06093131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.43, Y:2.12, Z:0.71 [[ 9.99605524e-01 -2.75224012e-02 -5.59596201e-03 2.11432150e+02] [ 2.75219702e-02 9.99621187e-01 -1.54025444e-04 2.12239428e+00] [ 5.59808134e-03 -4.72152806e-08 9.99984331e-01 7.06641286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:211.46, Y:2.12, Z:0.71 [[ 9.99499510e-01 -3.11354141e-02 -5.59595210e-03 2.11462315e+02] [ 3.11350378e-02 9.99515175e-01 -1.54384693e-04 2.12486844e+00] [ 5.59804587e-03 -1.99227547e-05 9.99984331e-01 7.06675607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.49, Y:2.13, Z:0.71 [[ 9.99272101e-01 -3.77353108e-02 -5.59595210e-03 2.11493520e+02] [ 3.77350379e-02 9.99287768e-01 -1.54384693e-04 2.12668832e+00] [ 5.59779224e-03 -5.68911478e-05 9.99984331e-01 7.06129378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:211.53, Y:2.13, Z:0.71 [[ 9.99144161e-01 -4.09832924e-02 -5.59596193e-03 2.11526054e+02] [ 4.09830724e-02 9.99159829e-01 -1.54027424e-04 2.12777589e+00] [ 5.59757292e-03 -7.54441114e-05 9.99984331e-01 7.05687603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:211.55, Y:2.13, Z:0.72 [[ 9.98579807e-01 -5.29816376e-02 -5.59602798e-03 2.11552384e+02] [ 5.29816195e-02 9.98595476e-01 -1.51589363e-04 2.12756406e+00] [ 5.59619967e-03 -1.45112549e-04 9.99984331e-01 7.20495469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:211.59, Y:2.13, Z:0.71 [[ 9.98755911e-01 -4.95515088e-02 -5.59273023e-03 2.11587785e+02] [ 4.95507659e-02 9.98771569e-01 -2.71412488e-04 2.12834457e+00] [ 5.59930885e-03 -6.04923912e-06 9.99984324e-01 7.05272576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:211.62, Y:2.13, Z:0.71 [[ 9.98650175e-01 -5.16382941e-02 -5.59598865e-03 2.11620585e+02] [ 5.16382682e-02 9.98665844e-01 -1.49208910e-04 2.12745579e+00] [ 5.59622762e-03 -1.39959658e-04 9.99984331e-01 7.05903573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:211.65, Y:2.12, Z:0.71 [[ 9.98547031e-01 -5.35958046e-02 -5.59606065e-03 2.11652397e+02] [ 5.35958248e-02 9.98562700e-01 -1.46457824e-04 2.12384858e+00] [ 5.59586696e-03 -1.53680461e-04 9.99984331e-01 7.05774375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:211.69, Y:2.12, Z:0.71 [[ 9.98484027e-01 -5.47570207e-02 -5.59609464e-03 2.11685866e+02] [ 5.47570665e-02 9.98499696e-01 -1.45147392e-04 2.12096152e+00] [ 5.59564663e-03 -1.61498374e-04 9.99984331e-01 7.05760997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:211.72, Y:2.12, Z:0.71 [[ 9.98493806e-01 -5.45784130e-02 -5.59616325e-03 2.11718570e+02] [ 5.45784711e-02 9.98509474e-01 -1.42452041e-04 2.11971242e+00] [ 5.59559683e-03 -1.63192554e-04 9.99984331e-01 7.06561238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:211.75, Y:2.12, Z:0.72 [[ 9.98439364e-01 -5.55654390e-02 -5.59623080e-03 2.11747065e+02] [ 5.55655277e-02 9.98455033e-01 -1.39747028e-04 2.11659346e+00] [ 5.59534991e-03 -1.71428584e-04 9.99984331e-01 7.21305530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:2.11, Z:0.71 [[ 9.98658942e-01 -5.14685647e-02 -5.59499071e-03 2.11780819e+02] [ 5.14683097e-02 9.98674610e-01 -1.89636272e-04 2.11182908e+00] [ 5.59733548e-03 -9.85827562e-05 9.99984330e-01 7.05476026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.81, Y:2.11, Z:0.71 [[ 9.98723784e-01 -5.01944758e-02 -5.59629506e-03 2.11812646e+02] [ 5.01945015e-02 9.98739452e-01 -1.35939998e-04 2.10997586e+00] [ 5.59606410e-03 -1.45136731e-04 9.99984331e-01 7.06522825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:2.11, Z:0.71 [[ 9.98890191e-01 -4.67660937e-02 -5.59632611e-03 2.11845170e+02] [ 4.67660729e-02 9.98905860e-01 -1.34649672e-04 2.10610360e+00] [ 5.59649998e-03 -1.27217958e-04 9.99984331e-01 7.05562115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864000000002 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:211.87, Y:2.10, Z:0.72 [[ 9.98927829e-01 -4.59551189e-02 -5.59638340e-03 2.11874936e+02] [ 4.59550989e-02 9.98943498e-01 -1.32224895e-04 2.10340206e+00] [ 5.59654722e-03 -1.25099226e-04 9.99984331e-01 7.19763725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:2.10, Z:0.71 [[ 9.99224440e-01 -3.89770246e-02 -5.59552417e-03 2.11907289e+02] [ 3.89766921e-02 9.99240106e-01 -1.68489619e-04 2.09962518e+00] [ 5.59783938e-03 -4.97360771e-05 9.99984331e-01 7.06377566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:2.10, Z:0.71 [[ 9.99317533e-01 -3.65123059e-02 -5.59641868e-03 2.11937589e+02] [ 3.65121505e-02 9.99333201e-01 -1.29974093e-04 2.09901204e+00] [ 5.59743264e-03 -7.44518911e-05 9.99984331e-01 7.07091781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.97, Y:2.10, Z:0.71 [[ 9.99411435e-01 -3.38446949e-02 -5.59641868e-03 2.11967861e+02] [ 3.38444977e-02 9.99427102e-01 -1.29974093e-04 2.09946434e+00] [ 5.59761143e-03 -5.95103845e-05 9.99984331e-01 7.07762578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:2.10, Z:0.71 [[ 9.99555814e-01 -2.92720950e-02 -5.59641868e-03 2.11997348e+02] [ 2.92718261e-02 9.99571480e-01 -1.29974093e-04 2.09947013e+00] [ 5.59782511e-03 -3.39010343e-05 9.99984331e-01 7.07639768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:212.03, Y:2.10, Z:0.72 [[ 9.99562559e-01 -2.90408566e-02 -5.59641044e-03 2.12026929e+02] [ 2.90405820e-02 9.99578225e-01 -1.30327634e-04 2.09944495e+00] [ 5.59783484e-03 -3.22523928e-05 9.99984331e-01 7.23179434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:212.06, Y:2.10, Z:0.72 [[ 9.99576824e-01 -2.85456995e-02 -5.59609750e-03 2.12056163e+02] [ 2.85453425e-02 9.99592488e-01 -1.43686089e-04 2.10171254e+00] [ 5.59791864e-03 -1.61172354e-05 9.99984331e-01 7.22739586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.09, Y:2.10, Z:0.71 [[ 9.99622868e-01 -2.68851114e-02 -5.59573031e-03 2.12087615e+02] [ 2.68846402e-02 9.99638530e-01 -1.59413580e-04 2.10418854e+00] [ 5.59799347e-03 8.91426440e-06 9.99984331e-01 7.08712966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.12, Y:2.11, Z:0.71 [[ 9.99635043e-01 -2.64283970e-02 -5.59642212e-03 2.12117557e+02] [ 2.64280861e-02 9.99650709e-01 -1.29521663e-04 2.10590343e+00] [ 5.59789038e-03 -1.84283324e-05 9.99984332e-01 7.08974621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:2.11, Z:0.71 [[ 9.99618766e-01 -2.70370621e-02 -5.59641377e-03 2.12146769e+02] [ 2.70367587e-02 9.99634432e-01 -1.29881279e-04 2.10763022e+00] [ 5.59787951e-03 -2.14771242e-05 9.99984332e-01 7.08905287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.18, Y:2.11, Z:0.71 [[ 9.99606062e-01 -2.75027587e-02 -5.59640542e-03 2.12176339e+02] [ 2.75024606e-02 9.99621727e-01 -1.30240015e-04 2.10953210e+00] [ 5.59787041e-03 -2.37262108e-05 9.99984332e-01 7.09267224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:2.11, Z:0.71 [[ 9.99587647e-01 -2.81640845e-02 -5.59639707e-03 2.12205649e+02] [ 2.81637947e-02 9.99603313e-01 -1.30597809e-04 2.11171379e+00] [ 5.59785522e-03 -2.70718215e-05 9.99984332e-01 7.09712426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:212.23, Y:2.11, Z:0.72 [[ 9.99485785e-01 -3.15728793e-02 -5.59638861e-03 2.12234745e+02] [ 3.15726409e-02 9.99501451e-01 -1.30959474e-04 2.11276975e+00] [ 5.59773330e-03 -4.58006358e-05 9.99984332e-01 7.22434481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:2.11, Z:0.71 [[ 9.99528493e-01 -3.01907544e-02 -5.59545632e-03 2.12266828e+02] [ 3.01902700e-02 9.99544155e-01 -1.71031569e-04 2.11370276e+00] [ 5.59806923e-03 2.02258900e-06 9.99984331e-01 7.09485159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:212.30, Y:2.11, Z:0.72 [[ 9.99478296e-01 -3.18090547e-02 -5.59644026e-03 2.12297021e+02] [ 3.18088365e-02 9.99493963e-01 -1.28017695e-04 2.11469638e+00] [ 5.59768038e-03 -5.00653452e-05 9.99984332e-01 7.24239550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.33, Y:2.12, Z:0.71 [[ 9.99501484e-01 -3.10720123e-02 -5.59586505e-03 2.12328208e+02] [ 3.10716403e-02 9.99517148e-01 -1.53421298e-04 2.11616891e+00] [ 5.59793018e-03 -2.05278910e-05 9.99984331e-01 7.10998724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.36, Y:2.12, Z:0.71 [[ 9.99519432e-01 -3.04890807e-02 -5.59649213e-03 2.12358204e+02] [ 3.04888562e-02 9.99535099e-01 -1.25445598e-04 2.11747098e+00] [ 5.59771503e-03 -4.52453303e-05 9.99984332e-01 7.09699297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.39, Y:2.12, Z:0.71 [[ 9.99517598e-01 -3.05491408e-02 -5.59648412e-03 2.12388085e+02] [ 3.05489152e-02 9.99533265e-01 -1.25801659e-04 2.11848435e+00] [ 5.59771518e-03 -4.52255475e-05 9.99984332e-01 7.10200946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.42, Y:2.12, Z:0.71 [[ 9.99551530e-01 -2.94179945e-02 -5.59647619e-03 2.12418197e+02] [ 2.94177492e-02 9.99567196e-01 -1.26153444e-04 2.12006490e+00] [ 5.59776520e-03 -3.85388656e-05 9.99984332e-01 7.10991510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.45, Y:2.12, Z:0.71 [[ 9.99577141e-01 -2.85345081e-02 -5.59646818e-03 2.12448146e+02] [ 2.85342470e-02 9.99592807e-01 -1.26507844e-04 2.12271418e+00] [ 5.59779918e-03 -3.32366560e-05 9.99984332e-01 7.10187556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:212.48, Y:2.13, Z:0.71 [[ 9.99594266e-01 -2.79281728e-02 -5.59646005e-03 2.12478144e+02] [ 2.79279002e-02 9.99609932e-01 -1.26866583e-04 2.12534480e+00] [ 5.59782020e-03 -2.94822684e-05 9.99984332e-01 7.11065800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:212.51, Y:2.13, Z:0.71 [[ 9.99600152e-01 -2.77167097e-02 -5.59645205e-03 2.12507526e+02] [ 2.77164318e-02 9.99615818e-01 -1.27218430e-04 2.12732383e+00] [ 5.59782807e-03 -2.79461200e-05 9.99984332e-01 7.11021731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864000000002 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:212.54, Y:2.13, Z:0.72 [[ 9.99608298e-01 -2.74213483e-02 -5.59644392e-03 2.12537514e+02] [ 2.74210638e-02 9.99623964e-01 -1.27575087e-04 2.12914998e+00] [ 5.59783774e-03 -2.59353301e-05 9.99984332e-01 7.22081507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.57, Y:2.13, Z:0.71 [[ 9.99623751e-01 -2.68521282e-02 -5.59647124e-03 2.12567917e+02] [ 2.68518415e-02 9.99639416e-01 -1.26377240e-04 2.13056477e+00] [ 5.59784675e-03 -2.39458683e-05 9.99984332e-01 7.10137870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:212.60, Y:2.13, Z:0.71 [[ 9.99616080e-01 -2.71361817e-02 -5.59644419e-03 2.12597296e+02] [ 2.71358928e-02 9.99631746e-01 -1.27564375e-04 2.13142069e+00] [ 5.59784488e-03 -2.43491094e-05 9.99984332e-01 7.09766433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37864000000002 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:212.63, Y:2.13, Z:0.73 [[ 9.99555639e-01 -2.92780633e-02 -5.59643612e-03 2.12625511e+02] [ 2.92778060e-02 9.99571305e-01 -1.27917266e-04 2.13316991e+00] [ 5.59778212e-03 -3.59909467e-05 9.99984332e-01 7.26313430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:212.66, Y:2.13, Z:0.71 [[ 9.99606993e-01 -2.74691227e-02 -5.59533880e-03 2.12657422e+02] [ 2.74685707e-02 9.99622652e-01 -1.75491403e-04 2.13451357e+00] [ 5.59804801e-03 2.17264746e-05 9.99984331e-01 7.10179073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.69, Y:2.14, Z:0.71 [[ 9.99596631e-01 -2.78434171e-02 -5.59643486e-03 2.12687533e+02] [ 2.78431407e-02 9.99612296e-01 -1.27309459e-04 2.13542179e+00] [ 5.59780984e-03 -2.85642168e-05 9.99984332e-01 7.10296667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:212.72, Y:2.14, Z:0.71 [[ 9.99557458e-01 -2.92158976e-02 -5.59642674e-03 2.12717461e+02] [ 2.92156407e-02 9.99573124e-01 -1.27665580e-04 2.13649371e+00] [ 5.59776762e-03 -3.58941103e-05 9.99984332e-01 7.11175735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:212.75, Y:2.14, Z:0.71 [[ 9.99525798e-01 -3.02796706e-02 -5.59641867e-03 2.12747039e+02] [ 3.02794284e-02 9.99541465e-01 -1.28018208e-04 2.13684114e+00] [ 5.59772887e-03 -4.14988566e-05 9.99984332e-01 7.10825382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:212.78, Y:2.14, Z:0.71 [[ 9.99506508e-01 -3.09098685e-02 -5.59641056e-03 2.12777795e+02] [ 3.09096342e-02 9.99522175e-01 -1.28371750e-04 2.13525676e+00] [ 5.59770441e-03 -4.46746038e-05 9.99984332e-01 7.10500688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:212.81, Y:2.14, Z:0.72 [[ 9.99511192e-01 -3.07580445e-02 -5.59641056e-03 2.12808110e+02] [ 3.07578078e-02 9.99526858e-01 -1.28371750e-04 2.13593376e+00] [ 5.59771113e-03 -4.38243195e-05 9.99984332e-01 7.24225699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:212.84, Y:2.14, Z:0.71 [[ 9.99497864e-01 -3.11880063e-02 -5.59710325e-03 2.12837846e+02] [ 3.11879463e-02 9.99513533e-01 -9.80158544e-05 2.13719809e+00] [ 5.59743736e-03 -7.65955185e-05 9.99984331e-01 7.09944275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:212.87, Y:2.14, Z:0.71 [[ 9.99523964e-01 -3.03401576e-02 -5.59644303e-03 2.12868465e+02] [ 3.03399216e-02 9.99539631e-01 -1.27089115e-04 2.13705194e+00] [ 5.59772250e-03 -4.27670268e-05 9.99984332e-01 7.09175620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64864 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:212.90, Y:2.14, Z:0.73 [[ 9.99460301e-01 -3.23695258e-02 -5.59644303e-03 2.12897508e+02] [ 3.23693216e-02 9.99475968e-01 -1.27089115e-04 2.13609024e+00] [ 5.59762413e-03 -5.41325392e-05 9.99984332e-01 7.26049107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67864 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:212.93, Y:2.14, Z:0.73 [[ 9.99528860e-01 -3.01787089e-02 -5.59503647e-03 2.12927799e+02] [ 3.01781252e-02 9.99544519e-01 -1.88743450e-04 2.13609094e+00] [ 5.59818407e-03 1.98068138e-05 9.99984330e-01 7.27046454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:212.96, Y:2.14, Z:0.71 [[ 9.99597988e-01 -2.77947934e-02 -5.59572121e-03 2.12958749e+02] [ 2.77943421e-02 9.99613650e-01 -1.58410685e-04 2.13605601e+00] [ 5.59796229e-03 2.81761212e-06 9.99984331e-01 7.11862922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73864 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:212.99, Y:2.14, Z:0.73 [[ 9.99630877e-01 -2.65855249e-02 -5.59646031e-03 2.12990315e+02] [ 2.65852393e-02 9.99646542e-01 -1.25434782e-04 2.13645233e+00] [ 5.59781695e-03 -2.33947550e-05 9.99984332e-01 7.25845999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76864 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:213.02, Y:2.14, Z:0.73 [[ 9.99593303e-01 -2.79624039e-02 -5.59751227e-03 2.13019644e+02] [ 2.79624047e-02 9.99608972e-01 -7.81369400e-05 2.13669540e+00] [ 5.59750838e-03 -7.84147411e-05 9.99984331e-01 7.30494157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:213.05, Y:2.14, Z:0.71 [[ 9.99631793e-01 -2.65510311e-02 -5.59658714e-03 2.13050849e+02] [ 2.65507780e-02 9.99647459e-01 -1.19541183e-04 2.13798197e+00] [ 5.59778805e-03 -2.90965751e-05 9.99984332e-01 7.12569949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:213.08, Y:2.14, Z:0.71 [[ 9.99630094e-01 -2.66149184e-02 -5.59647967e-03 2.13080987e+02] [ 2.66146392e-02 9.99645760e-01 -1.24376739e-04 2.13863843e+00] [ 5.59780745e-03 -2.46175558e-05 9.99984332e-01 7.12739336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:213.11, Y:2.14, Z:0.71 [[ 9.99628320e-01 -2.66814649e-02 -5.59647170e-03 2.13110917e+02] [ 2.66811847e-02 9.99643986e-01 -1.24734268e-04 2.13875747e+00] [ 5.59780737e-03 -2.46325880e-05 9.99984332e-01 7.13061416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:213.14, Y:2.14, Z:0.71 [[ 9.99567489e-01 -2.88706454e-02 -5.59646371e-03 2.13141069e+02] [ 2.88703975e-02 9.99583155e-01 -1.25091797e-04 2.13735193e+00] [ 5.59774234e-03 -3.65344385e-05 9.99984332e-01 7.12450188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:213.17, Y:2.14, Z:0.71 [[ 9.99528556e-01 -3.01884906e-02 -5.59645568e-03 2.13170399e+02] [ 3.01882614e-02 9.99544223e-01 -1.25450200e-04 2.13686307e+00] [ 5.59769209e-03 -4.35562096e-05 9.99984332e-01 7.12953541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94864 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:213.20, Y:2.14, Z:0.73 [[ 9.99475071e-01 -3.19102213e-02 -5.59644771e-03 2.13200627e+02] [ 3.19100170e-02 9.99490738e-01 -1.25804536e-04 2.13669125e+00] [ 5.59761210e-03 -5.28442447e-05 9.99984332e-01 7.27621347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97864 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:213.23, Y:2.13, Z:0.73 [[ 9.99372085e-01 -3.49873287e-02 -5.59660150e-03 2.13230973e+02] [ 3.49872108e-02 9.99387753e-01 -1.18999827e-04 2.13402753e+00] [ 5.59733848e-03 -7.68843708e-05 9.99984332e-01 7.32198582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:213.26, Y:2.13, Z:0.71 [[ 9.99298724e-01 -3.70234727e-02 -5.59662135e-03 2.13261487e+02] [ 3.70233916e-02 9.99314392e-01 -1.18125058e-04 2.13330121e+00] [ 5.59715766e-03 -8.91636839e-05 9.99984332e-01 7.12581977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:213.29, Y:2.13, Z:0.71 [[ 9.99265873e-01 -3.78998050e-02 -5.59644074e-03 2.13291770e+02] [ 3.78996928e-02 9.99281541e-01 -1.26138308e-04 2.13078707e+00] [ 5.59720054e-03 -8.60576784e-05 9.99984332e-01 7.12102103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:213.32, Y:2.13, Z:0.71 [[ 9.99291508e-01 -3.72177618e-02 -5.59644074e-03 2.13322223e+02] [ 3.72176389e-02 9.99307176e-01 -1.26138308e-04 2.13006314e+00] [ 5.59725797e-03 -8.22373706e-05 9.99984332e-01 7.12178857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09864000000002 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:213.35, Y:2.13, Z:0.73 [[ 9.99338964e-01 -3.59209490e-02 -5.59644074e-03 2.13352927e+02] [ 3.59208058e-02 9.99354632e-01 -1.26138308e-04 2.12941688e+00] [ 5.59735998e-03 -7.49737351e-05 9.99984332e-01 7.28230862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864000000002 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:213.38, Y:2.13, Z:0.73 [[ 9.99330100e-01 -3.61666010e-02 -5.59710687e-03 2.13381728e+02] [ 3.61666280e-02 9.99345769e-01 -9.64245858e-05 2.12699727e+00] [ 5.59693242e-03 -1.06068491e-04 9.99984331e-01 7.28777268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15864000000002 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:213.41, Y:2.13, Z:0.73 [[ 9.99388118e-01 -3.45264337e-02 -5.59600807e-03 2.13412518e+02] [ 3.45261613e-02 9.99403784e-01 -1.45309397e-04 2.12657622e+00] [ 5.59768865e-03 -4.79881927e-05 9.99984332e-01 7.28078441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:213.44, Y:2.13, Z:0.71 [[ 9.99409492e-01 -3.39020698e-02 -5.59618706e-03 2.13442837e+02] [ 3.39018327e-02 9.99425158e-01 -1.37248238e-04 2.12560261e+00] [ 5.59762314e-03 -5.25538059e-05 9.99984332e-01 7.10561770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.47, Y:2.13, Z:0.71 [[ 9.99396248e-01 -3.42902268e-02 -5.59648764e-03 2.13472513e+02] [ 3.42900720e-02 9.99411915e-01 -1.23642930e-04 2.12591922e+00] [ 5.59743618e-03 -6.83356839e-05 9.99984332e-01 7.10727106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24864 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:213.50, Y:2.13, Z:0.73 [[ 9.99436625e-01 -3.30924735e-02 -5.59647984e-03 2.13503009e+02] [ 3.30922979e-02 9.99452292e-01 -1.23995300e-04 2.12597140e+00] [ 5.59751791e-03 -6.12749338e-05 9.99984332e-01 7.29873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27864 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:213.53, Y:2.13, Z:0.73 [[ 9.99484151e-01 -3.16244611e-02 -5.59689576e-03 2.13533152e+02] [ 3.16243676e-02 9.99499819e-01 -1.05221095e-04 2.12597274e+00] [ 5.59742386e-03 -7.18314723e-05 9.99984332e-01 7.30625020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30864 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:213.56, Y:2.13, Z:0.73 [[ 9.99489165e-01 -3.14656156e-02 -5.59673981e-03 2.13563212e+02] [ 3.14654802e-02 9.99504833e-01 -1.12265696e-04 2.12678006e+00] [ 5.59750100e-03 -6.38957586e-05 9.99984332e-01 7.28874358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33864 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:213.59, Y:2.13, Z:0.73 [[ 9.99474273e-01 -3.19352146e-02 -5.59646343e-03 2.13592538e+02] [ 3.19350159e-02 9.99489940e-01 -1.24870631e-04 2.12741641e+00] [ 5.59759667e-03 -5.39181662e-05 9.99984332e-01 7.27614750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:213.62, Y:2.13, Z:0.71 [[ 9.99432945e-01 -3.32034367e-02 -5.59641914e-03 2.13622768e+02] [ 3.32032467e-02 9.99448612e-01 -1.26887080e-04 2.12817654e+00] [ 5.59754643e-03 -5.90041570e-05 9.99984332e-01 7.10560656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:213.65, Y:2.13, Z:0.71 [[ 9.99411332e-01 -3.38477166e-02 -5.59653651e-03 2.13652318e+02] [ 3.38475669e-02 9.99427000e-01 -1.21479798e-04 2.12835744e+00] [ 5.59744151e-03 -6.80208576e-05 9.99984332e-01 7.11155492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42864 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:213.68, Y:2.13, Z:0.73 [[ 9.99400013e-01 -3.41802940e-02 -5.59652886e-03 2.13682585e+02] [ 3.41801475e-02 9.99415681e-01 -1.21831326e-04 2.12772590e+00] [ 5.59742293e-03 -6.95319535e-05 9.99984332e-01 7.28449253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:213.71, Y:2.13, Z:0.71 [[ 9.99357600e-01 -3.53986809e-02 -5.59648978e-03 2.13713260e+02] [ 3.53985435e-02 9.99373268e-01 -1.23626873e-04 2.12846968e+00] [ 5.59735850e-03 -7.45601319e-05 9.99984332e-01 7.12174373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:213.74, Y:2.13, Z:0.71 [[ 9.99336393e-01 -3.59923812e-02 -5.59652914e-03 2.13742923e+02] [ 3.59922633e-02 9.99352061e-01 -1.21818499e-04 2.12863130e+00] [ 5.59728747e-03 -7.96940904e-05 9.99984332e-01 7.13241209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:213.77, Y:2.13, Z:0.71 [[ 9.99344698e-01 -3.57610483e-02 -5.59652150e-03 2.13772115e+02] [ 3.57609248e-02 9.99360366e-01 -1.22168606e-04 2.12784538e+00] [ 5.59731065e-03 -7.80482358e-05 9.99984332e-01 7.13863974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.80, Y:2.13, Z:0.71 [[ 9.99340479e-01 -3.58787650e-02 -5.59651381e-03 2.13801413e+02] [ 3.58786413e-02 9.99356147e-01 -1.22519873e-04 2.12804663e+00] [ 5.59730634e-03 -7.83562433e-05 9.99984332e-01 7.13900183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.83, Y:2.13, Z:0.71 [[ 9.99358984e-01 -3.53595893e-02 -5.59650610e-03 2.13831481e+02] [ 3.53594555e-02 9.99374651e-01 -1.22870880e-04 2.12710602e+00] [ 5.59735100e-03 -7.50972913e-05 9.99984332e-01 7.14956938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.86, Y:2.13, Z:0.71 [[ 9.99373600e-01 -3.49440605e-02 -5.59649837e-03 2.13861555e+02] [ 3.49439183e-02 9.99389267e-01 -1.23222083e-04 2.12725627e+00] [ 5.59738628e-03 -7.24186856e-05 9.99984332e-01 7.14040725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63864 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:213.89, Y:2.13, Z:0.73 [[ 9.99389359e-01 -3.44904094e-02 -5.59649064e-03 2.13891570e+02] [ 3.44902581e-02 9.99405026e-01 -1.23572250e-04 2.12642894e+00] [ 5.59742293e-03 -6.95276155e-05 9.99984332e-01 7.31164448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.92, Y:2.13, Z:0.72 [[ 9.99338244e-01 -3.59409492e-02 -5.59654156e-03 2.13921749e+02] [ 3.59408335e-02 9.99353912e-01 -1.21273687e-04 2.12683756e+00] [ 5.59728439e-03 -7.99509349e-05 9.99984332e-01 7.15084412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:2.13, Z:0.71 [[ 9.99349906e-01 -3.56152342e-02 -5.59648407e-03 2.13951001e+02] [ 3.56150989e-02 9.99365573e-01 -1.23870988e-04 2.12527381e+00] [ 5.59734521e-03 -7.55288733e-05 9.99984332e-01 7.14893050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.98, Y:2.12, Z:0.71 [[ 9.99359887e-01 -3.53340695e-02 -5.59647632e-03 2.13980478e+02] [ 3.53339278e-02 9.99375554e-01 -1.24220001e-04 2.12429761e+00] [ 5.59737083e-03 -7.36050050e-05 9.99984332e-01 7.14763363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.01, Y:2.12, Z:0.72 [[ 9.99359972e-01 -3.53316533e-02 -5.59646849e-03 2.14010534e+02] [ 3.53315096e-02 9.99375640e-01 -1.24572046e-04 2.12346086e+00] [ 5.59737561e-03 -7.32393638e-05 9.99984332e-01 7.15711602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864000000002 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:214.04, Y:2.12, Z:0.73 [[ 9.99411393e-01 -3.38459473e-02 -5.59646063e-03 2.14040555e+02] [ 3.38457784e-02 9.99427060e-01 -1.24924090e-04 2.12128733e+00] [ 5.59748237e-03 -6.45660071e-05 9.99984332e-01 7.29779222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:214.07, Y:2.12, Z:0.72 [[ 9.99391096e-01 -3.44399553e-02 -5.59697385e-03 2.14070019e+02] [ 3.44399238e-02 9.99406765e-01 -1.02044817e-04 2.12173592e+00] [ 5.59716795e-03 -9.07766711e-05 9.99984332e-01 7.16528319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.10, Y:2.12, Z:0.72 [[ 9.99475554e-01 -3.18950897e-02 -5.59644869e-03 2.14099322e+02] [ 3.18948871e-02 9.99491221e-01 -1.25469068e-04 2.12123693e+00] [ 5.59760319e-03 -5.30948325e-05 9.99984332e-01 7.17840576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.13, Y:2.12, Z:0.72 [[ 9.99485889e-01 -3.15695779e-02 -5.59644071e-03 2.14128474e+02] [ 3.15693682e-02 9.99501555e-01 -1.25824263e-04 2.12152448e+00] [ 5.59762341e-03 -5.09165226e-05 9.99984332e-01 7.18276672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864000000002 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:214.16, Y:2.12, Z:0.73 [[ 9.99545127e-01 -2.96347548e-02 -5.59642458e-03 2.14158984e+02] [ 2.96345108e-02 9.99560793e-01 -1.26537629e-04 2.11987320e+00] [ 5.59771650e-03 -3.93672343e-05 9.99984332e-01 7.31493220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93864 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:214.19, Y:2.12, Z:0.73 [[ 9.99464032e-01 -3.22540412e-02 -5.59699886e-03 2.14187883e+02] [ 3.22539818e-02 9.99479700e-01 -1.00898831e-04 2.11898836e+00] [ 5.59734114e-03 -7.96807473e-05 9.99984332e-01 7.32008636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:214.22, Y:2.12, Z:0.73 [[ 9.99492072e-01 -3.13732527e-02 -5.59612507e-03 2.14219078e+02] [ 3.13729615e-02 9.99507738e-01 -1.39819619e-04 2.11832439e+00] [ 5.59775690e-03 -3.58184163e-05 9.99984332e-01 7.31338744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.25, Y:2.12, Z:0.72 [[ 9.99382176e-01 -3.46978615e-02 -5.59685654e-03 2.14248293e+02] [ 3.46978060e-02 9.99397844e-01 -1.07044446e-04 2.11608391e+00] [ 5.59720057e-03 -8.72203311e-05 9.99984332e-01 7.19073546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.28, Y:2.11, Z:0.72 [[ 9.99364849e-01 -3.51934437e-02 -5.59644076e-03 2.14277557e+02] [ 3.51932922e-02 9.99380516e-01 -1.25574180e-04 2.11428946e+00] [ 5.59739325e-03 -7.14627535e-05 9.99984332e-01 7.20324490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:214.31, Y:2.11, Z:0.72 [[ 9.99386786e-01 -3.45648869e-02 -5.59642457e-03 2.14306813e+02] [ 3.45647215e-02 9.99402454e-01 -1.26291578e-04 2.11026042e+00] [ 5.59744570e-03 -6.72247223e-05 9.99984332e-01 7.21250293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:214.34, Y:2.11, Z:0.72 [[ 9.99430082e-01 -3.32895120e-02 -5.59640849e-03 2.14335544e+02] [ 3.32893227e-02 9.99445749e-01 -1.27000299e-04 2.10981625e+00] [ 5.59753445e-03 -5.93727293e-05 9.99984332e-01 7.20769465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:214.36, Y:2.11, Z:0.72 [[ 9.99476394e-01 -3.18687679e-02 -5.59639224e-03 2.14364540e+02] [ 3.18685524e-02 9.99492061e-01 -1.27712590e-04 2.11014417e+00] [ 5.59761965e-03 -5.07031997e-05 9.99984332e-01 7.20538031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.39, Y:2.11, Z:0.72 [[ 9.99591456e-01 -2.80285999e-02 -5.59637584e-03 2.14393377e+02] [ 2.80283202e-02 9.99607121e-01 -1.28427153e-04 2.11029234e+00] [ 5.59777677e-03 -2.84823285e-05 9.99984332e-01 7.21176003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:214.42, Y:2.11, Z:0.72 [[ 9.99605119e-01 -2.75369983e-02 -5.59635928e-03 2.14422022e+02] [ 2.75367068e-02 9.99620785e-01 -1.29144543e-04 2.11037782e+00] [ 5.59779331e-03 -2.50117582e-05 9.99984332e-01 7.21507877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.45, Y:2.11, Z:0.72 [[ 9.99635227e-01 -2.64214790e-02 -5.59634247e-03 2.14450668e+02] [ 2.64211660e-02 9.99650892e-01 -1.29869026e-04 2.11032569e+00] [ 5.59782007e-03 -1.80402401e-05 9.99984332e-01 7.21946255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:214.48, Y:2.11, Z:0.72 [[ 9.99636475e-01 -2.63742229e-02 -5.59632560e-03 2.14479930e+02] [ 2.63739051e-02 9.99652140e-01 -1.30591852e-04 2.11148576e+00] [ 5.59782312e-03 -1.70525812e-05 9.99984332e-01 7.21523025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:214.51, Y:2.11, Z:0.74 [[ 9.99635337e-01 -2.64173258e-02 -5.59630859e-03 2.14509492e+02] [ 2.64170046e-02 9.99651001e-01 -1.31317018e-04 2.11282332e+00] [ 5.59782453e-03 -1.65685785e-05 9.99984332e-01 7.35575296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29864 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:214.54, Y:2.12, Z:0.74 [[ 9.99683798e-01 -2.45150835e-02 -5.59595655e-03 2.14538716e+02] [ 2.45146490e-02 9.99699460e-01 -1.46248536e-04 2.11592869e+00] [ 5.59786003e-03 9.01938209e-06 9.99984332e-01 7.37217888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:214.57, Y:2.12, Z:0.74 [[ 9.99696161e-01 -2.40056062e-02 -5.59610616e-03 2.14568910e+02] [ 2.40051995e-02 9.99711824e-01 -1.39841588e-04 2.11764922e+00] [ 5.59785047e-03 5.46345438e-06 9.99984332e-01 7.36698537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35864 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:214.60, Y:2.12, Z:0.74 [[ 9.99710989e-01 -2.33799770e-02 -5.59600296e-03 2.14597893e+02] [ 2.33795357e-02 9.99726651e-01 -1.44276337e-04 2.12178720e+00] [ 5.59784648e-03 1.34026885e-05 9.99984332e-01 7.38810372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:214.63, Y:2.12, Z:0.74 [[ 9.99725879e-01 -2.27343755e-02 -5.59595431e-03 2.14627973e+02] [ 2.27339123e-02 9.99741541e-01 -1.46368925e-04 2.12446481e+00] [ 5.59783559e-03 1.91108673e-05 9.99984332e-01 7.37591160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:214.66, Y:2.13, Z:0.73 [[ 9.99758492e-01 -2.12518436e-02 -5.59622395e-03 2.14657370e+02] [ 2.12514227e-02 9.99774154e-01 -1.34675991e-04 2.12819686e+00] [ 5.59782218e-03 1.57157454e-05 9.99984332e-01 7.33398730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:214.69, Y:2.13, Z:0.74 [[ 9.99792645e-01 -1.95792601e-02 -5.59637038e-03 2.14687964e+02] [ 1.95788484e-02 9.99808308e-01 -1.28343244e-04 2.13119491e+00] [ 5.59781046e-03 1.87461440e-05 9.99984332e-01 7.35776343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:214.72, Y:2.13, Z:0.74 [[ 9.99783005e-01 -2.00654016e-02 -5.59668523e-03 2.14715298e+02] [ 2.00650740e-02 9.99798670e-01 -1.14679613e-04 2.13464258e+00] [ 5.59785954e-03 2.35682521e-06 9.99984332e-01 7.36299426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.74, Y:2.14, Z:0.72 [[ 9.99831557e-01 -1.74797798e-02 -5.59597057e-03 2.14744878e+02] [ 1.74792404e-02 9.99847216e-01 -1.45277346e-04 2.14244684e+00] [ 5.59765501e-03 4.74395596e-05 9.99984332e-01 7.22766812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:214.77, Y:2.15, Z:0.72 [[ 9.99838358e-01 -1.70862199e-02 -5.59631737e-03 2.14773769e+02] [ 1.70857577e-02 9.99854019e-01 -1.30392835e-04 2.14571444e+00] [ 5.59772834e-03 3.47544353e-05 9.99984332e-01 7.23048178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:2.15, Z:0.72 [[ 9.99837713e-01 -1.71239114e-02 -5.59630027e-03 2.14802553e+02] [ 1.71234457e-02 9.99853374e-01 -1.31122726e-04 2.14812469e+00] [ 5.59772504e-03 3.52735034e-05 9.99984332e-01 7.22723746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.83, Y:2.15, Z:0.72 [[ 9.99827468e-01 -1.77120379e-02 -5.59628300e-03 2.14830866e+02] [ 1.77115773e-02 9.99843129e-01 -1.31855704e-04 2.15326826e+00] [ 5.59774054e-03 3.27139560e-05 9.99984332e-01 7.23805460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:214.86, Y:2.16, Z:0.72 [[ 9.99804845e-01 -1.89460852e-02 -5.59626566e-03 2.14859615e+02] [ 1.89456399e-02 9.99820506e-01 -1.32587414e-04 2.15683892e+00] [ 5.59777318e-03 2.65367050e-05 9.99984332e-01 7.23435467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.89, Y:2.16, Z:0.72 [[ 9.99755776e-01 -2.13791879e-02 -5.59624829e-03 2.14888627e+02] [ 2.13787765e-02 9.99771439e-01 -1.33316739e-04 2.16187062e+00] [ 5.59781941e-03 1.36432378e-05 9.99984332e-01 7.21982722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.92, Y:2.16, Z:0.72 [[ 9.99752977e-01 -2.15097063e-02 -5.59623080e-03 2.14917927e+02] [ 2.15092930e-02 9.99768639e-01 -1.34046756e-04 2.16253873e+00] [ 5.59781936e-03 1.36426757e-05 9.99984332e-01 7.22146862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:2.16, Z:0.72 [[ 9.99707614e-01 -2.35237815e-02 -5.59621321e-03 2.14947023e+02] [ 2.35233956e-02 9.99723278e-01 -1.34777333e-04 2.16383774e+00] [ 5.59783508e-03 3.09598923e-06 9.99984332e-01 7.21302358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:2.17, Z:0.72 [[ 9.99609433e-01 -2.73799811e-02 -5.59619552e-03 2.14976462e+02] [ 2.73796516e-02 9.99625098e-01 -1.35507908e-04 2.16500372e+00] [ 5.59780770e-03 -1.77669000e-05 9.99984332e-01 7.19421391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:215.01, Y:2.17, Z:0.72 [[ 9.99557931e-01 -2.91997527e-02 -5.59618674e-03 2.15006170e+02] [ 2.91994496e-02 9.99573596e-01 -1.35869560e-04 2.16675628e+00] [ 5.59776786e-03 -2.75960763e-05 9.99984332e-01 7.20037945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.04, Y:2.17, Z:0.72 [[ 9.99452066e-01 -3.26228573e-02 -5.59617804e-03 2.15036113e+02] [ 3.26226059e-02 9.99467732e-01 -1.36226801e-04 2.16725353e+00] [ 5.59764348e-03 -4.64097525e-05 9.99984332e-01 7.20505272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.07, Y:2.17, Z:0.72 [[ 9.99395099e-01 -3.43237376e-02 -5.59616941e-03 2.15065701e+02] [ 3.43235109e-02 9.99410765e-01 -1.36580328e-04 2.16686545e+00] [ 5.59755990e-03 -5.55824712e-05 9.99984332e-01 7.20318498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.10, Y:2.17, Z:0.72 [[ 9.99336548e-01 -3.59881560e-02 -5.59616078e-03 2.15095607e+02] [ 3.59879534e-02 9.99352214e-01 -1.36933202e-04 2.16699414e+00] [ 5.59746364e-03 -6.45520202e-05 9.99984332e-01 7.22234911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:215.13, Y:2.17, Z:0.72 [[ 9.99275498e-01 -3.76452262e-02 -5.59615212e-03 2.15125714e+02] [ 3.76450476e-02 9.99291165e-01 -1.37286075e-04 2.16903566e+00] [ 5.59735354e-03 -7.34808022e-05 9.99984332e-01 7.22244216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.15, Y:2.17, Z:0.72 [[ 9.99265395e-01 -3.79124373e-02 -5.59615212e-03 2.15154957e+02] [ 3.79122629e-02 9.99281062e-01 -1.37286075e-04 2.17045483e+00] [ 5.59733369e-03 -7.49775663e-05 9.99984332e-01 7.22740669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.19, Y:2.17, Z:0.72 [[ 9.99297279e-01 -3.70625323e-02 -5.59614782e-03 2.15185511e+02] [ 3.70623436e-02 9.99312946e-01 -1.37461195e-04 2.17193352e+00] [ 5.59739762e-03 -7.00417553e-05 9.99984332e-01 7.22483191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:2.17, Z:0.72 [[ 9.99323259e-01 -3.63552962e-02 -5.59614782e-03 2.15215843e+02] [ 3.63550964e-02 9.99338926e-01 -1.37461195e-04 2.17454072e+00] [ 5.59744579e-03 -6.60803246e-05 9.99984332e-01 7.24160766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.25, Y:2.18, Z:0.72 [[ 9.99331928e-01 -3.61162066e-02 -5.59614782e-03 2.15246002e+02] [ 3.61160030e-02 9.99347595e-01 -1.37461195e-04 2.17818384e+00] [ 5.59746144e-03 -6.47411309e-05 9.99984332e-01 7.23835561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:215.28, Y:2.18, Z:0.74 [[ 9.99340291e-01 -3.58840510e-02 -5.59614782e-03 2.15276436e+02] [ 3.58838438e-02 9.99355958e-01 -1.37461195e-04 2.17852273e+00] [ 5.59747633e-03 -6.34407841e-05 9.99984332e-01 7.41010284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:215.31, Y:2.18, Z:0.74 [[ 9.99356538e-01 -3.54286816e-02 -5.59634622e-03 2.15306591e+02] [ 3.54285125e-02 9.99372205e-01 -1.29383959e-04 2.17982448e+00] [ 5.59741676e-03 -6.89695167e-05 9.99984332e-01 7.42412544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:215.34, Y:2.18, Z:0.74 [[ 9.99383343e-01 -3.46643248e-02 -5.59626663e-03 2.15336754e+02] [ 3.46641256e-02 9.99399010e-01 -1.32628718e-04 2.18244718e+00] [ 5.59750082e-03 -6.14427572e-05 9.99984332e-01 7.41907241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:2.19, Z:0.72 [[ 9.99386906e-01 -3.45614074e-02 -5.59656096e-03 2.15367254e+02] [ 3.45612737e-02 9.99402573e-01 -1.20626121e-04 2.18509854e+00] [ 5.59738644e-03 -7.28721097e-05 9.99984332e-01 7.24516543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:2.19, Z:0.72 [[ 9.99421805e-01 -3.35371193e-02 -5.59614995e-03 2.15397876e+02] [ 3.35368758e-02 9.99437471e-01 -1.37369957e-04 2.18657841e+00] [ 5.59760895e-03 -5.03868554e-05 9.99984332e-01 7.22595895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:215.43, Y:2.19, Z:0.74 [[ 9.99407426e-01 -3.39629139e-02 -5.59614995e-03 2.15428108e+02] [ 3.39626771e-02 9.99423092e-01 -1.37369957e-04 2.18611240e+00] [ 5.59758697e-03 -5.27716782e-05 9.99984332e-01 7.40155616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:215.46, Y:2.19, Z:0.74 [[ 9.99351057e-01 -3.55829304e-02 -5.59639772e-03 2.15458581e+02] [ 3.55827759e-02 9.99366724e-01 -1.27207469e-04 2.18706884e+00] [ 5.59738008e-03 -7.20104478e-05 9.99984332e-01 7.40299019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.49, Y:2.19, Z:0.72 [[ 9.99259857e-01 -3.80581189e-02 -5.59622210e-03 2.15489393e+02] [ 3.80579627e-02 9.99275524e-01 -1.34447992e-04 2.19024277e+00] [ 5.59728461e-03 -7.86323309e-05 9.99984332e-01 7.24249442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:215.52, Y:2.19, Z:0.72 [[ 9.99229438e-01 -3.88485962e-02 -5.59619738e-03 2.15519948e+02] [ 3.88484467e-02 9.99245105e-01 -1.35469037e-04 2.19054105e+00] [ 5.59723562e-03 -8.20389254e-05 9.99984332e-01 7.23623131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.55, Y:2.19, Z:0.72 [[ 9.99232769e-01 -3.87628122e-02 -5.59619738e-03 2.15550891e+02] [ 3.87626612e-02 9.99248436e-01 -1.35469037e-04 2.18743115e+00] [ 5.59724265e-03 -8.15584020e-05 9.99984332e-01 7.24469781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.58, Y:2.19, Z:0.72 [[ 9.99188249e-01 -3.98939287e-02 -5.59619738e-03 2.15581213e+02] [ 3.98937955e-02 9.99203916e-01 -1.35469037e-04 2.18636420e+00] [ 5.59714674e-03 -8.78944836e-05 9.99984332e-01 7.22739735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.61, Y:2.18, Z:0.72 [[ 9.99143960e-01 -4.09881728e-02 -5.59619738e-03 2.15611966e+02] [ 4.09880568e-02 9.99159627e-01 -1.35469037e-04 2.18473063e+00] [ 5.59704712e-03 -9.40241859e-05 9.99984332e-01 7.23857512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.64, Y:2.18, Z:0.72 [[ 9.99156881e-01 -4.06719756e-02 -5.59619738e-03 2.15642625e+02] [ 4.06718546e-02 9.99172549e-01 -1.35469037e-04 2.18307185e+00] [ 5.59707660e-03 -9.22529055e-05 9.99984332e-01 7.23576033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:215.67, Y:2.18, Z:0.74 [[ 9.99193959e-01 -3.97506631e-02 -5.59619738e-03 2.15672274e+02] [ 3.97505277e-02 9.99209626e-01 -1.35469037e-04 2.18049604e+00] [ 5.59715928e-03 -8.70919551e-05 9.99984332e-01 7.39768763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:215.70, Y:2.18, Z:0.74 [[ 9.99110442e-01 -4.17972347e-02 -5.59607269e-03 2.15699447e+02] [ 4.17971024e-02 9.99126109e-01 -1.40643299e-04 2.17598983e+00] [ 5.59706083e-03 -9.33814346e-05 9.99984332e-01 7.43465633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.73, Y:2.18, Z:0.73 [[ 9.99313080e-01 -3.66344248e-02 -5.59355901e-03 2.15733041e+02] [ 3.66336344e-02 9.99328733e-01 -2.43732259e-04 2.17846163e+00] [ 5.59873323e-03 3.86524382e-05 9.99984326e-01 7.25049033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:215.76, Y:2.17, Z:0.74 [[ 9.99302959e-01 -3.69090697e-02 -5.59619299e-03 2.15762944e+02] [ 3.69089069e-02 9.99318625e-01 -1.32415608e-04 2.17402384e+00] [ 5.59726722e-03 -7.42260568e-05 9.99984332e-01 7.41337549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.79, Y:2.17, Z:0.73 [[ 9.99301727e-01 -3.69424585e-02 -5.59574292e-03 2.15793948e+02] [ 3.69421896e-02 9.99317393e-01 -1.51455682e-04 2.17277535e+00] [ 5.59751837e-03 -5.53690710e-05 9.99984332e-01 7.26246486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:215.82, Y:2.17, Z:0.74 [[ 9.99255228e-01 -3.81794658e-02 -5.59623793e-03 2.15822428e+02] [ 3.81793353e-02 9.99270895e-01 -1.30175195e-04 2.17121790e+00] [ 5.59712771e-03 -8.35824003e-05 9.99984332e-01 7.42459683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:215.85, Y:2.17, Z:0.73 [[ 9.99270489e-01 -3.77780195e-02 -5.59554695e-03 2.15854169e+02] [ 3.77777177e-02 9.99286154e-01 -1.59651748e-04 2.16984508e+00] [ 5.59758392e-03 -5.18517127e-05 9.99984332e-01 7.26908068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:215.88, Y:2.17, Z:0.73 [[ 9.99255805e-01 -3.81643709e-02 -5.59623795e-03 2.15884217e+02] [ 3.81642419e-02 9.99271472e-01 -1.29878018e-04 2.16605657e+00] [ 5.59711764e-03 -8.37948156e-05 9.99984333e-01 7.26361885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.91, Y:2.17, Z:0.73 [[ 9.99268824e-01 -3.78219552e-02 -5.59622981e-03 2.15914176e+02] [ 3.78218189e-02 9.99284491e-01 -1.30227848e-04 2.16563790e+00] [ 5.59715112e-03 -8.15269615e-05 9.99984333e-01 7.25897515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70864 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:215.94, Y:2.17, Z:0.74 [[ 9.99262553e-01 -3.79872798e-02 -5.59622159e-03 2.15943748e+02] [ 3.79871441e-02 9.99278219e-01 -1.30579878e-04 2.16600709e+00] [ 5.59714272e-03 -8.21008942e-05 9.99984333e-01 7.40632676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:215.97, Y:2.17, Z:0.73 [[ 9.99204713e-01 -3.94794285e-02 -5.59610590e-03 2.15974387e+02] [ 3.94792884e-02 9.99220380e-01 -1.35546044e-04 2.16546959e+00] [ 5.59709435e-03 -8.54920333e-05 9.99984332e-01 7.27766865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.00, Y:2.16, Z:0.73 [[ 9.99121868e-01 -4.15231775e-02 -5.59625650e-03 2.16004031e+02] [ 4.15231060e-02 9.99137536e-01 -1.29013358e-04 2.16404449e+00] [ 5.59678698e-03 -1.03473884e-04 9.99984333e-01 7.27958604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.03, Y:2.16, Z:0.73 [[ 9.98952732e-01 -4.54105753e-02 -5.59624837e-03 2.16033828e+02] [ 4.54105628e-02 9.98968400e-01 -1.29365390e-04 2.16120435e+00] [ 5.59634983e-03 -1.24898878e-04 9.99984333e-01 7.28932894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.06, Y:2.16, Z:0.73 [[ 9.98927471e-01 -4.59629230e-02 -5.59624022e-03 2.16063827e+02] [ 4.59629172e-02 9.98943138e-01 -1.29716639e-04 2.16140839e+00] [ 5.59628793e-03 -1.27642012e-04 9.99984333e-01 7.29376242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:2.16, Z:0.73 [[ 9.98850866e-01 -4.75986224e-02 -5.59623620e-03 2.16093877e+02] [ 4.75986413e-02 9.98866534e-01 -1.29889800e-04 2.16105889e+00] [ 5.59607564e-03 -1.36632700e-04 9.99984333e-01 7.28560675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.12, Y:2.16, Z:0.73 [[ 9.98888653e-01 -4.67989323e-02 -5.59623620e-03 2.16123861e+02] [ 4.67989387e-02 9.98904321e-01 -1.29889800e-04 2.15772504e+00] [ 5.59618323e-03 -1.32152467e-04 9.99984333e-01 7.28601972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.15, Y:2.16, Z:0.73 [[ 9.98895161e-01 -4.66598326e-02 -5.59622822e-03 2.16153138e+02] [ 4.66598348e-02 9.98910828e-01 -1.30232765e-04 2.15727884e+00] [ 5.59620961e-03 -1.31030206e-04 9.99984333e-01 7.29416264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.18, Y:2.16, Z:0.73 [[ 9.98931158e-01 -4.58827218e-02 -5.59622021e-03 2.16182989e+02] [ 4.58827099e-02 9.98946825e-01 -1.30576037e-04 2.15760753e+00] [ 5.59631760e-03 -1.26333277e-04 9.99984333e-01 7.30374231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:216.21, Y:2.16, Z:0.73 [[ 9.98902824e-01 -4.64954948e-02 -5.59621210e-03 2.16212399e+02] [ 4.64954906e-02 9.98918491e-01 -1.30922810e-04 2.15653573e+00] [ 5.59624707e-03 -1.29419463e-04 9.99984333e-01 7.30986226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.24, Y:2.15, Z:0.73 [[ 9.98863943e-01 -4.73234221e-02 -5.59620397e-03 2.16242074e+02] [ 4.73234289e-02 9.98879610e-01 -1.31269582e-04 2.15408225e+00] [ 5.59614616e-03 -1.33711109e-04 9.99984333e-01 7.29729478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.27, Y:2.15, Z:0.73 [[ 9.98799787e-01 -4.86586838e-02 -5.59619575e-03 2.16271530e+02] [ 4.86587097e-02 9.98815455e-01 -1.31618895e-04 2.15073588e+00] [ 5.59597121e-03 -1.40842740e-04 9.99984333e-01 7.31547204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:216.30, Y:2.15, Z:0.73 [[ 9.98758346e-01 -4.95020002e-02 -5.59618763e-03 2.16301256e+02] [ 4.95020373e-02 9.98774014e-01 -1.31963221e-04 2.15031695e+00] [ 5.59585923e-03 -1.45223321e-04 9.99984333e-01 7.32215216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.33, Y:2.15, Z:0.73 [[ 9.98681411e-01 -5.10306092e-02 -5.59617950e-03 2.16330606e+02] [ 5.10306683e-02 9.98697078e-01 -1.32307297e-04 2.14562724e+00] [ 5.59563983e-03 -1.53443942e-04 9.99984333e-01 7.32420459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:216.36, Y:2.14, Z:0.73 [[ 9.98626972e-01 -5.20850555e-02 -5.59617132e-03 2.16360794e+02] [ 5.20851293e-02 9.98642640e-01 -1.32652433e-04 2.14347386e+00] [ 5.59548450e-03 -1.59007009e-04 9.99984333e-01 7.32376509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.39, Y:2.14, Z:0.73 [[ 9.98595453e-01 -5.26859085e-02 -5.59616320e-03 2.16390671e+02] [ 5.26859898e-02 9.98611120e-01 -1.32993796e-04 2.14152548e+00] [ 5.59539770e-03 -1.62032398e-04 9.99984333e-01 7.32669477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.42, Y:2.14, Z:0.73 [[ 9.98511790e-01 -5.42484034e-02 -5.59615504e-03 2.16420276e+02] [ 5.42485073e-02 9.98527457e-01 -1.33336261e-04 2.13597324e+00] [ 5.59514774e-03 -1.70445229e-04 9.99984333e-01 7.33052009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.45, Y:2.13, Z:0.73 [[ 9.98468330e-01 -5.50425108e-02 -5.59614687e-03 2.16450001e+02] [ 5.50426252e-02 9.98483997e-01 -1.33678233e-04 2.13297285e+00] [ 5.59502108e-03 -1.74553133e-04 9.99984333e-01 7.32491526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.48, Y:2.13, Z:0.73 [[ 9.98412385e-01 -5.60481229e-02 -5.59613874e-03 2.16480330e+02] [ 5.60482512e-02 9.98428052e-01 -1.34017826e-04 2.12608595e+00] [ 5.59485335e-03 -1.79848732e-04 9.99984333e-01 7.33310304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.51, Y:2.12, Z:0.73 [[ 9.98412729e-01 -5.60420096e-02 -5.59612582e-03 2.16510503e+02] [ 5.60421349e-02 9.98428396e-01 -1.34555165e-04 2.12393118e+00] [ 5.59487167e-03 -1.79277249e-04 9.99984333e-01 7.33995493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.54, Y:2.12, Z:0.73 [[ 9.98507978e-01 -5.43185127e-02 -5.59611759e-03 2.16540364e+02] [ 5.43186089e-02 9.98523645e-01 -1.34896830e-04 2.11845543e+00] [ 5.59518313e-03 -1.69277762e-04 9.99984333e-01 7.34462873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.57, Y:2.12, Z:0.74 [[ 9.98555418e-01 -5.34393207e-02 -5.59610930e-03 2.16569277e+02] [ 5.34394013e-02 9.98571085e-01 -1.35239787e-04 2.11591372e+00] [ 5.59534006e-03 -1.64008308e-04 9.99984333e-01 7.35125958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:216.60, Y:2.11, Z:0.75 [[ 9.98650241e-01 -5.16370043e-02 -5.59609261e-03 2.16596351e+02] [ 5.16370528e-02 9.98665908e-01 -1.35926983e-04 2.11211173e+00] [ 5.59564577e-03 -1.53222215e-04 9.99984333e-01 7.54023013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.63, Y:2.11, Z:0.74 [[ 9.98937025e-01 -4.57550531e-02 -5.59418651e-03 2.16629419e+02] [ 4.57545745e-02 9.98952688e-01 -2.13582062e-04 2.11169649e+00] [ 5.59810011e-03 -4.26045937e-05 9.99984330e-01 7.36211505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:2.11, Z:0.74 [[ 9.99038391e-01 -4.34853746e-02 -5.59609053e-03 2.16658420e+02] [ 4.34853050e-02 9.99054058e-01 -1.34164829e-04 2.11186907e+00] [ 5.59663116e-03 -1.09311889e-04 9.99984333e-01 7.35990317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.69, Y:2.11, Z:0.74 [[ 9.99179239e-01 -4.01189880e-02 -5.59607351e-03 2.16687622e+02] [ 4.01188616e-02 9.99194905e-01 -1.34871271e-04 2.11232120e+00] [ 5.59697904e-03 -8.97475252e-05 9.99984333e-01 7.36433959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.72, Y:2.11, Z:0.74 [[ 9.99327544e-01 -3.62373291e-02 -5.59606065e-03 2.16717014e+02] [ 3.62371389e-02 9.99343210e-01 -1.35402654e-04 2.11114513e+00] [ 5.59729185e-03 -6.74736254e-05 9.99984333e-01 7.36281492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:216.75, Y:2.11, Z:0.75 [[ 9.99346224e-01 -3.57184671e-02 -5.59603351e-03 2.16745910e+02] [ 3.57182626e-02 9.99361890e-01 -1.36515084e-04 2.11106757e+00] [ 5.59733874e-03 -6.34547604e-05 9.99984333e-01 7.54075911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.78, Y:2.11, Z:0.74 [[ 9.99473432e-01 -3.19616815e-02 -5.59543085e-03 2.16777755e+02] [ 3.19612791e-02 9.99489095e-01 -1.61343768e-04 2.11250099e+00] [ 5.59772893e-03 -1.75783167e-05 9.99984332e-01 7.38529309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:216.81, Y:2.11, Z:0.76 [[ 9.99474611e-01 -3.19246961e-02 -5.59608540e-03 2.16806668e+02] [ 3.19244462e-02 9.99490276e-01 -1.34010583e-04 2.11315038e+00] [ 5.59751119e-03 -4.47117517e-05 9.99984333e-01 7.55299457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.84, Y:2.12, Z:0.74 [[ 9.99577559e-01 -2.85200840e-02 -5.59546408e-03 2.16837654e+02] [ 2.85196361e-02 9.99593220e-01 -1.59835267e-04 2.11629390e+00] [ 5.59774647e-03 1.87146871e-07 9.99984332e-01 7.37972417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.87, Y:2.12, Z:0.74 [[ 9.99573809e-01 -2.86510788e-02 -5.59610211e-03 2.16866965e+02] [ 2.86507833e-02 9.99589473e-01 -1.32986941e-04 2.11693443e+00] [ 5.59761498e-03 -2.74024456e-05 9.99984333e-01 7.38136005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:216.90, Y:2.12, Z:0.75 [[ 9.99620116e-01 -2.69871565e-02 -5.59608456e-03 2.16897146e+02] [ 2.69868308e-02 9.99635780e-01 -1.33721163e-04 2.11963791e+00] [ 5.59765511e-03 -1.73502229e-05 9.99984333e-01 7.53690212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:216.93, Y:2.12, Z:0.75 [[ 9.99687280e-01 -2.43727090e-02 -5.59587582e-03 2.16926618e+02] [ 2.43722934e-02 9.99702941e-01 -1.42461518e-04 2.12415468e+00] [ 5.59768569e-03 6.03263990e-06 9.99984333e-01 7.53469442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:216.96, Y:2.13, Z:0.75 [[ 9.99689883e-01 -2.42657440e-02 -5.59571937e-03 2.16955101e+02] [ 2.42652898e-02 9.99705543e-01 -1.49059160e-04 2.12626277e+00] [ 5.59768870e-03 1.32311825e-05 9.99984333e-01 7.53738439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.99, Y:2.13, Z:0.74 [[ 9.99742533e-01 -2.19899853e-02 -5.59540149e-03 2.16986409e+02] [ 2.19894207e-02 9.99758190e-01 -1.62407063e-04 2.12917615e+00] [ 5.59761979e-03 3.93256114e-05 9.99984332e-01 7.39235964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864000000002 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:217.02, Y:2.13, Z:0.75 [[ 9.99692217e-01 -2.41693051e-02 -5.59612052e-03 2.17015302e+02] [ 2.41689455e-02 9.99707880e-01 -1.31901161e-04 2.13399647e+00] [ 5.59767374e-03 -3.39176717e-06 9.99984333e-01 7.53724917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.05, Y:2.14, Z:0.74 [[ 9.99705152e-01 -2.36283301e-02 -5.59561956e-03 2.17046398e+02] [ 2.36278427e-02 9.99720812e-01 -1.53203932e-04 2.13693867e+00] [ 5.59767728e-03 2.09463413e-05 9.99984333e-01 7.38642898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:2.14, Z:0.74 [[ 9.99623253e-01 -2.68707286e-02 -5.59613054e-03 2.17075501e+02] [ 2.68704138e-02 9.99638917e-01 -1.31450362e-04 2.13834163e+00] [ 5.59764203e-03 -1.89695048e-05 9.99984333e-01 7.39269118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87864000000002 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:217.10, Y:2.14, Z:0.75 [[ 9.99549994e-01 -2.94701910e-02 -5.59611312e-03 2.17104370e+02] [ 2.94699128e-02 9.99565659e-01 -1.32187713e-04 2.13860739e+00] [ 5.59757810e-03 -3.27887382e-05 9.99984333e-01 7.54595819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.14, Y:2.14, Z:0.74 [[ 9.99456259e-01 -3.24942007e-02 -5.59575229e-03 2.17135504e+02] [ 3.24938848e-02 9.99471923e-01 -1.47383257e-04 2.14037497e+00] [ 5.59758640e-03 -3.45246110e-05 9.99984333e-01 7.39878690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:217.17, Y:2.14, Z:0.75 [[ 9.99407232e-01 -3.39686267e-02 -5.59611196e-03 2.17165613e+02] [ 3.39684191e-02 9.99422898e-01 -1.32152489e-04 2.13996171e+00] [ 5.59737147e-03 -5.80169234e-05 9.99984333e-01 7.54770250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:217.19, Y:2.14, Z:0.76 [[ 9.99265973e-01 -3.78972238e-02 -5.59599905e-03 2.17194557e+02] [ 3.78970512e-02 9.99281639e-01 -1.36914730e-04 2.13580672e+00] [ 5.59716779e-03 -7.52576315e-05 9.99984333e-01 7.55171646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:217.22, Y:2.13, Z:0.75 [[ 9.99253422e-01 -3.82268416e-02 -5.59519708e-03 2.17224118e+02] [ 3.82264836e-02 9.99269086e-01 -1.70956818e-04 2.13473686e+00] [ 5.59764261e-03 -4.30555240e-05 9.99984332e-01 7.54183607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:2.13, Z:0.74 [[ 9.99267574e-01 -3.78550845e-02 -5.59540802e-03 2.17255291e+02] [ 3.78547716e-02 9.99283238e-01 -1.61859572e-04 2.13452350e+00] [ 5.59752465e-03 -5.00718703e-05 9.99984332e-01 7.39276285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.28, Y:2.13, Z:0.74 [[ 9.99276694e-01 -3.76134454e-02 -5.59616643e-03 2.17284376e+02] [ 3.76133129e-02 9.99292361e-01 -1.28945036e-04 2.13261297e+00] [ 5.59705643e-03 -8.16385893e-05 9.99984333e-01 7.38926536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.31, Y:2.13, Z:0.74 [[ 9.99269647e-01 -3.78002133e-02 -5.59614998e-03 2.17313203e+02] [ 3.78000798e-02 9.99285313e-01 -1.29654911e-04 2.13123233e+00] [ 5.59705147e-03 -8.19746986e-05 9.99984333e-01 7.39694038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:217.34, Y:2.13, Z:0.76 [[ 9.99272626e-01 -3.77213850e-02 -5.59613350e-03 2.17341959e+02] [ 3.77212463e-02 9.99288292e-01 -1.30362413e-04 2.12723466e+00] [ 5.59706814e-03 -8.08255395e-05 9.99984333e-01 7.55674092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:2.13, Z:0.74 [[ 9.99336376e-01 -3.59930593e-02 -5.59522390e-03 2.17373255e+02] [ 3.59926751e-02 9.99352039e-01 -1.69383431e-04 2.12680128e+00] [ 5.59769505e-03 -3.21160516e-05 9.99984332e-01 7.40861553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:217.40, Y:2.12, Z:0.75 [[ 9.99332707e-01 -3.60946603e-02 -5.59616344e-03 2.17401522e+02] [ 3.60945068e-02 9.99348373e-01 -1.28451290e-04 2.12364901e+00] [ 5.59715323e-03 -7.36251841e-05 9.99984333e-01 7.54749620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:217.43, Y:2.12, Z:0.76 [[ 9.99317707e-01 -3.65076658e-02 -5.59558675e-03 2.17430045e+02] [ 3.65073800e-02 9.99333372e-01 -1.53238234e-04 2.12218949e+00] [ 5.59745095e-03 -5.11465315e-05 9.99984333e-01 7.55560861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:217.46, Y:2.12, Z:0.76 [[ 9.99324434e-01 -3.63230834e-02 -5.59538852e-03 2.17460967e+02] [ 3.63227464e-02 9.99340098e-01 -1.61856797e-04 2.12100487e+00] [ 5.59757525e-03 -4.14924265e-05 9.99984333e-01 7.57156418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:217.49, Y:2.12, Z:0.76 [[ 9.99318554e-01 -3.64844361e-02 -5.59590933e-03 2.17491402e+02] [ 3.64842286e-02 9.99334219e-01 -1.39189066e-04 2.11805023e+00] [ 5.59726192e-03 -6.50682190e-05 9.99984333e-01 7.57010609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29864 meters Centerline goodness : 0.985963 Centerline is valid? [True, True] Translation: X:217.55, Y:2.13, Z:0.75 [[ 9.99983627e-01 1.19654745e-03 -5.59594802e-03 2.17550948e+02] [-1.19733566e-03 9.99999274e-01 -1.37506888e-04 2.13457158e+00] [ 5.59577942e-03 1.44204864e-04 9.99984333e-01 7.53719073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:217.55, Y:2.11, Z:0.76 [[ 9.99324024e-01 -3.63314902e-02 -5.61409129e-03 2.17546843e+02] [ 3.63360557e-02 9.99339373e-01 7.13338581e-04 2.11117137e+00] [ 5.58446582e-03 -9.16850315e-04 9.99983986e-01 7.57893893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:217.58, Y:2.11, Z:0.76 [[ 9.99373111e-01 -3.49590601e-02 -5.59008899e-03 2.17575965e+02] [ 3.49586870e-02 9.99388745e-01 -1.64462258e-04 2.11188608e+00] [ 5.59242147e-03 -3.10630137e-05 9.99984362e-01 7.59288172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:217.61, Y:2.11, Z:0.76 [[ 9.99446890e-01 -3.27820804e-02 -5.59001928e-03 2.17606233e+02] [ 3.27816590e-02 9.99462523e-01 -1.67006059e-04 2.11231177e+00] [ 5.59248957e-03 -1.63364195e-05 9.99984362e-01 7.59522854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.64, Y:2.11, Z:0.74 [[ 9.99478526e-01 -3.18028806e-02 -5.59045819e-03 2.17636425e+02] [ 3.18025335e-02 9.99494160e-01 -1.50988594e-04 2.11291642e+00] [ 5.59243219e-03 -2.68808768e-05 9.99984362e-01 7.44695164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:217.67, Y:2.11, Z:0.76 [[ 9.99498108e-01 -3.11814024e-02 -5.59039663e-03 2.17665553e+02] [ 3.11810331e-02 9.99513742e-01 -1.53234609e-04 2.10987660e+00] [ 5.59245632e-03 -2.11566403e-05 9.99984362e-01 7.58366226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:217.69, Y:2.11, Z:0.76 [[ 9.99504605e-01 -3.09724045e-02 -5.59050674e-03 2.17694169e+02] [ 3.09720542e-02 9.99520240e-01 -1.49240274e-04 2.10754431e+00] [ 5.59244696e-03 -2.39831370e-05 9.99984362e-01 7.59257358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.72, Y:2.11, Z:0.75 [[ 9.99505298e-01 -3.09500019e-02 -5.59075761e-03 2.17723993e+02] [ 3.09497021e-02 9.99520933e-01 -1.40157881e-04 2.10869107e+00] [ 5.59241715e-03 -3.29437377e-05 9.99984362e-01 7.46270472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.75, Y:2.11, Z:0.75 [[ 9.99528990e-01 -3.01752515e-02 -5.59033869e-03 2.17753312e+02] [ 3.01748551e-02 9.99544623e-01 -1.55243182e-04 2.10939003e+00] [ 5.59247748e-03 -1.35175995e-05 9.99984362e-01 7.46078308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.78, Y:2.11, Z:0.75 [[ 9.99545374e-01 -2.96275973e-02 -5.59032306e-03 2.17782610e+02] [ 2.96271893e-02 9.99561006e-01 -1.55803848e-04 2.10792429e+00] [ 5.59248504e-03 -9.89254425e-06 9.99984362e-01 7.46413430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:217.81, Y:2.11, Z:0.75 [[ 9.99573619e-01 -2.86588324e-02 -5.59030233e-03 2.17811479e+02] [ 2.86584051e-02 9.99589251e-01 -1.56544159e-04 2.10814439e+00] [ 5.59249250e-03 -3.73173723e-06 9.99984362e-01 7.47953780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:217.84, Y:2.11, Z:0.75 [[ 9.99620853e-01 -2.69610574e-02 -5.59028149e-03 2.17840123e+02] [ 2.69605994e-02 9.99636485e-01 -1.57285046e-04 2.10921695e+00] [ 5.59248991e-03 6.50807240e-06 9.99984362e-01 7.49280960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:217.87, Y:2.11, Z:0.76 [[ 9.99621788e-01 -2.69263718e-02 -5.59026028e-03 2.17870191e+02] [ 2.69259091e-02 9.99637419e-01 -1.58035284e-04 2.10926595e+00] [ 5.59248868e-03 7.45267311e-06 9.99984362e-01 7.64119142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:217.90, Y:2.11, Z:0.76 [[ 9.99634847e-01 -2.64370849e-02 -5.59041021e-03 2.17899501e+02] [ 2.64366441e-02 9.99650479e-01 -1.52741191e-04 2.10957085e+00] [ 5.59249427e-03 4.89373222e-06 9.99984362e-01 7.63816689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:217.93, Y:2.11, Z:0.76 [[ 9.99649273e-01 -2.58858917e-02 -5.59025604e-03 2.17928661e+02] [ 2.58854118e-02 9.99664904e-01 -1.58184215e-04 2.10990445e+00] [ 5.59247751e-03 1.34226560e-05 9.99984362e-01 7.63438992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:217.96, Y:2.11, Z:0.75 [[ 9.99679228e-01 -2.47020464e-02 -5.59015614e-03 2.17958863e+02] [ 2.47015283e-02 9.99694858e-01 -1.61703361e-04 2.11180696e+00] [ 5.59244475e-03 2.35660907e-05 9.99984362e-01 7.49300286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77864 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:217.99, Y:2.11, Z:0.76 [[ 9.99735468e-01 -2.23101765e-02 -5.59023249e-03 2.17987897e+02] [ 2.23096361e-02 9.99751096e-01 -1.59019358e-04 2.11392417e+00] [ 5.59238881e-03 3.42612398e-05 9.99984362e-01 7.63815298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80864 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:218.02, Y:2.12, Z:0.76 [[ 9.99751945e-01 -2.15591343e-02 -5.59033218e-03 2.18016303e+02] [ 2.15586017e-02 9.99767574e-01 -1.55531864e-04 2.11542307e+00] [ 5.59238597e-03 3.49735390e-05 9.99984362e-01 7.64783934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83864 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:218.04, Y:2.12, Z:0.76 [[ 9.99755088e-01 -2.14128998e-02 -5.59023823e-03 2.18044586e+02] [ 2.14123466e-02 9.99770717e-01 -1.58806545e-04 2.11733834e+00] [ 5.59235699e-03 3.90675328e-05 9.99984362e-01 7.64543926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86864 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:218.07, Y:2.12, Z:0.77 [[ 9.99790391e-01 -1.96958192e-02 -5.59000762e-03 2.18072531e+02] [ 1.96951945e-02 9.99806017e-01 -1.66790917e-04 2.12177220e+00] [ 5.59220834e-03 5.66596690e-05 9.99984362e-01 7.67218183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89864 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:218.10, Y:2.13, Z:0.77 [[ 9.99857834e-01 -1.59083833e-02 -5.58890035e-03 2.18104934e+02] [ 1.59074842e-02 9.99873447e-01 -2.05276172e-04 2.12650668e+00] [ 5.59145867e-03 1.16341644e-04 9.99984361e-01 7.65553298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:218.13, Y:2.13, Z:0.75 [[ 9.99882208e-01 -1.42939674e-02 -5.59042850e-03 2.18134957e+02] [ 1.42933428e-02 9.99897833e-01 -1.51676852e-04 2.12971861e+00] [ 5.59202541e-03 7.17530750e-05 9.99984362e-01 7.51268945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:218.16, Y:2.13, Z:0.75 [[ 9.99884378e-01 -1.41414623e-02 -5.59022471e-03 2.18163968e+02] [ 1.41407952e-02 9.99900001e-01 -1.58848525e-04 2.13376567e+00] [ 5.59191205e-03 7.97799354e-05 9.99984362e-01 7.51336739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98864 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:218.19, Y:2.14, Z:0.76 [[ 9.99875133e-01 -1.47806572e-02 -5.59020356e-03 2.18192867e+02] [ 1.47799959e-02 9.99890757e-01 -1.59589401e-04 2.14039422e+00] [ 5.59195171e-03 7.69462881e-05 9.99984362e-01 7.64611604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:218.22, Y:2.14, Z:0.75 [[ 9.99899966e-01 -1.29928099e-02 -5.58978594e-03 2.18224219e+02] [ 1.29920393e-02 9.99915585e-01 -1.74150403e-04 2.14390121e+00] [ 5.59157678e-03 1.01510264e-04 9.99984362e-01 7.50789294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04864 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:218.25, Y:2.15, Z:0.76 [[ 9.99882276e-01 -1.42892700e-02 -5.59020357e-03 2.18253045e+02] [ 1.42886014e-02 9.99897900e-01 -1.59514677e-04 2.15027993e+00] [ 5.59191215e-03 7.96197080e-05 9.99984362e-01 7.64838851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07864 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:218.28, Y:2.15, Z:0.76 [[ 9.99891470e-01 -1.36310126e-02 -5.58967405e-03 2.18282856e+02] [ 1.36302302e-02 9.99907088e-01 -1.78043652e-04 2.15446937e+00] [ 5.59158162e-03 1.01835785e-04 9.99984362e-01 7.64413518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10864 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:218.31, Y:2.16, Z:0.76 [[ 9.99898837e-01 -1.30794328e-02 -5.58966414e-03 2.18311455e+02] [ 1.30786399e-02 9.99914455e-01 -1.78390969e-04 2.15823390e+00] [ 5.59151923e-03 1.05267718e-04 9.99984362e-01 7.64238114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13864 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:218.34, Y:2.16, Z:0.76 [[ 9.99876629e-01 -1.46794055e-02 -5.58948869e-03 2.18340195e+02] [ 1.46786030e-02 9.99892246e-01 -1.84571307e-04 2.16437829e+00] [ 5.59159580e-03 1.02502651e-04 9.99984362e-01 7.64858561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16864 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:218.37, Y:2.17, Z:0.77 [[ 9.99850463e-01 -1.63649355e-02 -5.58934435e-03 2.18368894e+02] [ 1.63641308e-02 9.99866081e-01 -1.89691144e-04 2.16830129e+00] [ 5.59170011e-03 9.81980161e-05 9.99984362e-01 7.65269544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:218.40, Y:2.17, Z:0.75 [[ 9.99838221e-01 -1.70966441e-02 -5.58901410e-03 2.18400180e+02] [ 1.70957853e-02 9.99853836e-01 -2.01405087e-04 2.17437550e+00] [ 5.59164054e-03 1.05823919e-04 9.99984361e-01 7.51161661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22864 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:218.43, Y:2.18, Z:0.77 [[ 9.99763466e-01 -2.10181007e-02 -5.59026900e-03 2.18427910e+02] [ 2.10175535e-02 9.99779095e-01 -1.56611203e-04 2.17669060e+00] [ 5.59232575e-03 3.90803810e-05 9.99984362e-01 7.65035912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25864 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:218.46, Y:2.18, Z:0.77 [[ 9.99693147e-01 -2.41324376e-02 -5.58898338e-03 2.18456524e+02] [ 2.41316849e-02 9.99708768e-01 -2.02081127e-04 2.18163747e+00] [ 5.59223240e-03 6.71475323e-05 9.99984361e-01 7.66528758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864000000002 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:218.49, Y:2.18, Z:0.77 [[ 9.99662756e-01 -2.53601760e-02 -5.58885671e-03 2.18485950e+02] [ 2.53594172e-02 9.99678377e-01 -2.06605751e-04 2.18491101e+00] [ 5.59229876e-03 6.48059253e-05 9.99984361e-01 7.66377091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31864000000002 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:218.51, Y:2.19, Z:0.77 [[ 9.99589289e-01 -2.81071657e-02 -5.58934521e-03 2.18514797e+02] [ 2.81065479e-02 9.99604915e-01 -1.89060749e-04 2.18668343e+00] [ 5.59245091e-03 3.18859004e-05 9.99984362e-01 7.67760861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:218.55, Y:2.19, Z:0.75 [[ 9.99491240e-01 -3.14010241e-02 -5.58899716e-03 2.18545829e+02] [ 3.14003878e-02 9.99506866e-01 -2.01585380e-04 2.18785694e+00] [ 5.59257102e-03 2.59861432e-05 9.99984361e-01 7.50939388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:218.57, Y:2.19, Z:0.75 [[ 9.99347324e-01 -3.56885679e-02 -5.59031296e-03 2.18574662e+02] [ 3.56882662e-02 9.99362959e-01 -1.53740416e-04 2.18745999e+00] [ 5.59223848e-03 -4.58685042e-05 9.99984362e-01 7.51267750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:218.60, Y:2.19, Z:0.77 [[ 9.99286316e-01 -3.73578301e-02 -5.59029301e-03 2.18602514e+02] [ 3.73575505e-02 9.99301951e-01 -1.54462330e-04 2.18828205e+00] [ 5.59216109e-03 -5.44875606e-05 9.99984362e-01 7.67279282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:218.63, Y:2.19, Z:0.75 [[ 9.99299178e-01 -3.70123639e-02 -5.58916140e-03 2.18634170e+02] [ 3.70118503e-02 9.99314808e-01 -1.95327765e-04 2.18981617e+00] [ 5.59256129e-03 -1.16743305e-05 9.99984361e-01 7.51761617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:218.66, Y:2.19, Z:0.75 [[ 9.99284605e-01 -3.74035594e-02 -5.59030652e-03 2.18663394e+02] [ 3.74032850e-02 9.99300240e-01 -1.53670152e-04 2.18992902e+00] [ 5.59214246e-03 -5.55356107e-05 9.99984362e-01 7.51255268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:218.69, Y:2.19, Z:0.75 [[ 9.99279806e-01 -3.75315614e-02 -5.59028673e-03 2.18692697e+02] [ 3.75312850e-02 9.99295441e-01 -1.54386894e-04 2.19070578e+00] [ 5.59214242e-03 -5.55349388e-05 9.99984362e-01 7.51419235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52864 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:218.72, Y:2.19, Z:0.77 [[ 9.99272840e-01 -3.77165873e-02 -5.59026686e-03 2.18721264e+02] [ 3.77163098e-02 9.99288475e-01 -1.55102962e-04 2.19055823e+00] [ 5.59213920e-03 -5.58540594e-05 9.99984362e-01 7.67073290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55864 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:218.75, Y:2.19, Z:0.77 [[ 9.99350649e-01 -3.55954760e-02 -5.58946338e-03 2.18750493e+02] [ 3.55950048e-02 9.99366280e-01 -1.83788372e-04 2.19150580e+00] [ 5.59246326e-03 -1.52879471e-05 9.99984362e-01 7.67084530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58864 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:218.78, Y:2.19, Z:0.77 [[ 9.99406755e-01 -3.39837629e-02 -5.58940182e-03 2.18779501e+02] [ 3.39832542e-02 9.99422385e-01 -1.85992489e-04 2.19230199e+00] [ 5.59249403e-03 -4.06391257e-06 9.99984362e-01 7.67842897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61864 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:218.81, Y:2.19, Z:0.77 [[ 9.99419685e-01 -3.36013328e-02 -5.58968004e-03 2.18808038e+02] [ 3.36008741e-02 9.99435316e-01 -1.75978046e-04 2.19220232e+00] [ 5.59243673e-03 -1.19422123e-05 9.99984362e-01 7.68382187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64864 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:218.84, Y:2.19, Z:0.77 [[ 9.99391260e-01 -3.44363709e-02 -5.58977440e-03 2.18837537e+02] [ 3.44359442e-02 9.99406892e-01 -1.72593853e-04 2.19084812e+00] [ 5.59240257e-03 -2.00003715e-05 9.99984362e-01 7.69640004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67864 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:218.87, Y:2.19, Z:0.77 [[ 9.99337662e-01 -3.59581408e-02 -5.59011543e-03 2.18866539e+02] [ 3.59578065e-02 9.99353296e-01 -1.60314727e-04 2.19100497e+00] [ 5.59226490e-03 -4.07997444e-05 9.99984362e-01 7.71079960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70864 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:218.90, Y:2.19, Z:0.77 [[ 9.99363514e-01 -3.52324201e-02 -5.58964693e-03 2.18896338e+02] [ 3.52319803e-02 9.99379145e-01 -1.77144932e-04 2.19091167e+00] [ 5.59241782e-03 -1.99021491e-05 9.99984362e-01 7.71119582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73864 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:218.93, Y:2.19, Z:0.77 [[ 9.99401817e-01 -3.41285770e-02 -5.58995687e-03 2.18925653e+02] [ 3.41281826e-02 9.99417450e-01 -1.65947169e-04 2.19036817e+00] [ 5.59236398e-03 -2.49271665e-05 9.99984362e-01 7.71228710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:218.96, Y:2.19, Z:0.76 [[ 9.99438128e-01 -3.30481370e-02 -5.59013434e-03 2.18956108e+02] [ 3.30477618e-02 9.99453761e-01 -1.59506441e-04 2.19076524e+00] [ 5.59235218e-03 -2.53246097e-05 9.99984362e-01 7.56398484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:218.98, Y:2.19, Z:0.76 [[ 9.99491404e-01 -3.13955669e-02 -5.59027024e-03 2.18984630e+02] [ 3.13951933e-02 9.99507037e-01 -1.54592243e-04 2.19125325e+00] [ 5.59236796e-03 -2.09939965e-05 9.99984362e-01 7.57581322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:219.01, Y:2.19, Z:0.76 [[ 9.99510560e-01 -3.07796777e-02 -5.59025008e-03 2.19013767e+02] [ 3.07792904e-02 9.99526193e-01 -1.55317865e-04 2.19023277e+00] [ 5.59238201e-03 -1.68220842e-05 9.99984362e-01 7.57862391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85864 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:219.04, Y:2.19, Z:0.77 [[ 9.99469696e-01 -3.20792305e-02 -5.59022966e-03 2.19042832e+02] [ 3.20788595e-02 9.99485329e-01 -1.56049485e-04 2.19036863e+00] [ 5.59235847e-03 -2.33614598e-05 9.99984362e-01 7.73106670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:219.07, Y:2.19, Z:0.76 [[ 9.99500729e-01 -3.10973423e-02 -5.59002899e-03 2.19072714e+02] [ 3.10969156e-02 9.99516361e-01 -1.63252850e-04 2.19223889e+00] [ 5.59240216e-03 -1.06613173e-05 9.99984362e-01 7.59214580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91864 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:219.10, Y:2.19, Z:0.78 [[ 9.99515691e-01 -3.06126159e-02 -5.59026410e-03 2.19101962e+02] [ 3.06122292e-02 9.99531324e-01 -1.54759940e-04 2.19400911e+00] [ 5.59238169e-03 -1.64454570e-05 9.99984362e-01 7.75985729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94864 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:219.13, Y:2.19, Z:0.78 [[ 9.99534555e-01 -2.99903898e-02 -5.59023746e-03 2.19130490e+02] [ 2.99899880e-02 9.99550187e-01 -1.55720791e-04 2.19486702e+00] [ 5.59239302e-03 -1.20028424e-05 9.99984362e-01 7.76613352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97864 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:219.16, Y:2.20, Z:0.78 [[ 9.99592916e-01 -2.79777520e-02 -5.59003470e-03 2.19161050e+02] [ 2.79772777e-02 9.99608546e-01 -1.63039151e-04 2.19598798e+00] [ 5.59240793e-03 6.57882698e-06 9.99984362e-01 7.75657087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00864 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:219.19, Y:2.20, Z:0.78 [[ 9.99590567e-01 -2.80613852e-02 -5.59071567e-03 2.19189305e+02] [ 2.80610509e-02 9.99606202e-01 -1.38238968e-04 2.19666497e+00] [ 5.59239323e-03 -1.86989884e-05 9.99984362e-01 7.76366705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03864000000002 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:219.22, Y:2.20, Z:0.78 [[ 9.99626221e-01 -2.67613120e-02 -5.59025446e-03 2.19217921e+02] [ 2.67608643e-02 9.99641852e-01 -1.54875474e-04 2.19690104e+00] [ 5.59239699e-03 5.21754315e-06 9.99984362e-01 7.77842651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06864000000002 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:219.25, Y:2.20, Z:0.78 [[ 9.99617816e-01 -2.70734236e-02 -5.59030585e-03 2.19246261e+02] [ 2.70729911e-02 9.99633448e-01 -1.53035012e-04 2.19700047e+00] [ 5.59239989e-03 1.63022359e-06 9.99984362e-01 7.78030152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09864000000002 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:219.28, Y:2.20, Z:0.76 [[ 9.99671160e-01 -2.50264490e-02 -5.59001529e-03 2.19277061e+02] [ 2.50259261e-02 9.99686789e-01 -1.63476234e-04 2.19700200e+00] [ 5.59235567e-03 2.35271669e-05 9.99984362e-01 7.63316261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864000000002 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:219.31, Y:2.20, Z:0.76 [[ 9.99673931e-01 -2.49154588e-02 -5.59026457e-03 2.19305543e+02] [ 2.49149847e-02 9.99689562e-01 -1.54454204e-04 2.19774523e+00] [ 5.59237743e-03 1.51224856e-05 9.99984362e-01 7.63186994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15864 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:219.34, Y:2.20, Z:0.78 [[ 9.99691318e-01 -2.42078215e-02 -5.59024412e-03 2.19335774e+02] [ 2.42073321e-02 9.99706948e-01 -1.55190782e-04 2.19787655e+00] [ 5.59236271e-03 1.98179810e-05 9.99984362e-01 7.79662320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:219.37, Y:2.20, Z:0.78 [[ 9.99685754e-01 -2.44364352e-02 -5.59056935e-03 2.19365089e+02] [ 2.44360148e-02 9.99701386e-01 -1.43503403e-04 2.19710014e+00] [ 5.59240664e-03 6.84707253e-06 9.99984362e-01 7.79609055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21864 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:219.39, Y:2.20, Z:0.78 [[ 9.99723023e-01 -2.28609894e-02 -5.59034273e-03 2.19394971e+02] [ 2.28604988e-02 9.99738653e-01 -1.51644529e-04 2.19722762e+00] [ 5.59234846e-03 2.38045035e-05 9.99984362e-01 7.78754819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24864 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:219.42, Y:2.20, Z:0.78 [[ 9.99782432e-01 -2.00956451e-02 -5.59048432e-03 2.19424678e+02] [ 2.00951395e-02 9.99798062e-01 -1.46598048e-04 2.19899042e+00] [ 5.59230137e-03 3.42245900e-05 9.99984362e-01 7.81239745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27864 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:219.46, Y:2.20, Z:0.78 [[ 9.99827720e-01 -1.76997253e-02 -5.59015386e-03 2.19455961e+02] [ 1.76991168e-02 9.99843346e-01 -1.58313861e-04 2.20129486e+00] [ 5.59208025e-03 5.93458010e-05 9.99984362e-01 7.80244199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30864 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:219.48, Y:2.20, Z:0.78 [[ 9.99859265e-01 -1.58175255e-02 -5.59076914e-03 2.19484975e+02] [ 1.58170092e-02 9.99874894e-01 -1.36553617e-04 2.20294325e+00] [ 5.59222964e-03 4.81051520e-05 9.99984362e-01 7.79117592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:219.51, Y:2.21, Z:0.77 [[ 9.99903361e-01 -1.27283388e-02 -5.59080212e-03 2.19514320e+02] [ 1.27277807e-02 9.99918989e-01 -1.35399556e-04 2.20633272e+00] [ 5.59207262e-03 6.42279682e-05 9.99984362e-01 7.65562773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36864 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:219.55, Y:2.21, Z:0.78 [[ 9.99901984e-01 -1.28364100e-02 -5.59003840e-03 2.19545004e+02] [ 1.28357061e-02 9.99917606e-01 -1.61787376e-04 2.20953312e+00] [ 5.59165458e-03 9.00194280e-05 9.99984363e-01 7.80085175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39864 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:219.57, Y:2.22, Z:0.78 [[ 9.99893469e-01 -1.34831770e-02 -5.59066383e-03 2.19573883e+02] [ 1.34826038e-02 9.99909096e-01 -1.40203805e-04 2.21506125e+00] [ 5.59204601e-03 6.48121640e-05 9.99984362e-01 7.81240790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42864 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:219.60, Y:2.22, Z:0.78 [[ 9.99897077e-01 -1.32128469e-02 -5.59069217e-03 2.19602972e+02] [ 1.32122748e-02 9.99912704e-01 -1.39236833e-04 2.21720143e+00] [ 5.59204384e-03 6.53567413e-05 9.99984362e-01 7.81514739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45864 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:219.63, Y:2.22, Z:0.78 [[ 9.99903335e-01 -1.27305484e-02 -5.59050897e-03 2.19632092e+02] [ 1.27299340e-02 9.99918961e-01 -1.45459618e-04 2.22129328e+00] [ 5.59190770e-03 7.42787466e-05 9.99984362e-01 7.81222581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:219.66, Y:2.23, Z:0.77 [[ 9.99920875e-01 -1.12689378e-02 -5.59062349e-03 2.19661373e+02] [ 1.12683221e-02 9.99936500e-01 -1.41616188e-04 2.22574996e+00] [ 5.59186435e-03 7.86080367e-05 9.99984362e-01 7.65435739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51864 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:219.69, Y:2.23, Z:0.78 [[ 9.99915770e-01 -1.17134860e-02 -5.58987524e-03 2.19691542e+02] [ 1.17127371e-02 9.99931390e-01 -1.66706041e-04 2.23067580e+00] [ 5.59144443e-03 1.01219260e-04 9.99984363e-01 7.80783141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54864 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:219.72, Y:2.24, Z:0.78 [[ 9.99935868e-01 -9.84923374e-03 -5.59037646e-03 2.19720938e+02] [ 9.84854980e-03 9.99951491e-01 -1.49858770e-04 2.23778470e+00] [ 5.59158127e-03 9.47920586e-05 9.99984362e-01 7.78904196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57864 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:219.75, Y:2.24, Z:0.78 [[ 9.99933508e-01 -1.00858675e-02 -5.59064531e-03 2.19748588e+02] [ 1.00852377e-02 9.99949133e-01 -1.40842787e-04 2.24302882e+00] [ 5.59178145e-03 8.44504358e-05 9.99984362e-01 7.78930174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60864 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:219.78, Y:2.25, Z:0.78 [[ 9.99920824e-01 -1.12736662e-02 -5.59011611e-03 2.19777063e+02] [ 1.12729568e-02 9.99936446e-01 -1.58394791e-04 2.24619081e+00] [ 5.59154652e-03 9.53651127e-05 9.99984363e-01 7.79669162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63864 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:219.81, Y:2.25, Z:0.78 [[ 9.99906099e-01 -1.25118173e-02 -5.58991361e-03 2.19805556e+02] [ 1.25110898e-02 9.99921720e-01 -1.65098234e-04 2.24911546e+00] [ 5.59154171e-03 9.51468196e-05 9.99984363e-01 7.79509929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66864 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:219.83, Y:2.25, Z:0.78 [[ 9.99837077e-01 -1.71631373e-02 -5.58977571e-03 2.19834766e+02] [ 1.71624570e-02 9.99852700e-01 -1.69654649e-04 2.25086365e+00] [ 5.59186414e-03 7.36927234e-05 9.99984363e-01 7.78560990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69864 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:219.86, Y:2.25, Z:0.78 [[ 9.99787441e-01 -1.98449616e-02 -5.59011461e-03 2.19863223e+02] [ 1.98443858e-02 9.99803068e-01 -1.58460660e-04 2.25163209e+00] [ 5.59215839e-03 4.74945866e-05 9.99984363e-01 7.78050729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72864 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:219.89, Y:2.25, Z:0.78 [[ 9.99650577e-01 -2.58355830e-02 -5.58986739e-03 2.19891696e+02] [ 2.58350552e-02 9.99666205e-01 -1.66621483e-04 2.25206471e+00] [ 5.59230629e-03 2.21487288e-05 9.99984363e-01 7.76886393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75864 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:219.92, Y:2.25, Z:0.78 [[ 9.99587780e-01 -2.81606672e-02 -5.58987026e-03 2.19920400e+02] [ 2.81601762e-02 9.99603410e-01 -1.66527413e-04 2.25137960e+00] [ 5.59234290e-03 9.04703491e-06 9.99984363e-01 7.76414206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864000000002 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:219.95, Y:2.25, Z:0.78 [[ 9.99447775e-01 -3.27551403e-02 -5.58986834e-03 2.19950048e+02] [ 3.27547209e-02 9.99463406e-01 -1.66590161e-04 2.24885770e+00] [ 5.59232553e-03 -1.65964112e-05 9.99984363e-01 7.76701667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:219.98, Y:2.25, Z:0.76 [[ 9.99430008e-01 -3.32928471e-02 -5.58971537e-03 2.19980550e+02] [ 3.32924081e-02 9.99445639e-01 -1.71579535e-04 2.24861838e+00] [ 5.59232902e-03 -1.46133495e-05 9.99984363e-01 7.59000297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864000000002 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:220.01, Y:2.25, Z:0.78 [[ 9.99314645e-01 -3.65922900e-02 -5.58971647e-03 2.20009648e+02] [ 3.65919029e-02 9.99330277e-01 -1.71543628e-04 2.24793661e+00] [ 5.59225009e-03 -3.31123023e-05 9.99984363e-01 7.76711667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87864000000002 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:220.04, Y:2.24, Z:0.76 [[ 9.99328198e-01 -3.62203307e-02 -5.58931385e-03 2.20040759e+02] [ 3.62198648e-02 9.99343828e-01 -1.84584034e-04 2.24475666e+00] [ 5.59233200e-03 -1.79841617e-05 9.99984363e-01 7.58782182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:220.07, Y:2.24, Z:0.78 [[ 9.99298760e-01 -3.70235586e-02 -5.58970819e-03 2.20069412e+02] [ 3.70231771e-02 9.99314392e-01 -1.71750209e-04 2.24146008e+00] [ 5.59223465e-03 -3.53189854e-05 9.99984363e-01 7.79413355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93864 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:220.10, Y:2.24, Z:0.78 [[ 9.99339151e-01 -3.59169021e-02 -5.58898861e-03 2.20099656e+02] [ 3.59163722e-02 9.99354780e-01 -1.95192697e-04 2.24202327e+00] [ 5.59239320e-03 -5.67249138e-06 9.99984362e-01 7.82076511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96864 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:220.13, Y:2.24, Z:0.78 [[ 9.99348862e-01 -3.56455269e-02 -5.58996840e-03 2.20128295e+02] [ 3.56451717e-02 9.99364496e-01 -1.63178963e-04 2.24104419e+00] [ 5.59223255e-03 -3.61826723e-05 9.99984363e-01 7.79144732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99864 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:220.16, Y:2.24, Z:0.76 [[ 9.99478206e-01 -3.18131968e-02 -5.58888095e-03 2.20159164e+02] [ 3.18125832e-02 9.99493832e-01 -1.98674843e-04 2.23877515e+00] [ 5.59237252e-03 2.07744349e-05 9.99984362e-01 7.58660703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02864 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:220.19, Y:2.24, Z:0.76 [[ 9.99564046e-01 -2.89909159e-02 -5.58975375e-03 2.20187837e+02] [ 2.89904187e-02 9.99579675e-01 -1.69972041e-04 2.23771094e+00] [ 5.59233188e-03 7.84863990e-06 9.99984363e-01 7.58919272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05864 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:220.22, Y:2.24, Z:0.78 [[ 9.99551096e-01 -2.94340016e-02 -5.58973159e-03 2.20216186e+02] [ 2.94335073e-02 9.99566726e-01 -1.70697596e-04 2.23827289e+00] [ 5.59233402e-03 6.09556353e-06 9.99984363e-01 7.77773383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08864 meters Centerline goodness : 0.986323 Centerline is valid? [True, True] Translation: X:220.25, Y:2.24, Z:0.78 [[ 9.99834123e-01 -1.73347204e-02 -5.58875694e-03 2.20251616e+02] [ 1.73338598e-02 9.99849737e-01 -2.02378413e-04 2.24386109e+00] [ 5.59142533e-03 1.05470114e-04 9.99984362e-01 7.79570290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11864 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:220.28, Y:2.24, Z:0.78 [[ 9.99647150e-01 -2.59666689e-02 -5.59537157e-03 2.20276325e+02] [ 2.59671506e-02 9.99662797e-01 1.34402559e-05 2.24138370e+00] [ 5.59313579e-03 -1.58731370e-04 9.99984346e-01 7.77957278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14864 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:220.30, Y:2.25, Z:0.78 [[ 9.99749416e-01 -2.16765436e-02 -5.58867285e-03 2.20304625e+02] [ 2.16757757e-02 9.99765033e-01 -1.97958633e-04 2.24523542e+00] [ 5.59165075e-03 7.67702093e-05 9.99984364e-01 7.79526547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17864 meters Centerline goodness : 0.988070 Centerline is valid? [True, True] Translation: X:220.33, Y:2.25, Z:0.78 [[ 9.99793655e-01 -1.95299018e-02 -5.58839935e-03 2.20333544e+02] [ 1.95290518e-02 9.99809269e-01 -2.06642569e-04 2.24730813e+00] [ 5.59136917e-03 9.74637888e-05 9.99984363e-01 7.80230388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20864 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:220.36, Y:2.25, Z:0.78 [[ 9.99878187e-01 -1.45732830e-02 -5.58849792e-03 2.20364409e+02] [ 1.45723730e-02 9.99893797e-01 -2.03523906e-04 2.25182715e+00] [ 5.59087041e-03 1.22061437e-04 9.99984364e-01 7.78870866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23864 meters Centerline goodness : 0.987643 Centerline is valid? [True, True] Translation: X:220.39, Y:2.26, Z:0.78 [[ 9.99905498e-01 -1.25601987e-02 -5.58901159e-03 2.20393402e+02] [ 1.25593487e-02 9.99921111e-01 -1.87160199e-04 2.25559485e+00] [ 5.59092145e-03 1.16948167e-04 9.99984364e-01 7.80215375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26864 meters Centerline goodness : 0.986935 Centerline is valid? [True, True] Translation: X:220.42, Y:2.26, Z:0.78 [[ 9.99923526e-01 -1.10318630e-02 -5.58927677e-03 2.20422936e+02] [ 1.10310366e-02 9.99939140e-01 -1.78671162e-04 2.26068240e+00] [ 5.59090768e-03 1.17001982e-04 9.99984364e-01 7.80049380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29864 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:220.45, Y:2.27, Z:0.77 [[ 9.99946828e-01 -8.66597624e-03 -5.58939445e-03 2.20452754e+02] [ 8.66513382e-03 9.99962442e-01 -1.74918121e-04 2.26884774e+00] [ 5.59070036e-03 1.26475969e-04 9.99984364e-01 7.66204142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32864 meters Centerline goodness : 0.985333 Centerline is valid? [True, True] Translation: X:220.48, Y:2.27, Z:0.78 [[ 9.99916597e-01 -1.16429137e-02 -5.58937795e-03 2.20481750e+02] [ 1.16421148e-02 9.99932213e-01 -1.75443603e-04 2.27287628e+00] [ 5.59104174e-03 1.10356791e-04 9.99984364e-01 7.81579908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35864 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:220.51, Y:2.28, Z:0.77 [[ 9.99914784e-01 -1.17979088e-02 -5.58882086e-03 2.20512039e+02] [ 1.17970134e-02 9.99930394e-01 -1.93153094e-04 2.28167789e+00] [ 5.59071064e-03 1.27205240e-04 9.99984364e-01 7.65760404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38864 meters Centerline goodness : 0.983660 Centerline is valid? [True, True] Translation: X:220.54, Y:2.29, Z:0.78 [[ 9.99876218e-01 -1.47073994e-02 -5.58937599e-03 2.20541206e+02] [ 1.47066483e-02 9.99891836e-01 -1.75469914e-04 2.28644292e+00] [ 5.59135213e-03 9.32472070e-05 9.99984364e-01 7.80370388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41864 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:220.57, Y:2.29, Z:0.77 [[ 9.99869025e-01 -1.51886763e-02 -5.58891626e-03 2.20571636e+02] [ 1.51878511e-02 9.99884640e-01 -1.90067454e-04 2.29135257e+00] [ 5.59115840e-03 1.05158932e-04 9.99984364e-01 7.66748921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44864 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:220.60, Y:2.29, Z:0.77 [[ 9.99867034e-01 -1.53190243e-02 -5.58937042e-03 2.20600929e+02] [ 1.53182819e-02 9.99882653e-01 -1.75612746e-04 2.29223120e+00] [ 5.59140474e-03 8.99698437e-05 9.99984364e-01 7.66911465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47864 meters Centerline goodness : 0.982528 Centerline is valid? [True, True] Translation: X:220.63, Y:2.30, Z:0.78 [[ 9.99760023e-01 -2.11815023e-02 -5.58934742e-03 2.20630836e+02] [ 2.11808474e-02 9.99775645e-01 -1.76341866e-04 2.29809702e+00] [ 5.59182860e-03 5.79124329e-05 9.99984364e-01 7.81668910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50864 meters Centerline goodness : 0.988582 Centerline is valid? [True, True] Translation: X:220.66, Y:2.30, Z:0.77 [[ 9.99739459e-01 -2.21309460e-02 -5.58888320e-03 2.20661596e+02] [ 2.21302239e-02 9.99755078e-01 -1.91032980e-04 2.30155913e+00] [ 5.59174210e-03 6.72999720e-05 9.99984364e-01 7.65934716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53864000000002 meters Centerline goodness : 0.982597 Centerline is valid? [True, True] Translation: X:220.69, Y:2.31, Z:0.78 [[ 9.99610830e-01 -2.73303310e-02 -5.58935563e-03 2.20689975e+02] [ 2.73297740e-02 9.99626456e-01 -1.76032374e-04 2.30736719e+00] [ 5.59207879e-03 2.32080411e-05 9.99984364e-01 7.80426119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864000000002 meters Centerline goodness : 0.981608 Centerline is valid? [True, True] Translation: X:220.72, Y:2.31, Z:0.78 [[ 9.99580112e-01 -2.84318047e-02 -5.58849498e-03 2.20719786e+02] [ 2.84311134e-02 9.99595734e-01 -2.03129884e-04 2.31095909e+00] [ 5.59201109e-03 4.41574574e-05 9.99984364e-01 7.80198207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59864000000002 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:220.75, Y:2.31, Z:0.78 [[ 9.99549580e-01 -2.94856621e-02 -5.58867791e-03 2.20749332e+02] [ 2.94850198e-02 9.99565203e-01 -1.97307183e-04 2.31339608e+00] [ 5.59206570e-03 3.24360330e-05 9.99984364e-01 7.79626259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864000000002 meters Centerline goodness : 0.988526 Centerline is valid? [True, True] Translation: X:220.78, Y:2.32, Z:0.77 [[ 9.99499436e-01 -3.11390979e-02 -5.58868326e-03 2.20780407e+02] [ 3.11384823e-02 9.99515060e-01 -1.97136346e-04 2.31554351e+00] [ 5.59211173e-03 2.30145520e-05 9.99984364e-01 7.65689942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65864 meters Centerline goodness : 0.988368 Centerline is valid? [True, True] Translation: X:220.81, Y:2.32, Z:0.77 [[ 9.99424920e-01 -3.34452917e-02 -5.58942638e-03 2.20810217e+02] [ 3.34448464e-02 9.99440550e-01 -1.73147270e-04 2.31769076e+00] [ 5.59209034e-03 -1.38898104e-05 9.99984364e-01 7.66617217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68864 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:220.84, Y:2.32, Z:0.77 [[ 9.99375012e-01 -3.49047947e-02 -5.58941514e-03 2.20839682e+02] [ 3.49043702e-02 9.99390642e-01 -1.73509378e-04 2.31899147e+00] [ 5.59206550e-03 -2.16940791e-05 9.99984364e-01 7.67021244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71864 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:220.87, Y:2.32, Z:0.77 [[ 9.99349479e-01 -3.56283162e-02 -5.58940400e-03 2.20869073e+02] [ 3.56279010e-02 9.99365110e-01 -1.73867665e-04 2.31943925e+00] [ 5.59204995e-03 -2.53841725e-05 9.99984364e-01 7.67060858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74864 meters Centerline goodness : 0.983763 Centerline is valid? [True, True] Translation: X:220.90, Y:2.32, Z:0.78 [[ 9.99275922e-01 -3.76349638e-02 -5.58939277e-03 2.20898447e+02] [ 3.76345780e-02 9.99291553e-01 -1.74227988e-04 2.31908893e+00] [ 5.59199004e-03 -3.62526049e-05 9.99984364e-01 7.77539813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77864 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:220.93, Y:2.32, Z:0.77 [[ 9.99125478e-01 -4.14371490e-02 -5.58940545e-03 2.20929240e+02] [ 4.14368250e-02 9.99141111e-01 -1.73821850e-04 2.32002598e+00] [ 5.59180745e-03 -5.79373757e-05 9.99984364e-01 7.66545560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80864 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:220.96, Y:2.32, Z:0.77 [[ 9.99016036e-01 -4.39967935e-02 -5.58939249e-03 2.20960003e+02] [ 4.39965071e-02 9.99031670e-01 -1.74237387e-04 2.32187709e+00] [ 5.59164600e-03 -7.18478035e-05 9.99984364e-01 7.66862523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83864 meters Centerline goodness : 0.987387 Centerline is valid? [True, True] Translation: X:220.99, Y:2.32, Z:0.77 [[ 9.98989192e-01 -4.46021527e-02 -5.58939249e-03 2.20991526e+02] [ 4.46018759e-02 9.99004826e-01 -1.74237387e-04 2.32334077e+00] [ 5.59160144e-03 -7.52361241e-05 9.99984364e-01 7.66980721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86864 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:221.02, Y:2.33, Z:0.77 [[ 9.99011634e-01 -4.40966409e-02 -5.58940348e-03 2.21023181e+02] [ 4.40963581e-02 9.99027267e-01 -1.73884311e-04 2.32508351e+00] [ 5.59163420e-03 -7.27598878e-05 9.99984364e-01 7.68259118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89864 meters Centerline goodness : 0.988036 Centerline is valid? [True, True] Translation: X:221.05, Y:2.33, Z:0.77 [[ 9.99024203e-01 -4.38109574e-02 -5.58941440e-03 2.21054801e+02] [ 4.38106721e-02 9.99039836e-01 -1.73532606e-04 2.32775960e+00] [ 5.59165027e-03 -7.15127279e-05 9.99984364e-01 7.68484954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92864 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:221.09, Y:2.33, Z:0.77 [[ 9.99025391e-01 -4.37838658e-02 -5.58942533e-03 2.21085753e+02] [ 4.37835821e-02 9.99041024e-01 -1.73179791e-04 2.32910701e+00] [ 5.59164768e-03 -7.17140540e-05 9.99984364e-01 7.68510461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95864 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:221.12, Y:2.33, Z:0.77 [[ 9.99018209e-01 -4.39474347e-02 -5.58943613e-03 2.21117210e+02] [ 4.39471555e-02 9.99033842e-01 -1.72830346e-04 2.33170640e+00] [ 5.59163130e-03 -7.29791560e-05 9.99984364e-01 7.69212042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98864 meters Centerline goodness : 0.987640 Centerline is valid? [True, True] Translation: X:221.15, Y:2.33, Z:0.77 [[ 9.98993923e-01 -4.44960644e-02 -5.58944692e-03 2.21148776e+02] [ 4.44957957e-02 9.99009557e-01 -1.72480643e-04 2.33328403e+00] [ 5.59158560e-03 -7.63997747e-05 9.99984364e-01 7.68514211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01864 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:221.18, Y:2.33, Z:0.77 [[ 9.98865194e-01 -4.72977944e-02 -5.58945766e-03 2.21180443e+02] [ 4.72975715e-02 9.98880829e-01 -1.72132029e-04 2.33411087e+00] [ 5.59134356e-03 -9.24310813e-05 9.99984364e-01 7.68997257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04864 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:221.21, Y:2.33, Z:0.77 [[ 9.98808353e-01 -4.84833194e-02 -5.58946826e-03 2.21211839e+02] [ 4.84831170e-02 9.98823987e-01 -1.71787207e-04 2.33399676e+00] [ 5.59122379e-03 -9.94123463e-05 9.99984364e-01 7.68254998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07864 meters Centerline goodness : 0.983292 Centerline is valid? [True, True] Translation: X:221.24, Y:2.33, Z:0.78 [[ 9.98675601e-01 -5.11449080e-02 -5.58947893e-03 2.21243369e+02] [ 5.11447492e-02 9.98691236e-01 -1.71439103e-04 2.33271606e+00] [ 5.59093186e-03 -1.14660449e-04 9.99984364e-01 7.79045518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10864 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:221.27, Y:2.33, Z:0.77 [[ 9.98544930e-01 -5.36355733e-02 -5.58997734e-03 2.21273375e+02] [ 5.36355447e-02 9.98560566e-01 -1.55125925e-04 2.33327998e+00] [ 5.59025121e-03 -1.44921274e-04 9.99984364e-01 7.68193477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13864 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:221.31, Y:2.33, Z:0.77 [[ 9.98528781e-01 -5.39354408e-02 -5.58948292e-03 2.21305706e+02] [ 5.39353267e-02 9.98544416e-01 -1.71262485e-04 2.33319079e+00] [ 5.59058408e-03 -1.30460067e-04 9.99984364e-01 7.68669472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16864 meters Centerline goodness : 0.983328 Centerline is valid? [True, True] Translation: X:221.34, Y:2.33, Z:0.78 [[ 9.98514777e-01 -5.41940724e-02 -5.58955509e-03 2.21337049e+02] [ 5.41939757e-02 9.98530412e-01 -1.68873620e-04 2.32904255e+00] [ 5.59049270e-03 -1.34297407e-04 9.99984364e-01 7.81986089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19864 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:221.37, Y:2.33, Z:0.77 [[ 9.98445362e-01 -5.54581793e-02 -5.59013192e-03 2.21368477e+02] [ 5.54582093e-02 9.98460998e-01 -1.49755806e-04 2.32927180e+00] [ 5.58983388e-03 -1.60495716e-04 9.99984364e-01 7.68684340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22864 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:221.40, Y:2.33, Z:0.77 [[ 9.98563524e-01 -5.32883260e-02 -5.58956924e-03 2.21400902e+02] [ 5.32882176e-02 9.98579159e-01 -1.68429311e-04 2.32928383e+00] [ 5.59060267e-03 -1.29670815e-04 9.99984364e-01 7.68927417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25864 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:221.43, Y:2.33, Z:0.77 [[ 9.98617251e-01 -5.22718122e-02 -5.58963987e-03 2.21432700e+02] [ 5.22717012e-02 9.98632886e-01 -1.66051501e-04 2.32838987e+00] [ 5.59067801e-03 -1.26358091e-04 9.99984364e-01 7.67943453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864000000002 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:221.46, Y:2.33, Z:0.77 [[ 9.98772543e-01 -4.92154732e-02 -5.58965010e-03 2.21463704e+02] [ 4.92153162e-02 9.98788178e-01 -1.65706418e-04 2.32559848e+00] [ 5.59103177e-03 -1.09593377e-04 9.99984364e-01 7.68311820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31864000000002 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:221.49, Y:2.33, Z:0.78 [[ 9.98864511e-01 -4.73121918e-02 -5.58965519e-03 2.21494071e+02] [ 4.73120061e-02 9.98880146e-01 -1.65534558e-04 2.32644730e+00] [ 5.59122740e-03 -9.91112054e-05 9.99984364e-01 7.80581088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864000000002 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:221.52, Y:2.33, Z:0.77 [[ 9.98936709e-01 -4.57625525e-02 -5.58932623e-03 2.21524892e+02] [ 4.57622797e-02 9.98952342e-01 -1.76747847e-04 2.32805603e+00] [ 5.59155896e-03 -7.92203980e-05 9.99984364e-01 7.70314422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37864000000002 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:221.56, Y:2.33, Z:0.77 [[ 9.99004647e-01 -4.42546008e-02 -5.58971990e-03 2.21555295e+02] [ 4.42543798e-02 9.99020282e-01 -1.63270153e-04 2.32710624e+00] [ 5.59146900e-03 -8.42619455e-05 9.99984364e-01 7.69448728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:221.59, Y:2.33, Z:0.77 [[ 9.98999283e-01 -4.43755189e-02 -5.58971990e-03 2.21585649e+02] [ 4.43752998e-02 9.99014918e-01 -1.63270153e-04 2.32682341e+00] [ 5.59145876e-03 -8.49387302e-05 9.99984364e-01 7.69795204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43864 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:221.61, Y:2.33, Z:0.77 [[ 9.98929856e-01 -4.59118479e-02 -5.58971990e-03 2.21614900e+02] [ 4.59116529e-02 9.98945491e-01 -1.63270153e-04 2.32655390e+00] [ 5.59132152e-03 -9.35378488e-05 9.99984364e-01 7.71528502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46864 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:221.65, Y:2.33, Z:0.77 [[ 9.98884970e-01 -4.68782631e-02 -5.58971480e-03 2.21645838e+02] [ 4.68780823e-02 9.98900605e-01 -1.63444526e-04 2.32632563e+00] [ 5.59123149e-03 -9.87728294e-05 9.99984364e-01 7.72125771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49864 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:221.68, Y:2.32, Z:0.77 [[ 9.98839342e-01 -4.78406191e-02 -5.58971480e-03 2.21676279e+02] [ 4.78404533e-02 9.98854977e-01 -1.63444526e-04 2.32499236e+00] [ 5.59113373e-03 -1.04159667e-04 9.99984364e-01 7.72046089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52864 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:221.71, Y:2.32, Z:0.77 [[ 9.98781948e-01 -4.90242418e-02 -5.58971480e-03 2.21706968e+02] [ 4.90240945e-02 9.98797583e-01 -1.63444526e-04 2.32034582e+00] [ 5.59100637e-03 -1.10785264e-04 9.99984364e-01 7.70537466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55864 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:221.74, Y:2.32, Z:0.77 [[ 9.98752843e-01 -4.96136395e-02 -5.58971480e-03 2.21737578e+02] [ 4.96135015e-02 9.98768479e-01 -1.63444526e-04 2.31970093e+00] [ 5.59094002e-03 -1.14084638e-04 9.99984364e-01 7.71570172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58864 meters Centerline goodness : 0.988258 Centerline is valid? [True, True] Translation: X:221.77, Y:2.32, Z:0.78 [[ 9.98722683e-01 -5.02170948e-02 -5.58971480e-03 2.21767361e+02] [ 5.02169662e-02 9.98738319e-01 -1.63444526e-04 2.31962848e+00] [ 5.59087007e-03 -1.17462763e-04 9.99984364e-01 7.83936849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61864 meters Centerline goodness : 0.987013 Centerline is valid? [True, True] Translation: X:221.80, Y:2.32, Z:0.79 [[ 9.98794530e-01 -4.87673203e-02 -5.58891918e-03 2.21797629e+02] [ 4.87670172e-02 9.98810163e-01 -1.90583521e-04 2.31796241e+00] [ 5.59156353e-03 -8.22011395e-05 9.99984364e-01 7.85112794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64864 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:221.83, Y:2.32, Z:0.77 [[ 9.98953437e-01 -4.53960606e-02 -5.58821700e-03 2.21829412e+02] [ 4.53955692e-02 9.98969067e-01 -2.14822856e-04 2.31793248e+00] [ 5.59220803e-03 -3.90822611e-05 9.99984363e-01 7.71573653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67864 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:221.86, Y:2.32, Z:0.77 [[ 9.98944116e-01 -4.56005136e-02 -5.58980205e-03 2.21858840e+02] [ 4.56003367e-02 9.98959751e-01 -1.59152112e-04 2.31567545e+00] [ 5.59124469e-03 -9.59127903e-05 9.99984364e-01 7.72535063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70864 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:221.89, Y:2.32, Z:0.77 [[ 9.98877835e-01 -4.70300402e-02 -5.58979212e-03 2.21888479e+02] [ 4.70298838e-02 9.98893470e-01 -1.59500389e-04 2.31507812e+00] [ 5.59110815e-03 -1.03565870e-04 9.99984364e-01 7.74152267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73864 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:221.92, Y:2.31, Z:0.77 [[ 9.98842343e-01 -4.77778980e-02 -5.58978212e-03 2.21917938e+02] [ 4.77777514e-02 9.98857978e-01 -1.59850074e-04 2.31364562e+00] [ 5.59103576e-03 -1.07402197e-04 9.99984364e-01 7.73332657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76864 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:221.95, Y:2.31, Z:0.79 [[ 9.98651523e-01 -5.16128875e-02 -5.58977207e-03 2.21946509e+02] [ 5.16127989e-02 9.98667158e-01 -1.60200596e-04 2.30845264e+00] [ 5.59059021e-03 -1.28519212e-04 9.99984364e-01 7.86215235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79864 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:221.98, Y:2.31, Z:0.77 [[ 9.98665258e-01 -5.13465716e-02 -5.58849281e-03 2.21978517e+02] [ 5.13462312e-02 9.98680891e-01 -2.04463429e-04 2.30803995e+00] [ 5.59161948e-03 -8.27575211e-05 9.99984363e-01 7.73642718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82864 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:222.01, Y:2.31, Z:0.77 [[ 9.98617239e-01 -5.22720323e-02 -5.58975714e-03 2.22008097e+02] [ 5.22719529e-02 9.98632874e-01 -1.60404573e-04 2.30665252e+00] [ 5.59049991e-03 -1.32004750e-04 9.99984364e-01 7.74285945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85864 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:222.04, Y:2.31, Z:0.77 [[ 9.98633231e-01 -5.19656070e-02 -5.58974717e-03 2.22038148e+02] [ 5.19655209e-02 9.98648867e-01 -1.60751198e-04 2.30616866e+00] [ 5.59054821e-03 -1.29942635e-04 9.99984364e-01 7.73915317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88864 meters Centerline goodness : 0.988190 Centerline is valid? [True, True] Translation: X:222.07, Y:2.30, Z:0.79 [[ 9.98556417e-01 -5.34213149e-02 -5.58973719e-03 2.22067157e+02] [ 5.34212495e-02 9.98572053e-01 -1.61097569e-04 2.30488236e+00] [ 5.59036138e-03 -1.37745734e-04 9.99984364e-01 7.86717007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91864 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:222.10, Y:2.30, Z:0.77 [[ 9.98656312e-01 -5.15203118e-02 -5.58812682e-03 2.22099964e+02] [ 5.15199040e-02 9.98671944e-01 -2.16985298e-04 2.30375319e+00] [ 5.59188462e-03 -7.12060196e-05 9.99984363e-01 7.73355432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94864 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:222.13, Y:2.30, Z:0.78 [[ 9.98640523e-01 -5.18252814e-02 -5.58978552e-03 2.22129517e+02] [ 5.18252058e-02 9.98656159e-01 -1.58481785e-04 2.30251818e+00] [ 5.59048710e-03 -1.31425452e-04 9.99984364e-01 7.84877428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97864 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:222.16, Y:2.30, Z:0.77 [[ 9.98733606e-01 -4.99994627e-02 -5.58901943e-03 2.22160445e+02] [ 4.99992074e-02 9.98749240e-01 -1.85483044e-04 2.30002716e+00] [ 5.59130296e-03 -9.41983916e-05 9.99984364e-01 7.73876013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00864 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:222.19, Y:2.30, Z:0.77 [[ 9.98784148e-01 -4.89793836e-02 -5.58979144e-03 2.22190597e+02] [ 4.89792649e-02 9.98799783e-01 -1.58206153e-04 2.29931036e+00] [ 5.59083132e-03 -1.15770078e-04 9.99984364e-01 7.74514438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03864000000002 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:222.22, Y:2.30, Z:0.78 [[ 9.98822243e-01 -4.81962760e-02 -5.58978146e-03 2.22220331e+02] [ 4.81961431e-02 9.98837878e-01 -1.58558102e-04 2.29860240e+00] [ 5.59092736e-03 -1.11034548e-04 9.99984364e-01 7.75102420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864000000002 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:222.25, Y:2.30, Z:0.78 [[ 9.98934230e-01 -4.58165674e-02 -5.58977156e-03 2.22250521e+02] [ 4.58163953e-02 9.98949865e-01 -1.58906378e-04 2.29567655e+00] [ 5.59118209e-03 -9.73661629e-05 9.99984364e-01 7.75253163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09864000000002 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:222.28, Y:2.30, Z:0.78 [[ 9.99022289e-01 -4.38545363e-02 -5.58976159e-03 2.22280513e+02] [ 4.38543315e-02 9.99037923e-01 -1.59256320e-04 2.29525164e+00] [ 5.59136792e-03 -8.60346450e-05 9.99984364e-01 7.75888409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864000000002 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:222.31, Y:2.29, Z:0.78 [[ 9.99192478e-01 -3.97887862e-02 -5.58975156e-03 2.22309829e+02] [ 3.97885158e-02 9.99208111e-01 -1.59607422e-04 2.29317939e+00] [ 5.59167568e-03 -6.29293831e-05 9.99984364e-01 7.76430827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15864 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:222.34, Y:2.29, Z:0.78 [[ 9.99252322e-01 -3.82563986e-02 -5.58973123e-03 2.22339111e+02] [ 3.82561003e-02 9.99267955e-01 -1.60316482e-04 2.29239453e+00] [ 5.59177242e-03 -5.36447011e-05 9.99984364e-01 7.77030498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18864 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:222.37, Y:2.29, Z:0.78 [[ 9.99377385e-01 -3.48367323e-02 -5.58971062e-03 2.22367548e+02] [ 3.48363765e-02 9.99393016e-01 -1.61031809e-04 2.29206775e+00] [ 5.59192758e-03 -3.37937157e-05 9.99984364e-01 7.77737769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21864 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:222.39, Y:2.29, Z:0.79 [[ 9.99267825e-01 -3.78492952e-02 -5.58968981e-03 2.22394983e+02] [ 3.78489825e-02 9.99283457e-01 -1.61750778e-04 2.29208232e+00] [ 5.59180672e-03 -4.99317239e-05 9.99984364e-01 7.92086693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:222.43, Y:2.29, Z:0.78 [[ 9.99449916e-01 -3.26901737e-02 -5.58722394e-03 2.22427951e+02] [ 3.26893061e-02 9.99465531e-01 -2.46560884e-04 2.29400498e+00] [ 5.59229787e-03 6.37827807e-05 9.99984361e-01 7.78098292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27864 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:222.45, Y:2.29, Z:0.79 [[ 9.99289114e-01 -3.72829991e-02 -5.58970041e-03 2.22454891e+02] [ 3.72826868e-02 9.99304746e-01 -1.60097514e-04 2.29347625e+00] [ 5.59178306e-03 -4.84153464e-05 9.99984365e-01 7.93344524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30864 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:222.48, Y:2.29, Z:0.79 [[ 9.99303154e-01 -3.69051863e-02 -5.58684551e-03 2.22483210e+02] [ 3.69043074e-02 9.99318770e-01 -2.60361837e-04 2.29453841e+00] [ 5.59264829e-03 5.40017410e-05 9.99984360e-01 7.93506706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33864 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:222.51, Y:2.30, Z:0.79 [[ 9.99261828e-01 -3.80077232e-02 -5.58682170e-03 2.22513642e+02] [ 3.80068568e-02 9.99277444e-01 -2.61208016e-04 2.29571812e+00] [ 5.59271283e-03 4.86776677e-05 9.99984359e-01 7.91351321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:222.55, Y:2.30, Z:0.78 [[ 9.99389918e-01 -3.44757408e-02 -5.58704729e-03 2.22547597e+02] [ 3.44748654e-02 9.99405533e-01 -2.52943781e-04 2.29626517e+00] [ 5.59244640e-03 6.01767614e-05 9.99984360e-01 7.76604890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39864 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:222.58, Y:2.30, Z:0.79 [[ 9.99213101e-01 -3.92674429e-02 -5.58981250e-03 2.22575067e+02] [ 3.92672199e-02 9.99228734e-01 -1.49672488e-04 2.29554724e+00] [ 5.59137853e-03 -6.99416861e-05 9.99984366e-01 7.91392764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:222.61, Y:2.30, Z:0.78 [[ 9.99352450e-01 -3.55451312e-02 -5.58790642e-03 2.22607462e+02] [ 3.55444499e-02 9.99368072e-01 -2.21222501e-04 2.29892228e+00] [ 5.59223865e-03 2.24601884e-05 9.99984363e-01 7.76002024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:222.64, Y:2.30, Z:0.78 [[ 9.99369328e-01 -3.50670665e-02 -5.58987133e-03 2.22636429e+02] [ 3.50667984e-02 9.99384960e-01 -1.45985188e-04 2.30059571e+00] [ 5.59155261e-03 -5.01257722e-05 9.99984366e-01 7.76235185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:222.67, Y:2.30, Z:0.78 [[ 9.99423304e-01 -3.34934827e-02 -5.58985248e-03 2.22665646e+02] [ 3.34931860e-02 9.99438935e-01 -1.46703502e-04 2.30078928e+00] [ 5.59162982e-03 -4.06030699e-05 9.99984366e-01 7.76672174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:222.69, Y:2.30, Z:0.78 [[ 9.99448007e-01 -3.27480411e-02 -5.58983336e-03 2.22694228e+02] [ 3.27477287e-02 9.99463638e-01 -1.47428382e-04 2.30097905e+00] [ 5.59166318e-03 -3.57073438e-05 9.99984366e-01 7.77159426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54864 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:222.72, Y:2.30, Z:0.79 [[ 9.99450704e-01 -3.26656544e-02 -5.58981417e-03 2.22722922e+02] [ 3.26653367e-02 9.99466335e-01 -1.48152706e-04 2.30198491e+00] [ 5.59167058e-03 -3.45218360e-05 9.99984366e-01 7.92302393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:222.75, Y:2.30, Z:0.78 [[ 9.99587933e-01 -2.81553657e-02 -5.58928338e-03 2.22754113e+02] [ 2.81548655e-02 9.99603559e-01 -1.68180776e-04 2.30495390e+00] [ 5.59180275e-03 1.07459528e-05 9.99984366e-01 7.77472711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60864 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:222.78, Y:2.30, Z:0.79 [[ 9.99587718e-01 -2.81628831e-02 -5.58982114e-03 2.22783541e+02] [ 2.81624967e-02 9.99603347e-01 -1.47849712e-04 2.30469615e+00] [ 5.59176779e-03 -9.63456278e-06 9.99984366e-01 7.92215791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63864 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:222.81, Y:2.31, Z:0.79 [[ 9.99662026e-01 -2.53888059e-02 -5.58945024e-03 2.22813434e+02] [ 2.53882982e-02 9.99677652e-01 -1.61780558e-04 2.30571911e+00] [ 5.59175591e-03 1.98192506e-05 9.99984366e-01 7.93393539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66864 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:222.84, Y:2.31, Z:0.79 [[ 9.99651804e-01 -2.57879682e-02 -5.59029306e-03 2.22842214e+02] [ 2.57876442e-02 9.99667435e-01 -1.30041363e-04 2.30754085e+00] [ 5.59178743e-03 -1.41644052e-05 9.99984366e-01 7.93295079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:222.87, Y:2.31, Z:0.78 [[ 9.99746170e-01 -2.18254411e-02 -5.58979903e-03 2.22872393e+02] [ 2.18249519e-02 9.99761796e-01 -1.48503868e-04 2.31193030e+00] [ 5.59170868e-03 2.64690783e-05 9.99984366e-01 7.80159243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72864 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:222.90, Y:2.31, Z:0.79 [[ 9.99746570e-01 -2.18071062e-02 -5.58976878e-03 2.22902748e+02] [ 2.18066104e-02 9.99762196e-01 -1.49633823e-04 2.31298672e+00] [ 5.59170259e-03 2.77019909e-05 9.99984366e-01 7.92456199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:222.93, Y:2.32, Z:0.78 [[ 9.99786397e-01 -1.98975017e-02 -5.59008725e-03 2.22932383e+02] [ 1.98970425e-02 9.99802025e-01 -1.37753400e-04 2.31511873e+00] [ 5.59172150e-03 2.64977724e-05 9.99984366e-01 7.79283469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864000000002 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:222.96, Y:2.32, Z:0.79 [[ 9.99758494e-01 -2.12534560e-02 -5.58973064e-03 2.22962029e+02] [ 2.12529442e-02 9.99774119e-01 -1.50958329e-04 2.31877386e+00] [ 5.59167641e-03 3.21236387e-05 9.99984366e-01 7.92689085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81864000000002 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:222.99, Y:2.32, Z:0.79 [[ 9.99763873e-01 -2.09989083e-02 -5.58966519e-03 2.22991578e+02] [ 2.09983789e-02 9.99779498e-01 -1.53380468e-04 2.32083687e+00] [ 5.59165348e-03 3.59703433e-05 9.99984366e-01 7.93270547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864000000002 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:223.02, Y:2.32, Z:0.79 [[ 9.99703902e-01 -2.36824845e-02 -5.59006984e-03 2.23019813e+02] [ 2.36820807e-02 9.99719531e-01 -1.38433914e-04 2.32273443e+00] [ 5.59178046e-03 6.00843899e-06 9.99984366e-01 7.93097685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87864000000002 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:223.05, Y:2.33, Z:0.78 [[ 9.99701347e-01 -2.37902229e-02 -5.58948232e-03 2.23050218e+02] [ 2.37896999e-02 9.99716972e-01 -1.60047565e-04 2.32510659e+00] [ 5.59170791e-03 2.70276592e-05 9.99984366e-01 7.79887445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:223.08, Y:2.33, Z:0.79 [[ 9.99655621e-01 -2.56396963e-02 -5.58973029e-03 2.23080849e+02] [ 2.56392536e-02 9.99671249e-01 -1.50859899e-04 2.32594933e+00] [ 5.59176066e-03 7.49143346e-06 9.99984366e-01 7.93908602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:223.11, Y:2.33, Z:0.78 [[ 9.99621360e-01 -2.69422109e-02 -5.59048489e-03 2.23110902e+02] [ 2.69419460e-02 9.99636992e-01 -1.22716329e-04 2.32664836e+00] [ 5.59176175e-03 -2.79486782e-05 9.99984366e-01 7.80249090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96864 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:223.14, Y:2.33, Z:0.79 [[ 9.99499760e-01 -3.11285171e-02 -5.58976158e-03 2.23139813e+02] [ 3.11281666e-02 9.99515390e-01 -1.49721027e-04 2.32585705e+00] [ 5.59171332e-03 -2.43528994e-05 9.99984366e-01 7.92834048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99864 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:223.17, Y:2.33, Z:0.79 [[ 9.99517204e-01 -3.05632981e-02 -5.58962838e-03 2.23168871e+02] [ 3.05629109e-02 9.99532833e-01 -1.54693501e-04 2.32795656e+00] [ 5.59174503e-03 -1.62164981e-05 9.99984366e-01 7.92454022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02864 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:223.20, Y:2.33, Z:0.79 [[ 9.99549318e-01 -2.94943944e-02 -5.58935917e-03 2.23199522e+02] [ 2.94939340e-02 9.99564946e-01 -1.64803931e-04 2.32824544e+00] [ 5.59178829e-03 -1.22534016e-07 9.99984366e-01 7.92392538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05864 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:223.23, Y:2.33, Z:0.79 [[ 9.99591769e-01 -2.80187647e-02 -5.58963231e-03 2.23228584e+02] [ 2.80183390e-02 9.99607397e-01 -1.54467405e-04 2.32819878e+00] [ 5.59176579e-03 -2.20786684e-06 9.99984366e-01 7.92921211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08864 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:223.26, Y:2.33, Z:0.79 [[ 9.99656231e-01 -2.56159950e-02 -5.58940291e-03 2.23257814e+02] [ 2.56154830e-02 9.99671856e-01 -1.63187746e-04 2.32914644e+00] [ 5.59174900e-03 1.99563924e-05 9.99984366e-01 7.92506324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11864 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:223.29, Y:2.33, Z:0.79 [[ 9.99719283e-01 -2.30242040e-02 -5.58934273e-03 2.23287858e+02] [ 2.30236387e-02 9.99734907e-01 -1.65478303e-04 2.32924751e+00] [ 5.59167104e-03 3.67448432e-05 9.99984366e-01 7.94042453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14864 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:223.32, Y:2.33, Z:0.80 [[ 9.99775493e-01 -2.04382420e-02 -5.58944426e-03 2.23318131e+02] [ 2.04376578e-02 9.99791116e-01 -1.61614664e-04 2.33070219e+00] [ 5.59157984e-03 4.73432308e-05 9.99984366e-01 7.96920731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17864 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:223.35, Y:2.33, Z:0.79 [[ 9.99839523e-01 -1.70200422e-02 -5.58988643e-03 2.23346931e+02] [ 1.70194988e-02 9.99855147e-01 -1.44770678e-04 2.33224985e+00] [ 5.59154072e-03 4.96103805e-05 9.99984366e-01 7.93128946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20864 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:223.38, Y:2.33, Z:0.78 [[ 9.99904806e-01 -1.26151109e-02 -5.58905650e-03 2.23378615e+02] [ 1.26143231e-02 9.99920421e-01 -1.76177559e-04 2.33478727e+00] [ 5.59083422e-03 1.05658623e-04 9.99984366e-01 7.84169655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23864 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:223.41, Y:2.34, Z:0.79 [[ 9.99893356e-01 -1.34918961e-02 -5.58982747e-03 2.23407424e+02] [ 1.34912861e-02 9.99908978e-01 -1.46825684e-04 2.33656389e+00] [ 5.59129963e-03 7.13960643e-05 9.99984366e-01 7.93950904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26864 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:223.44, Y:2.34, Z:0.79 [[ 9.99923905e-01 -1.09974103e-02 -5.58936486e-03 2.23437297e+02] [ 1.09966636e-02 9.99939521e-01 -1.64300757e-04 2.34048539e+00] [ 5.59083371e-03 1.02823889e-04 9.99984366e-01 7.94932556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29864 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:223.47, Y:2.34, Z:0.80 [[ 9.99929422e-01 -1.04839030e-02 -5.58920137e-03 2.23465758e+02] [ 1.04831135e-02 9.99945036e-01 -1.70521967e-04 2.34271347e+00] [ 5.59068190e-03 1.11917700e-04 9.99984366e-01 7.95514392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32864 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:223.49, Y:2.35, Z:0.79 [[ 9.99925159e-01 -1.08829014e-02 -5.58919920e-03 2.23494892e+02] [ 1.08821177e-02 9.99940773e-01 -1.70604460e-04 2.34739587e+00] [ 5.59072484e-03 1.09769368e-04 9.99984366e-01 7.94631654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35864 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:223.52, Y:2.35, Z:0.80 [[ 9.99904154e-01 -1.26666293e-02 -5.58922273e-03 2.23522223e+02] [ 1.26658785e-02 9.99919770e-01 -1.69709732e-04 2.35014146e+00] [ 5.59092396e-03 9.89010499e-05 9.99984366e-01 7.95695806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38864 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:223.56, Y:2.35, Z:0.79 [[ 9.99933392e-01 -1.00987741e-02 -5.58799319e-03 2.23555628e+02] [ 1.00977173e-02 9.99948993e-01 -2.17298477e-04 2.35344261e+00] [ 5.58990261e-03 1.60858028e-04 9.99984363e-01 7.85291895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41864 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:223.58, Y:2.36, Z:0.79 [[ 9.99907253e-01 -1.24192540e-02 -5.58990093e-03 2.23584449e+02] [ 1.24186519e-02 9.99922875e-01 -1.42423444e-04 2.35771659e+00] [ 5.59123860e-03 7.29912007e-05 9.99984366e-01 7.86337510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44864 meters Centerline goodness : 0.990818 Centerline is valid? [True, True] Translation: X:223.61, Y:2.36, Z:0.80 [[ 9.99860376e-01 -1.57474583e-02 -5.58988189e-03 2.23612718e+02] [ 1.57469040e-02 9.99876000e-01 -1.43166740e-04 2.36016497e+00] [ 5.59144325e-03 5.51234167e-05 9.99984366e-01 7.99139645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47864 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:223.64, Y:2.36, Z:0.80 [[ 9.99833765e-01 -1.73552988e-02 -5.58892124e-03 2.23642941e+02] [ 1.73545580e-02 9.99849382e-01 -1.81021687e-04 2.36426500e+00] [ 5.59122114e-03 8.39983367e-05 9.99984365e-01 7.96219149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50864 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:223.67, Y:2.37, Z:0.80 [[ 9.99841063e-01 -1.69296374e-02 -5.58892406e-03 2.23672302e+02] [ 1.69288906e-02 9.99856680e-01 -1.80910051e-04 2.36622886e+00] [ 5.59118580e-03 8.62670141e-05 9.99984365e-01 7.96305509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53864000000002 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:223.70, Y:2.37, Z:0.80 [[ 9.99805487e-01 -1.89142377e-02 -5.58922734e-03 2.23702389e+02] [ 1.89135898e-02 9.99821108e-01 -1.68769564e-04 2.37020312e+00] [ 5.59141962e-03 6.30243827e-05 9.99984366e-01 7.96468898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864000000002 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:223.73, Y:2.37, Z:0.79 [[ 9.99837857e-01 -1.71178795e-02 -5.58915165e-03 2.23733278e+02] [ 1.71171864e-02 9.99853475e-01 -1.71826751e-04 2.37338215e+00] [ 5.59127402e-03 7.61283402e-05 9.99984366e-01 7.86817888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59864000000002 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:223.76, Y:2.37, Z:0.79 [[ 9.99826806e-01 -1.77513507e-02 -5.58999667e-03 2.23762044e+02] [ 1.77508596e-02 9.99842432e-01 -1.37464337e-04 2.37414650e+00] [ 5.59155604e-03 3.82132827e-05 9.99984366e-01 7.86164450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864000000002 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:223.79, Y:2.37, Z:0.80 [[ 9.99710311e-01 -2.34103661e-02 -5.58997843e-03 2.23789208e+02] [ 2.34099593e-02 9.99725940e-01 -1.38202025e-04 2.37258930e+00] [ 5.59168180e-03 7.30082201e-06 9.99984366e-01 7.97898201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:223.82, Y:2.38, Z:0.79 [[ 9.99799693e-01 -1.92183719e-02 -5.58826069e-03 2.23822314e+02] [ 1.92175103e-02 9.99815305e-01 -2.07833120e-04 2.37503653e+00] [ 5.59122278e-03 1.00399032e-04 9.99984364e-01 7.86490588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68864 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:223.85, Y:2.38, Z:0.80 [[ 9.99698996e-01 -2.38887013e-02 -5.59000790e-03 2.23849905e+02] [ 2.38883141e-02 9.99714624e-01 -1.36038377e-04 2.37841742e+00] [ 5.59166243e-03 2.46156428e-06 9.99984367e-01 7.99071238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71864 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:223.88, Y:2.38, Z:0.80 [[ 9.99697249e-01 -2.39620781e-02 -5.58836177e-03 2.23878891e+02] [ 2.39613111e-02 9.99712866e-01 -2.04165328e-04 2.37985221e+00] [ 5.59164938e-03 7.01990419e-05 9.99984364e-01 7.98764075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:223.91, Y:2.38, Z:0.79 [[ 9.99803020e-01 -1.90446994e-02 -5.58758186e-03 2.23913461e+02] [ 1.90436718e-02 9.99818625e-01 -2.37067135e-04 2.38122390e+00] [ 5.59108329e-03 1.30612363e-04 9.99984361e-01 7.87414024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77864 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:223.94, Y:2.38, Z:0.80 [[ 9.99748156e-01 -2.17342236e-02 -5.59007319e-03 2.23940775e+02] [ 2.17338384e-02 9.99763784e-01 -1.29654027e-04 2.38157047e+00] [ 5.59157066e-03 8.12762690e-06 9.99984367e-01 7.99252887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:223.97, Y:2.38, Z:0.79 [[ 9.99843486e-01 -1.67860510e-02 -5.58857580e-03 2.23972812e+02] [ 1.67852319e-02 9.99859099e-01 -1.93445021e-04 2.38430566e+00] [ 5.59103554e-03 9.96092031e-05 9.99984365e-01 7.88445503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:224.00, Y:2.39, Z:0.79 [[ 9.99847214e-01 -1.65620310e-02 -5.59005562e-03 2.24001881e+02] [ 1.65615651e-02 9.99862839e-01 -1.29631670e-04 2.38668188e+00] [ 5.59143585e-03 3.70317945e-05 9.99984367e-01 7.88351502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:224.03, Y:2.39, Z:0.79 [[ 9.99835354e-01 -1.72631303e-02 -5.59003848e-03 2.24030703e+02] [ 1.72626712e-02 9.99850980e-01 -1.30366372e-04 2.38800238e+00] [ 5.59145599e-03 3.38459113e-05 9.99984367e-01 7.88900891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:224.06, Y:2.39, Z:0.79 [[ 9.99835884e-01 -1.72324108e-02 -5.59002124e-03 2.24059494e+02] [ 1.72319471e-02 9.99851510e-01 -1.31101503e-04 2.38975236e+00] [ 5.59145038e-03 3.47530367e-05 9.99984367e-01 7.89072606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92864 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:224.09, Y:2.39, Z:0.80 [[ 9.99753708e-01 -2.14773017e-02 -5.59000398e-03 2.24087004e+02] [ 2.14769003e-02 9.99769336e-01 -1.31833658e-04 2.39026714e+00] [ 5.59154600e-03 1.17452310e-05 9.99984367e-01 8.03145318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:224.12, Y:2.39, Z:0.80 [[ 9.99780517e-01 -2.01913144e-02 -5.58834032e-03 2.24118378e+02] [ 2.01904968e-02 9.99796131e-01 -2.02681593e-04 2.39168663e+00] [ 5.59129344e-03 8.98057403e-05 9.99984365e-01 7.98703526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:224.15, Y:2.39, Z:0.79 [[ 9.99781869e-01 -2.01240359e-02 -5.58909331e-03 2.24149741e+02] [ 2.01233992e-02 9.99797489e-01 -1.70135019e-04 2.39438964e+00] [ 5.59138526e-03 5.76263511e-05 9.99984366e-01 7.88951251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:224.18, Y:2.40, Z:0.79 [[ 9.99745905e-01 -2.18374795e-02 -5.59007386e-03 2.24178577e+02] [ 2.18371110e-02 9.99761534e-01 -1.26961999e-04 2.39604196e+00] [ 5.59151335e-03 4.85867486e-06 9.99984367e-01 7.89166567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:224.21, Y:2.40, Z:0.79 [[ 9.99707948e-01 -2.35110538e-02 -5.59005717e-03 2.24207811e+02] [ 2.35107073e-02 9.99723577e-01 -1.27693032e-04 2.39694562e+00] [ 5.59151414e-03 -3.77045863e-06 9.99984367e-01 7.88214813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07864 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:224.24, Y:2.40, Z:0.80 [[ 9.99511196e-01 -3.07590735e-02 -5.59004032e-03 2.24236385e+02] [ 3.07588362e-02 9.99526827e-01 -1.28426324e-04 2.39529582e+00] [ 5.59134554e-03 -4.35795861e-05 9.99984367e-01 7.99782596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:224.27, Y:2.40, Z:0.79 [[ 9.99534349e-01 -2.99974888e-02 -5.58890677e-03 2.24267166e+02] [ 2.99969648e-02 9.99549974e-01 -1.77567280e-04 2.39559219e+00] [ 5.59171819e-03 9.83435542e-06 9.99984366e-01 7.87380296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:224.30, Y:2.39, Z:0.79 [[ 9.99428922e-01 -3.33253930e-02 -5.59004409e-03 2.24296366e+02] [ 3.33251992e-02 9.99444553e-01 -1.27833450e-04 2.39465583e+00] [ 5.59119922e-03 -5.85288857e-05 9.99984367e-01 7.87811148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16864 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:224.33, Y:2.39, Z:0.80 [[ 9.99398802e-01 -3.42167656e-02 -5.59003589e-03 2.24326465e+02] [ 3.42165837e-02 9.99414433e-01 -1.28191107e-04 2.39475726e+00] [ 5.59114883e-03 -6.31578926e-05 9.99984367e-01 7.99430815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19864 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:224.36, Y:2.39, Z:0.80 [[ 9.99386805e-01 -3.45653821e-02 -5.58998027e-03 2.24355654e+02] [ 3.45651921e-02 9.99402437e-01 -1.30619877e-04 2.39465304e+00] [ 5.59115483e-03 -6.26789608e-05 9.99984367e-01 7.98243413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:224.39, Y:2.40, Z:0.79 [[ 9.99422457e-01 -3.35188004e-02 -5.58948290e-03 2.24386555e+02] [ 3.35184720e-02 9.99438087e-01 -1.52443639e-04 2.39508529e+00] [ 5.59145182e-03 -3.49953299e-05 9.99984367e-01 7.88043462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:224.42, Y:2.40, Z:0.79 [[ 9.99418168e-01 -3.36463550e-02 -5.59008153e-03 2.24415861e+02] [ 3.36461773e-02 9.99433799e-01 -1.25853955e-04 2.39568890e+00] [ 5.59115095e-03 -6.23041457e-05 9.99984367e-01 7.88205090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864000000002 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:224.45, Y:2.40, Z:0.80 [[ 9.99411828e-01 -3.38341415e-02 -5.59006536e-03 2.24445281e+02] [ 3.38339627e-02 9.99427460e-01 -1.26568249e-04 2.39512664e+00] [ 5.59114715e-03 -6.26402577e-05 9.99984367e-01 8.00170491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31864000000002 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:224.48, Y:2.39, Z:0.79 [[ 9.99432647e-01 -3.32135715e-02 -5.58945543e-03 2.24476386e+02] [ 3.32132315e-02 9.99448277e-01 -1.53662713e-04 2.39385839e+00] [ 5.59147529e-03 -3.20683450e-05 9.99984367e-01 7.88300251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864000000002 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:224.51, Y:2.39, Z:0.79 [[ 9.99405775e-01 -3.40124719e-02 -5.59010533e-03 2.24505178e+02] [ 3.40123076e-02 9.99421406e-01 -1.24476369e-04 2.39264029e+00] [ 5.59110468e-03 -6.57299802e-05 9.99984367e-01 7.89004453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37864000000002 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:224.54, Y:2.39, Z:0.79 [[ 9.99394779e-01 -3.43340428e-02 -5.59008939e-03 2.24535045e+02] [ 3.43338796e-02 9.99410411e-01 -1.25188393e-04 2.39165274e+00] [ 5.59109175e-03 -6.68168297e-05 9.99984367e-01 7.89262417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:224.56, Y:2.39, Z:0.79 [[ 9.99393129e-01 -3.43820328e-02 -5.59008133e-03 2.24564717e+02] [ 3.43818683e-02 9.99408761e-01 -1.25546994e-04 2.39125391e+00] [ 5.59109282e-03 -6.67266372e-05 9.99984367e-01 7.89954194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:224.59, Y:2.39, Z:0.79 [[ 9.99401909e-01 -3.41258791e-02 -5.59007328e-03 2.24593337e+02] [ 3.41257086e-02 9.99417540e-01 -1.25904448e-04 2.38950565e+00] [ 5.59111389e-03 -6.49360659e-05 9.99984367e-01 7.90016611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46864 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:224.62, Y:2.39, Z:0.80 [[ 9.99365229e-01 -3.51836756e-02 -5.59005708e-03 2.24622147e+02] [ 3.51835176e-02 9.99380860e-01 -1.26619819e-04 2.38774111e+00] [ 5.59105100e-03 -7.01384274e-05 9.99984367e-01 8.02106556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49864 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:224.65, Y:2.39, Z:0.80 [[ 9.99347731e-01 -3.56772869e-02 -5.58967165e-03 2.24650059e+02] [ 3.56770421e-02 9.99363361e-01 -1.43537143e-04 2.38634735e+00] [ 5.59123406e-03 -5.59794328e-05 9.99984367e-01 8.00301962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:224.68, Y:2.39, Z:0.79 [[ 9.99438835e-01 -3.30268997e-02 -5.58910911e-03 2.24682006e+02] [ 3.30264740e-02 9.99454463e-01 -1.68477248e-04 2.38669113e+00] [ 5.59162432e-03 -1.62058620e-05 9.99984367e-01 7.90573590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55864 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:224.71, Y:2.38, Z:0.80 [[ 9.99456945e-01 -3.24740902e-02 -5.59009549e-03 2.24711296e+02] [ 3.24739044e-02 9.99472576e-01 -1.24015480e-04 2.38456827e+00] [ 5.59117443e-03 -5.75840943e-05 9.99984368e-01 8.01306685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:224.74, Y:2.38, Z:0.79 [[ 9.99552117e-01 -2.93993420e-02 -5.58964972e-03 2.24741905e+02] [ 2.93989959e-02 9.99567746e-01 -1.44085670e-04 2.38466956e+00] [ 5.59146960e-03 -2.03089525e-05 9.99984367e-01 7.90467235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:224.77, Y:2.39, Z:0.79 [[ 9.99596724e-01 -2.78413432e-02 -5.59009404e-03 2.24770499e+02] [ 2.78410847e-02 9.99612354e-01 -1.24065967e-04 2.38522237e+00] [ 5.59138123e-03 -3.16183480e-05 9.99984368e-01 7.90755856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64864 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:224.80, Y:2.39, Z:0.80 [[ 9.99674576e-01 -2.48896256e-02 -5.59007795e-03 2.24799523e+02] [ 2.48893170e-02 9.99690205e-01 -1.24786757e-04 2.38692201e+00] [ 5.59145207e-03 -1.43870739e-05 9.99984368e-01 8.01208635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:224.83, Y:2.39, Z:0.79 [[ 9.99762464e-01 -2.10659733e-02 -5.58938351e-03 2.24831291e+02] [ 2.10654323e-02 9.99778087e-01 -1.55646132e-04 2.38848757e+00] [ 5.59142199e-03 3.78663805e-05 9.99984367e-01 7.91331270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:224.86, Y:2.39, Z:0.79 [[ 9.99781295e-01 -2.01522332e-02 -5.59007962e-03 2.24860369e+02] [ 2.01518529e-02 9.99796923e-01 -1.24353910e-04 2.38945943e+00] [ 5.59145041e-03 1.16762508e-05 9.99984368e-01 7.91230995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73864 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:224.89, Y:2.39, Z:0.79 [[ 9.99821172e-01 -1.80658358e-02 -5.59006329e-03 2.24888977e+02] [ 1.80654188e-02 9.99836799e-01 -1.25083684e-04 2.39170426e+00] [ 5.59141073e-03 2.40744816e-05 9.99984368e-01 7.92408485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:224.92, Y:2.39, Z:0.79 [[ 9.99824906e-01 -1.78580418e-02 -5.59003570e-03 2.24917350e+02] [ 1.78576147e-02 9.99840532e-01 -1.26304748e-04 2.39303342e+00] [ 5.59139983e-03 2.64579289e-05 9.99984368e-01 7.92213986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:224.95, Y:2.40, Z:0.79 [[ 9.99822641e-01 -1.79844134e-02 -5.59001878e-03 2.24945959e+02] [ 1.79839841e-02 9.99838267e-01 -1.27049228e-04 2.39544724e+00] [ 5.59139960e-03 2.64958860e-05 9.99984368e-01 7.92331401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82864 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:224.98, Y:2.40, Z:0.80 [[ 9.99764096e-01 -2.09882114e-02 -5.59000198e-03 2.24975023e+02] [ 2.09878250e-02 9.99779723e-01 -1.27784357e-04 2.39702163e+00] [ 5.59145259e-03 1.04322288e-05 9.99984368e-01 8.04619891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85864 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:225.01, Y:2.40, Z:0.79 [[ 9.99780839e-01 -2.01750050e-02 -5.58961116e-03 2.25006357e+02] [ 2.01745107e-02 9.99796463e-01 -1.44804599e-04 2.39992609e+00] [ 5.59139490e-03 3.20051930e-05 9.99984368e-01 7.92894359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88864 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:225.03, Y:2.40, Z:0.79 [[ 9.99756625e-01 -2.13410934e-02 -5.59000059e-03 2.25034996e+02] [ 2.13407126e-02 9.99772253e-01 -1.27766209e-04 2.40406347e+00] [ 5.59145416e-03 8.44051839e-06 9.99984368e-01 7.93002246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91864 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:225.06, Y:2.41, Z:0.80 [[ 9.99708914e-01 -2.34699729e-02 -5.58998372e-03 2.25064478e+02] [ 2.34696213e-02 9.99724542e-01 -1.28500198e-04 2.40509479e+00] [ 5.59145981e-03 -2.73200722e-06 9.99984368e-01 8.03984160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94864 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:225.09, Y:2.41, Z:0.81 [[ 9.99709250e-01 -2.34557461e-02 -5.58958682e-03 2.25093714e+02] [ 2.34552980e-02 9.99724876e-01 -1.45719255e-04 2.40790937e+00] [ 5.59146694e-03 1.45714623e-05 9.99984368e-01 8.05085264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97864 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:225.12, Y:2.41, Z:0.79 [[ 9.99699772e-01 -2.38562274e-02 -5.58977718e-03 2.25124249e+02] [ 2.38558321e-02 9.99715400e-01 -1.37401724e-04 2.41274589e+00] [ 5.59146422e-03 4.01168596e-06 9.99984368e-01 7.93519984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:225.15, Y:2.41, Z:0.79 [[ 9.99645995e-01 -2.60122182e-02 -5.59001656e-03 2.25152800e+02] [ 2.60119156e-02 9.99661625e-01 -1.26853132e-04 2.41294183e+00] [ 5.59142477e-03 -1.85988134e-05 9.99984368e-01 7.92908347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03864000000002 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:225.18, Y:2.41, Z:0.79 [[ 9.99509885e-01 -3.08016590e-02 -5.58999988e-03 2.25182669e+02] [ 3.08014271e-02 9.99525515e-01 -1.27584022e-04 2.41025513e+00] [ 5.59127731e-03 -4.46584825e-05 9.99984368e-01 7.92543188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864000000002 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:225.21, Y:2.41, Z:0.81 [[ 9.99390918e-01 -3.44462597e-02 -5.58999160e-03 2.25212286e+02] [ 3.44460828e-02 9.99406549e-01 -1.27945891e-04 2.40912772e+00] [ 5.59108147e-03 -6.46853515e-05 9.99984368e-01 8.06951746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09864000000002 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:225.24, Y:2.41, Z:0.79 [[ 9.99322244e-01 -3.63840760e-02 -5.59031297e-03 2.25240818e+02] [ 3.63840082e-02 9.99337876e-01 -1.13864781e-04 2.40909691e+00] [ 5.59075436e-03 -8.96103838e-05 9.99984368e-01 7.93803404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864000000002 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:225.27, Y:2.41, Z:0.79 [[ 9.99149447e-01 -4.08550562e-02 -5.58996797e-03 2.25270389e+02] [ 4.08549746e-02 9.99165079e-01 -1.28834037e-04 2.40657944e+00] [ 5.59056431e-03 -9.96535423e-05 9.99984368e-01 7.93020024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15864 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:225.30, Y:2.40, Z:0.80 [[ 9.99086329e-01 -4.23705017e-02 -5.58995983e-03 2.25299605e+02] [ 4.23704419e-02 9.99101961e-01 -1.29186322e-04 2.40498771e+00] [ 5.59041352e-03 -1.07780780e-04 9.99984368e-01 8.03673448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18864 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:225.33, Y:2.40, Z:0.80 [[ 9.99185408e-01 -3.99659907e-02 -5.58931690e-03 2.25329764e+02] [ 3.99657387e-02 9.99201038e-01 -1.56817621e-04 2.40296770e+00] [ 5.59111863e-03 -6.66913003e-05 9.99984367e-01 8.04563126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:225.36, Y:2.40, Z:0.79 [[ 9.99209241e-01 -3.93655627e-02 -5.58981935e-03 2.25360362e+02] [ 3.93654235e-02 9.99224872e-01 -1.34950857e-04 2.40287873e+00] [ 5.59079894e-03 -8.52014631e-05 9.99984368e-01 7.94655811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:225.39, Y:2.40, Z:0.80 [[ 9.99263864e-01 -3.79536986e-02 -5.58997515e-03 2.25390273e+02] [ 3.79535754e-02 9.99279495e-01 -1.28154890e-04 2.40216921e+00] [ 5.59081150e-03 -8.40989928e-05 9.99984368e-01 7.95590272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27864 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:225.42, Y:2.40, Z:0.81 [[ 9.99330125e-01 -3.61670296e-02 -5.58996700e-03 2.25419402e+02] [ 3.61668765e-02 9.99345756e-01 -1.28509674e-04 2.40093794e+00] [ 5.59095761e-03 -7.37480578e-05 9.99984368e-01 8.08454837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30864 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:225.45, Y:2.40, Z:0.81 [[ 9.99398019e-01 -3.42397319e-02 -5.58929564e-03 2.25449146e+02] [ 3.42393861e-02 9.99413648e-01 -1.57571917e-04 2.40135329e+00] [ 5.59141356e-03 -3.38969894e-05 9.99984367e-01 8.08326333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33864 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:225.48, Y:2.40, Z:0.81 [[ 9.99455867e-01 -3.25073192e-02 -5.58967252e-03 2.25478125e+02] [ 3.25070378e-02 9.99471497e-01 -1.41216639e-04 2.40174359e+00] [ 5.59130894e-03 -4.05638980e-05 9.99984368e-01 8.09182833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:225.51, Y:2.40, Z:0.80 [[ 9.99497060e-01 -3.12151085e-02 -5.58958518e-03 2.25508322e+02] [ 3.12147856e-02 9.99512689e-01 -1.45002273e-04 2.40265683e+00] [ 5.59138758e-03 -2.95483577e-05 9.99984368e-01 7.97300279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:225.54, Y:2.40, Z:0.80 [[ 9.99514748e-01 -3.06434348e-02 -5.58995756e-03 2.25536782e+02] [ 3.06431935e-02 9.99530379e-01 -1.28846966e-04 2.40315316e+00] [ 5.59128071e-03 -4.25097082e-05 9.99984368e-01 7.97581801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:225.57, Y:2.40, Z:0.80 [[ 9.99565782e-01 -2.89309368e-02 -5.58994092e-03 2.25565758e+02] [ 2.89306646e-02 9.99581412e-01 -1.29564748e-04 2.40362539e+00] [ 5.59134947e-03 -3.22122171e-05 9.99984368e-01 7.97172267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45864 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:225.59, Y:2.40, Z:0.81 [[ 9.99537319e-01 -2.98981630e-02 -5.58992413e-03 2.25594003e+02] [ 2.98979019e-02 9.99552949e-01 -1.30284971e-04 2.40424014e+00] [ 5.59132044e-03 -3.69023129e-05 9.99984368e-01 8.08483346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:225.63, Y:2.41, Z:0.80 [[ 9.99566775e-01 -2.88967241e-02 -5.58943263e-03 2.25625187e+02] [ 2.88963297e-02 9.99582402e-01 -1.51318868e-04 2.40589176e+00] [ 5.59147111e-03 -1.02607752e-05 9.99984368e-01 7.97540693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:225.65, Y:2.41, Z:0.80 [[ 9.99546203e-01 -2.95996668e-02 -5.58995229e-03 2.25654140e+02] [ 2.95994095e-02 9.99561833e-01 -1.28758098e-04 2.40539373e+00] [ 5.59131416e-03 -3.67596188e-05 9.99984368e-01 7.98089006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:225.68, Y:2.40, Z:0.80 [[ 9.99514036e-01 -3.06666683e-02 -5.58993564e-03 2.25682945e+02] [ 3.06664238e-02 9.99529666e-01 -1.29476968e-04 2.40474948e+00] [ 5.59127713e-03 -4.20092887e-05 9.99984368e-01 7.98433237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:225.71, Y:2.40, Z:0.80 [[ 9.99443888e-01 -3.28735221e-02 -5.58991876e-03 2.25712351e+02] [ 3.28733080e-02 9.99459518e-01 -1.30201858e-04 2.40225296e+00] [ 5.59117770e-03 -5.36296695e-05 9.99984368e-01 7.98063599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:225.74, Y:2.40, Z:0.80 [[ 9.99368019e-01 -3.51043650e-02 -5.58990623e-03 2.25741766e+02] [ 3.51041828e-02 9.99383650e-01 -1.30737438e-04 2.40119282e+00] [ 5.59105034e-03 -6.55742752e-05 9.99984368e-01 7.97823178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63864 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:225.77, Y:2.40, Z:0.81 [[ 9.99220937e-01 -3.90675282e-02 -5.58989780e-03 2.25770358e+02] [ 3.90674060e-02 9.99236569e-01 -1.31096843e-04 2.39785638e+00] [ 5.59075193e-03 -8.73880967e-05 9.99984368e-01 8.10557962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66864 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:225.80, Y:2.40, Z:0.81 [[ 9.99240851e-01 -3.85549606e-02 -5.58894446e-03 2.25800573e+02] [ 3.85546007e-02 9.99256480e-01 -1.72165717e-04 2.39593482e+00] [ 5.59142682e-03 -4.34445046e-05 9.99984367e-01 8.14274812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69864 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:225.83, Y:2.40, Z:0.81 [[ 9.99338470e-01 -3.59358598e-02 -5.58888168e-03 2.25830901e+02] [ 3.59354436e-02 9.99354098e-01 -1.74904669e-04 2.39595203e+00] [ 5.59155716e-03 -2.60499784e-05 9.99984367e-01 8.11281997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:225.86, Y:2.40, Z:0.80 [[ 9.99471694e-01 -3.20170506e-02 -5.58944166e-03 2.25861950e+02] [ 3.20167119e-02 9.99487322e-01 -1.50085573e-04 2.39637749e+00] [ 5.59138137e-03 -2.89492615e-05 9.99984368e-01 8.01347595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75864 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:225.89, Y:2.40, Z:0.81 [[ 9.99556335e-01 -2.92554950e-02 -5.59001196e-03 2.25890631e+02] [ 2.92552564e-02 9.99571966e-01 -1.24473777e-04 2.39562987e+00] [ 5.59126079e-03 -3.91186805e-05 9.99984368e-01 8.13212186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864000000002 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:225.92, Y:2.40, Z:0.80 [[ 9.99655444e-01 -2.56467200e-02 -5.58920758e-03 2.25922138e+02] [ 2.56462231e-02 9.99671069e-01 -1.60574454e-04 2.39654899e+00] [ 5.59148732e-03 1.71770628e-05 9.99984367e-01 8.02339411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81864000000002 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:225.95, Y:2.40, Z:0.80 [[ 9.99723671e-01 -2.28327232e-02 -5.59002039e-03 2.25951475e+02] [ 2.28323874e-02 9.99739299e-01 -1.23904234e-04 2.39655847e+00] [ 5.59139214e-03 -3.76351513e-06 9.99984368e-01 8.02274040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864000000002 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:225.98, Y:2.40, Z:0.80 [[ 9.99708729e-01 -2.34778353e-02 -5.58999342e-03 2.25980364e+02] [ 2.34775028e-02 9.99724358e-01 -1.25109171e-04 2.39675472e+00] [ 5.59138987e-03 -6.16635550e-06 9.99984368e-01 8.02939162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87864000000002 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:226.01, Y:2.40, Z:0.80 [[ 9.99719044e-01 -2.30344169e-02 -5.58997691e-03 2.26009606e+02] [ 2.30340734e-02 9.99734673e-01 -1.25842455e-04 2.39707605e+00] [ 5.59139245e-03 -2.95283975e-06 9.99984368e-01 8.03426477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:226.04, Y:2.40, Z:0.82 [[ 9.99677116e-01 -2.47874158e-02 -5.58996031e-03 2.26038285e+02] [ 2.47870955e-02 9.99692745e-01 -1.26575873e-04 2.39851494e+00] [ 5.59138025e-03 -1.20238762e-05 9.99984368e-01 8.15375019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:226.07, Y:2.40, Z:0.80 [[ 9.99735028e-01 -2.23301179e-02 -5.58915779e-03 2.26068873e+02] [ 2.23295615e-02 9.99750651e-01 -1.61931290e-04 2.40094358e+00] [ 5.59138009e-03 3.70849395e-05 9.99984367e-01 8.02045033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:226.10, Y:2.40, Z:0.80 [[ 9.99764770e-01 -2.09560907e-02 -5.58996373e-03 2.26098039e+02] [ 2.09557124e-02 9.99780397e-01 -1.26245988e-04 2.40229587e+00] [ 5.59138178e-03 9.07461863e-06 9.99984368e-01 8.02300452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99864 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:226.13, Y:2.40, Z:0.82 [[ 9.99723546e-01 -2.28382176e-02 -5.58994710e-03 2.26125915e+02] [ 2.28378646e-02 9.99739174e-01 -1.26978136e-04 2.40275508e+00] [ 5.59138905e-03 -7.19422799e-07 9.99984368e-01 8.16004484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02864 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:226.16, Y:2.40, Z:0.82 [[ 9.99747711e-01 -2.17549069e-02 -5.58918504e-03 2.26155068e+02] [ 2.17543508e-02 9.99763333e-01 -1.60275910e-04 2.40419825e+00] [ 5.59134906e-03 3.86463821e-05 9.99984368e-01 8.15915340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:226.19, Y:2.41, Z:0.80 [[ 9.99820992e-01 -1.80760752e-02 -5.58914167e-03 2.26185835e+02] [ 1.80754510e-02 9.99836613e-01 -1.62177933e-04 2.40560069e+00] [ 5.59116001e-03 6.11226456e-05 9.99984367e-01 8.02884195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:226.22, Y:2.41, Z:0.80 [[ 9.99820456e-01 -1.81054854e-02 -5.58994375e-03 2.26215140e+02] [ 1.81050593e-02 9.99836082e-01 -1.26825542e-04 2.40575813e+00] [ 5.59132370e-03 2.55965086e-05 9.99984368e-01 8.03315846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:226.24, Y:2.41, Z:0.80 [[ 9.99818066e-01 -1.82369961e-02 -5.58992692e-03 2.26244451e+02] [ 1.82365679e-02 9.99833692e-01 -1.27563224e-04 2.40639439e+00] [ 5.59132364e-03 2.55989340e-05 9.99984368e-01 8.03479816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:226.27, Y:2.41, Z:0.80 [[ 9.99816755e-01 -1.83087007e-02 -5.58991004e-03 2.26272917e+02] [ 1.83082695e-02 9.99832381e-01 -1.28298478e-04 2.40682697e+00] [ 5.59132205e-03 2.59333884e-05 9.99984368e-01 8.04087938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:226.30, Y:2.41, Z:0.80 [[ 9.99817266e-01 -1.82808002e-02 -5.58989307e-03 2.26301199e+02] [ 1.82803644e-02 9.99832892e-01 -1.29033730e-04 2.40974225e+00] [ 5.59131779e-03 2.68248688e-05 9.99984368e-01 8.04532073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20864 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:226.33, Y:2.41, Z:0.81 [[ 9.99763813e-01 -2.10017155e-02 -5.58987592e-03 2.26329245e+02] [ 2.10013182e-02 9.99779440e-01 -1.29772554e-04 2.41088886e+00] [ 5.59136846e-03 1.23471401e-05 9.99984368e-01 8.14270168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:226.36, Y:2.41, Z:0.80 [[ 9.99818383e-01 -1.82200423e-02 -5.58839803e-03 2.26361688e+02] [ 1.82192441e-02 9.99833997e-01 -1.93700055e-04 2.41249324e+00] [ 5.59099956e-03 9.18484877e-05 9.99984366e-01 8.04449952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:226.39, Y:2.41, Z:0.81 [[ 9.99788925e-01 -1.97701312e-02 -5.58991281e-03 2.26390625e+02] [ 1.97697298e-02 9.99804552e-01 -1.27057560e-04 2.41233438e+00] [ 5.59133222e-03 1.65196750e-05 9.99984368e-01 8.05885303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:226.42, Y:2.41, Z:0.81 [[ 9.99766431e-01 -2.08767016e-02 -5.58989599e-03 2.26419054e+02] [ 2.08763134e-02 9.99782058e-01 -1.27793382e-04 2.41367947e+00] [ 5.59134562e-03 1.10671132e-05 9.99984368e-01 8.06075213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32864 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:226.45, Y:2.42, Z:0.82 [[ 9.99715691e-01 -2.31795105e-02 -5.58987910e-03 2.26447789e+02] [ 2.31791542e-02 9.99731319e-01 -1.28528063e-04 2.41586767e+00] [ 5.59135642e-03 -1.07714829e-06 9.99984368e-01 8.18718814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:226.48, Y:2.42, Z:0.81 [[ 9.99754331e-01 -2.14485088e-02 -5.58922864e-03 2.26479099e+02] [ 2.14479689e-02 9.99769954e-01 -1.56518393e-04 2.41779958e+00] [ 5.59129995e-03 3.66023388e-05 9.99984368e-01 8.05685266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:226.51, Y:2.42, Z:0.81 [[ 9.99728044e-01 -2.26404645e-02 -5.58987576e-03 2.26507866e+02] [ 2.26401008e-02 9.99743672e-01 -1.28331037e-04 2.41828147e+00] [ 5.59134839e-03 1.74078534e-06 9.99984368e-01 8.05472786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:226.54, Y:2.42, Z:0.81 [[ 9.99703151e-01 -2.37142039e-02 -5.58985880e-03 2.26537016e+02] [ 2.37138530e-02 9.99718779e-01 -1.29065715e-04 2.42048479e+00] [ 5.59134750e-03 -3.52968812e-06 9.99984368e-01 8.07201646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:226.57, Y:2.42, Z:0.81 [[ 9.99705859e-01 -2.35997644e-02 -5.58984181e-03 2.26566267e+02] [ 2.35994076e-02 9.99721487e-01 -1.29797284e-04 2.42223143e+00] [ 5.59134815e-03 -2.15784983e-06 9.99984368e-01 8.08763526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47864 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:226.59, Y:2.43, Z:0.81 [[ 9.99713520e-01 -2.32729841e-02 -5.58982473e-03 2.26594940e+02] [ 2.32726181e-02 9.99729147e-01 -1.30528715e-04 2.42519223e+00] [ 5.59134851e-03 4.01464871e-07 9.99984368e-01 8.08520357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50864 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:226.62, Y:2.43, Z:0.82 [[ 9.99680600e-01 -2.46465242e-02 -5.58980757e-03 2.26623867e+02] [ 2.46461756e-02 9.99696228e-01 -1.31259580e-04 2.42612377e+00] [ 5.59134464e-03 -6.54972290e-06 9.99984368e-01 8.19319767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53864000000002 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:226.66, Y:2.43, Z:0.81 [[ 9.99686247e-01 -2.44165788e-02 -5.58918335e-03 2.26655078e+02] [ 2.44160766e-02 9.99701871e-01 -1.58061369e-04 2.42818461e+00] [ 5.59137636e-03 2.15458473e-05 9.99984368e-01 8.07351609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864000000002 meters Centerline goodness : 0.989894 Centerline is valid? [True, True] Translation: X:226.68, Y:2.43, Z:0.82 [[ 9.99653654e-01 -2.57162335e-02 -5.58986232e-03 2.26684871e+02] [ 2.57159168e-02 9.99669283e-01 -1.28533044e-04 2.42836804e+00] [ 5.59131904e-03 -1.52599069e-05 9.99984368e-01 8.20119968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59864000000002 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:226.72, Y:2.43, Z:0.81 [[ 9.99611743e-01 -2.72968542e-02 -5.58967280e-03 2.26715701e+02] [ 2.72965159e-02 9.99627371e-01 -1.36812246e-04 2.42911312e+00] [ 5.59132447e-03 -1.58194651e-05 9.99984368e-01 8.07822497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864000000002 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:226.75, Y:2.43, Z:0.82 [[ 9.99549865e-01 -2.94757730e-02 -5.58989931e-03 2.26746523e+02] [ 2.94755247e-02 9.99565494e-01 -1.26828591e-04 2.42897218e+00] [ 5.59120884e-03 -3.79937145e-05 9.99984368e-01 8.20326519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65864 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:226.78, Y:2.43, Z:0.81 [[ 9.99335758e-01 -3.60110147e-02 -5.59017337e-03 2.26776823e+02] [ 3.60109366e-02 9.99351389e-01 -1.14664074e-04 2.42592519e+00] [ 5.59067669e-03 -8.67194693e-05 9.99984368e-01 8.08132439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68864 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:226.81, Y:2.42, Z:0.81 [[ 9.99198403e-01 -3.96396882e-02 -5.58993654e-03 2.26806042e+02] [ 3.96396077e-02 9.99214034e-01 -1.25235144e-04 2.42332003e+00] [ 5.59050732e-03 -9.64481357e-05 9.99984368e-01 8.08041255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71864 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:226.84, Y:2.42, Z:0.81 [[ 9.98962212e-01 -4.52023435e-02 -5.58992803e-03 2.26835417e+02] [ 4.52023480e-02 9.98977844e-01 -1.25613886e-04 2.41680626e+00] [ 5.58989229e-03 -1.27194347e-04 9.99984368e-01 8.08423805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:226.86, Y:2.41, Z:0.81 [[ 9.98912801e-01 -4.62814170e-02 -5.58992015e-03 2.26863891e+02] [ 4.62814364e-02 9.98928432e-01 -1.25963641e-04 2.41374440e+00] [ 5.58975994e-03 -1.32882840e-04 9.99984368e-01 8.08594009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77864 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:226.89, Y:2.41, Z:0.82 [[ 9.98958563e-01 -4.52829135e-02 -5.58990836e-03 2.26894431e+02] [ 4.52829143e-02 9.98974195e-01 -1.26484459e-04 2.41031444e+00] [ 5.58990179e-03 -1.26774608e-04 9.99984368e-01 8.23248250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80864 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:226.92, Y:2.40, Z:0.82 [[ 9.98975151e-01 -4.49154306e-02 -5.59037465e-03 2.26923379e+02] [ 4.49155404e-02 9.98990782e-01 -1.05963127e-04 2.40406227e+00] [ 5.58949212e-03 -1.45240167e-04 9.99984368e-01 8.22320545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83864 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:226.95, Y:2.40, Z:0.81 [[ 9.99029407e-01 -4.36920754e-02 -5.58979771e-03 2.26954446e+02] [ 4.36920253e-02 9.99045039e-01 -1.31131002e-04 2.40186434e+00] [ 5.59018905e-03 -1.13225856e-04 9.99984368e-01 8.11859240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:226.98, Y:2.39, Z:0.81 [[ 9.99163939e-01 -4.04990935e-02 -5.58986236e-03 2.26983486e+02] [ 4.04990092e-02 9.99179570e-01 -1.28314375e-04 2.39483822e+00] [ 5.59047289e-03 -9.81767916e-05 9.99984368e-01 8.12486428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:227.01, Y:2.39, Z:0.81 [[ 9.99220565e-01 -3.90770623e-02 -5.58984605e-03 2.27012404e+02] [ 3.90769518e-02 9.99236196e-01 -1.29021081e-04 2.39065525e+00] [ 5.59061827e-03 -8.95136269e-05 9.99984368e-01 8.13092220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92864 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:227.04, Y:2.39, Z:0.81 [[ 9.99255549e-01 -3.81720095e-02 -5.58982950e-03 2.27041651e+02] [ 3.81718809e-02 9.99271180e-01 -1.29734272e-04 2.38675596e+00] [ 5.59070774e-03 -8.37366152e-05 9.99984368e-01 8.13754102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:227.07, Y:2.38, Z:0.82 [[ 9.99278030e-01 -3.75788971e-02 -5.58981265e-03 2.27070599e+02] [ 3.75787552e-02 9.99293661e-01 -1.30456124e-04 2.38170410e+00] [ 5.59076674e-03 -7.96962623e-05 9.99984368e-01 8.15075246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98864 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:227.10, Y:2.38, Z:0.81 [[ 9.99286290e-01 -3.73586022e-02 -5.58979554e-03 2.27099529e+02] [ 3.73584528e-02 9.99301921e-01 -1.31185167e-04 2.38036505e+00] [ 5.59079432e-03 -7.77345735e-05 9.99984368e-01 8.14491866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:227.13, Y:2.38, Z:0.81 [[ 9.99334644e-01 -3.60419603e-02 -5.58977858e-03 2.27128806e+02] [ 3.60417862e-02 9.99350275e-01 -1.31904148e-04 2.37550234e+00] [ 5.59090084e-03 -6.96492192e-05 9.99984368e-01 8.14149613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04864 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:227.16, Y:2.37, Z:0.83 [[ 9.99309964e-01 -3.67198807e-02 -5.58976139e-03 2.27156482e+02] [ 3.67197132e-02 9.99325595e-01 -1.32628331e-04 2.37390420e+00] [ 5.59086173e-03 -7.27176223e-05 9.99984368e-01 8.27794751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:227.19, Y:2.38, Z:0.82 [[ 9.99522337e-01 -3.03952099e-02 -5.58820988e-03 2.27189149e+02] [ 3.03945804e-02 9.99537958e-01 -1.97565187e-04 2.37505517e+00] [ 5.59163293e-03 2.76195233e-05 9.99984366e-01 8.16900252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10864 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:227.22, Y:2.38, Z:0.83 [[ 9.99649129e-01 -2.58915807e-02 -5.58976653e-03 2.27217066e+02] [ 2.58912514e-02 9.99664757e-01 -1.31290035e-04 2.37693481e+00] [ 5.59129191e-03 -1.34820817e-05 9.99984369e-01 8.31513282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13864 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:227.25, Y:2.38, Z:0.83 [[ 9.99726989e-01 -2.26873704e-02 -5.58844169e-03 2.27245496e+02] [ 2.26866769e-02 9.99742607e-01 -1.87463107e-04 2.37874834e+00] [ 5.59125631e-03 6.06287570e-05 9.99984367e-01 8.31294493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16864 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:227.28, Y:2.38, Z:0.82 [[ 9.99880597e-01 -1.44072126e-02 -5.58787997e-03 2.27278729e+02] [ 1.44062545e-02 9.99896202e-01 -2.11669970e-04 2.38139565e+00] [ 5.59034954e-03 1.31144274e-04 9.99984365e-01 8.18685434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19864 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:227.31, Y:2.39, Z:0.83 [[ 9.99918245e-01 -1.15003487e-02 -5.58980524e-03 2.27306376e+02] [ 1.14998195e-02 9.99933867e-01 -1.26794586e-04 2.38596560e+00] [ 5.59089375e-03 6.25024688e-05 9.99984369e-01 8.31075715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22864 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:227.34, Y:2.39, Z:0.83 [[ 9.99942419e-01 -9.16107983e-03 -5.58858695e-03 2.27335532e+02] [ 9.16021484e-03 9.99958028e-01 -1.80355482e-04 2.38943056e+00] [ 5.59000464e-03 1.29152440e-04 9.99984367e-01 8.31831742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25864 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:227.36, Y:2.40, Z:0.83 [[ 9.99957723e-01 -7.30179629e-03 -5.58885668e-03 2.27363730e+02] [ 7.30096896e-03 9.99973333e-01 -1.68419611e-04 2.39558437e+00] [ 5.58993741e-03 1.27608422e-04 9.99984368e-01 8.34422651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864000000002 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:227.39, Y:2.40, Z:0.83 [[ 9.99961466e-01 -6.76989133e-03 -5.58880242e-03 2.27392855e+02] [ 6.76904215e-03 9.99977075e-01 -1.70843963e-04 2.39911535e+00] [ 5.58983090e-03 1.33006541e-04 9.99984368e-01 8.33384757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31864000000002 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:227.42, Y:2.40, Z:0.82 [[ 9.99976602e-01 -3.94453170e-03 -5.58897443e-03 2.27424238e+02] [ 3.94368155e-03 9.99992210e-01 -1.63123015e-04 2.40273876e+00] [ 5.58957433e-03 1.41078063e-04 9.99984368e-01 8.23138225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864000000002 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:227.45, Y:2.41, Z:0.82 [[ 9.99967513e-01 -5.80749386e-03 -5.58984321e-03 2.27453284e+02] [ 5.80689174e-03 9.99983132e-01 -1.23939697e-04 2.40973838e+00] [ 5.59046871e-03 9.14760557e-05 9.99984369e-01 8.22614862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37864000000002 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:227.48, Y:2.41, Z:0.83 [[ 9.99928377e-01 -1.05827305e-02 -5.58982652e-03 2.27481476e+02] [ 1.05821988e-02 9.99943999e-01 -1.24688101e-04 2.41282415e+00] [ 5.59083303e-03 6.55265151e-05 9.99984369e-01 8.33194431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40864 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:227.51, Y:2.42, Z:0.82 [[ 9.99941538e-01 -9.25659957e-03 -5.58889649e-03 2.27513225e+02] [ 9.25581356e-03 9.99957150e-01 -1.66486159e-04 2.41597336e+00] [ 5.59019810e-03 1.14746642e-04 9.99984368e-01 8.22531824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43864 meters Centerline goodness : 0.987493 Centerline is valid? [True, True] Translation: X:227.54, Y:2.42, Z:0.83 [[ 9.99843265e-01 -1.67987779e-02 -5.58983934e-03 2.27542523e+02] [ 1.67983473e-02 9.99858890e-01 -1.23974374e-04 2.41944828e+00] [ 5.59113318e-03 3.00548799e-05 9.99984369e-01 8.33279250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46864 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:227.57, Y:2.42, Z:0.83 [[ 9.99800772e-01 -1.91618927e-02 -5.58908926e-03 2.27571004e+02] [ 1.91613108e-02 9.99816393e-01 -1.57641022e-04 2.42175646e+00] [ 5.59108376e-03 5.05153389e-05 9.99984368e-01 8.32933496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49864 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:227.60, Y:2.43, Z:0.83 [[ 9.99702579e-01 -2.37384709e-02 -5.58907449e-03 2.27601092e+02] [ 2.37379568e-02 9.99718202e-01 -1.58306448e-04 2.42551859e+00] [ 5.59125745e-03 2.55861554e-05 9.99984368e-01 8.34725582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52864 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:227.63, Y:2.43, Z:0.82 [[ 9.99706957e-01 -2.35533648e-02 -5.58914271e-03 2.27632376e+02] [ 2.35528652e-02 9.99722581e-01 -1.55203873e-04 2.42796067e+00] [ 5.59124775e-03 2.35180667e-05 9.99984369e-01 8.23169732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55864 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:227.66, Y:2.43, Z:0.83 [[ 9.99594659e-01 -2.79154314e-02 -5.58987236e-03 2.27661082e+02] [ 2.79151874e-02 9.99610288e-01 -1.21686393e-04 2.42895458e+00] [ 5.59109084e-03 -3.44052653e-05 9.99984369e-01 8.34949579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58864 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:227.69, Y:2.43, Z:0.83 [[ 9.99492419e-01 -3.13634325e-02 -5.58915850e-03 2.27690990e+02] [ 3.13630599e-02 9.99508046e-01 -1.54319440e-04 2.43240082e+00] [ 5.59124888e-03 -2.10520019e-05 9.99984369e-01 8.34745454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:227.72, Y:2.43, Z:0.82 [[ 9.99487043e-01 -3.15343267e-02 -5.58895375e-03 2.27721437e+02] [ 3.15339039e-02 9.99502669e-01 -1.63788572e-04 2.43432170e+00] [ 5.59133916e-03 -1.25369747e-05 9.99984368e-01 8.23778970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64864 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:227.75, Y:2.44, Z:0.83 [[ 9.99220580e-01 -3.90766727e-02 -5.58989659e-03 2.27749895e+02] [ 3.90766139e-02 9.99236210e-01 -1.19793555e-04 2.43635066e+00] [ 5.59030822e-03 -9.87340448e-05 9.99984369e-01 8.32896487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67864 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:227.78, Y:2.44, Z:0.84 [[ 9.99131311e-01 -4.12963271e-02 -5.58901734e-03 2.27778287e+02] [ 4.12960733e-02 9.99146940e-01 -1.60869866e-04 2.43660102e+00] [ 5.59089291e-03 -7.00743498e-05 9.99984368e-01 8.35060878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70864 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:227.81, Y:2.44, Z:0.82 [[ 9.99142940e-01 -4.10140355e-02 -5.58871962e-03 2.27810415e+02] [ 4.10136995e-02 9.99158569e-01 -1.74755472e-04 2.43773793e+00] [ 5.59118453e-03 -5.46083713e-05 9.99984368e-01 8.24658196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73864 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:227.84, Y:2.44, Z:0.83 [[ 9.98984399e-01 -4.47093158e-02 -5.58992915e-03 2.27840445e+02] [ 4.47093610e-02 9.99000030e-01 -1.16937291e-04 2.43726208e+00] [ 5.58956757e-03 -1.33103631e-04 9.99984369e-01 8.25923375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76864 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:227.87, Y:2.44, Z:0.84 [[ 9.98857922e-01 -4.74510725e-02 -5.58992174e-03 2.27869549e+02] [ 4.74511587e-02 9.98873552e-01 -1.17290360e-04 2.43666548e+00] [ 5.58919054e-03 -1.48091858e-04 9.99984369e-01 8.35503291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:227.90, Y:2.44, Z:0.83 [[ 9.98879496e-01 -4.69947987e-02 -5.58946349e-03 2.27900654e+02] [ 4.69947555e-02 9.98895126e-01 -1.39145765e-04 2.43562916e+00] [ 5.58982697e-03 -1.23685618e-04 9.99984369e-01 8.25672000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82864 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:227.93, Y:2.43, Z:0.83 [[ 9.98879831e-01 -4.69876110e-02 -5.58995488e-03 2.27930181e+02] [ 4.69877008e-02 9.98895461e-01 -1.15328157e-04 2.43468467e+00] [ 5.58919955e-03 -1.47460157e-04 9.99984369e-01 8.26448688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85864 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:227.96, Y:2.43, Z:0.83 [[ 9.98897620e-01 -4.66079094e-02 -5.58994764e-03 2.27959527e+02] [ 4.66079914e-02 9.98913250e-01 -1.15677915e-04 2.43401374e+00] [ 5.58926427e-03 -1.44985838e-04 9.99984369e-01 8.26749367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88864 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:227.99, Y:2.43, Z:0.84 [[ 9.98787052e-01 -4.89201121e-02 -5.58994038e-03 2.27987887e+02] [ 4.89202283e-02 9.98802682e-01 -1.16027930e-04 2.43195666e+00] [ 5.58892354e-03 -1.57573965e-04 9.99984369e-01 8.35445279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91864 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:228.02, Y:2.43, Z:0.84 [[ 9.98816837e-01 -4.83082716e-02 -5.58896658e-03 2.28016446e+02] [ 4.83081167e-02 9.98832468e-01 -1.62792409e-04 2.43117013e+00] [ 5.59030550e-03 -1.07392651e-04 9.99984368e-01 8.35750288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94864 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:228.05, Y:2.43, Z:0.83 [[ 9.99000425e-01 -4.43499519e-02 -5.58864670e-03 2.28048078e+02] [ 4.43496500e-02 9.99016054e-01 -1.77981774e-04 2.42861216e+00] [ 5.59104125e-03 -7.00506573e-05 9.99984368e-01 8.27376643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97864 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:228.08, Y:2.43, Z:0.83 [[ 9.99015373e-01 -4.40117807e-02 -5.58993945e-03 2.28076597e+02] [ 4.40118241e-02 9.99031004e-01 -1.15315708e-04 2.42748807e+00] [ 5.58959807e-03 -1.30821267e-04 9.99984370e-01 8.28270720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00864 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:228.11, Y:2.43, Z:0.83 [[ 9.99047524e-01 -4.32758395e-02 -5.58992490e-03 2.28105758e+02] [ 4.32758674e-02 9.99063154e-01 -1.16016948e-04 2.42616017e+00] [ 5.58970873e-03 -1.26002404e-04 9.99984370e-01 8.29047586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03864000000002 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:228.14, Y:2.42, Z:0.83 [[ 9.99077168e-01 -4.25859672e-02 -5.58991025e-03 2.28135130e+02] [ 4.25859804e-02 9.99092799e-01 -1.16718706e-04 2.42297687e+00] [ 5.58980965e-03 -1.21440814e-04 9.99984370e-01 8.30005276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864000000002 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:228.16, Y:2.42, Z:0.83 [[ 9.99071745e-01 -4.27130101e-02 -5.58989535e-03 2.28164449e+02] [ 4.27130213e-02 9.99087376e-01 -1.17427787e-04 2.42356141e+00] [ 5.58980957e-03 -1.21442535e-04 9.99984370e-01 8.30169255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09864000000002 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:228.19, Y:2.42, Z:0.83 [[ 9.99061274e-01 -4.29572341e-02 -5.58988033e-03 2.28193152e+02] [ 4.29572452e-02 9.99076905e-01 -1.18138589e-04 2.42202383e+00] [ 5.58979524e-03 -1.22098171e-04 9.99984370e-01 8.29601594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864000000002 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:228.22, Y:2.42, Z:0.84 [[ 9.98863951e-01 -4.73240067e-02 -5.58986523e-03 2.28221030e+02] [ 4.73240822e-02 9.98879581e-01 -1.18848856e-04 2.41936780e+00] [ 5.58922664e-03 -1.45821403e-04 9.99984370e-01 8.35749718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15864 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:228.25, Y:2.42, Z:0.84 [[ 9.98967332e-01 -4.50892767e-02 -5.58804576e-03 2.28250906e+02] [ 4.50888455e-02 9.98982960e-01 -2.03197446e-04 2.41550938e+00] [ 5.59152452e-03 -4.89709213e-05 9.99984366e-01 8.35477619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18864 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:228.28, Y:2.41, Z:0.83 [[ 9.99043591e-01 -4.33666754e-02 -5.58884019e-03 2.28281463e+02] [ 4.33664287e-02 9.99059220e-01 -1.65377143e-04 2.41263499e+00] [ 5.59075418e-03 -7.71490653e-05 9.99984369e-01 8.29922521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21864 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:228.31, Y:2.41, Z:0.83 [[ 9.99035806e-01 -4.35455141e-02 -5.58986199e-03 2.28310365e+02] [ 4.35455450e-02 9.99051436e-01 -1.16240031e-04 2.41126084e+00] [ 5.58962139e-03 -1.27285634e-04 9.99984370e-01 8.30607404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24864 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:228.34, Y:2.41, Z:0.83 [[ 9.99030498e-01 -4.36671154e-02 -5.58984715e-03 2.28338722e+02] [ 4.36671442e-02 9.99046128e-01 -1.16949637e-04 2.41009674e+00] [ 5.58962201e-03 -1.27256408e-04 9.99984370e-01 8.31378396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27864 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:228.37, Y:2.41, Z:0.83 [[ 9.98981814e-01 -4.47670588e-02 -5.58982843e-03 2.28366806e+02] [ 4.47670999e-02 9.98997444e-01 -1.17837425e-04 2.40794540e+00] [ 5.58949955e-03 -1.32522963e-04 9.99984370e-01 8.34681249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30864 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:228.40, Y:2.41, Z:0.83 [[ 9.99072118e-01 -4.27043817e-02 -5.58918311e-03 2.28395467e+02] [ 4.27042196e-02 9.99087748e-01 -1.48400009e-04 2.40510909e+00] [ 5.59042170e-03 -9.04193917e-05 9.99984369e-01 8.34730333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33864 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:228.42, Y:2.40, Z:0.83 [[ 9.99151291e-01 -4.08100626e-02 -5.58902594e-03 2.28424990e+02] [ 4.08098292e-02 9.99166920e-01 -1.55849963e-04 2.40491798e+00] [ 5.59073008e-03 -7.23695023e-05 9.99984369e-01 8.32207741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36864 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:228.45, Y:2.40, Z:0.84 [[ 9.99147077e-01 -4.09129757e-02 -5.58983100e-03 2.28453013e+02] [ 4.09129580e-02 9.99162707e-01 -1.17575895e-04 2.40302625e+00] [ 5.58996105e-03 -1.11220909e-04 9.99984370e-01 8.36002486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39864 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:228.48, Y:2.40, Z:0.84 [[ 9.99163447e-01 -4.05113287e-02 -5.58910507e-03 2.28480955e+02] [ 4.05111107e-02 9.99179076e-01 -1.52259837e-04 2.39821838e+00] [ 5.59068509e-03 -7.42883903e-05 9.99984369e-01 8.39043171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42864 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:228.51, Y:2.40, Z:0.84 [[ 9.99225329e-01 -3.89552236e-02 -5.58859519e-03 2.28508750e+02] [ 3.89548464e-02 9.99240956e-01 -1.76364917e-04 2.39708419e+00] [ 5.59122354e-03 -4.14745755e-05 9.99984368e-01 8.40271244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45864 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:228.54, Y:2.40, Z:0.84 [[ 9.99393715e-01 -3.43652949e-02 -5.58823369e-03 2.28539608e+02] [ 3.43647490e-02 9.99409339e-01 -1.93710332e-04 2.39528192e+00] [ 5.59158985e-03 1.55464098e-06 9.99984367e-01 8.40137994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48864 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:228.57, Y:2.39, Z:0.84 [[ 9.99406127e-01 -3.40022843e-02 -5.58910276e-03 2.28567393e+02] [ 3.40019673e-02 9.99421754e-01 -1.51751622e-04 2.39242240e+00] [ 5.59103079e-03 -3.83789884e-05 9.99984369e-01 8.40054886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51864 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:228.60, Y:2.39, Z:0.84 [[ 9.99484034e-01 -3.16296742e-02 -5.58833269e-03 2.28597346e+02] [ 3.16291094e-02 9.99499657e-01 -1.89425754e-04 2.39053690e+00] [ 5.59152808e-03 1.25740312e-05 9.99984367e-01 8.39444157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:228.63, Y:2.39, Z:0.83 [[ 9.99577414e-01 -2.85264315e-02 -5.58890866e-03 2.28628273e+02] [ 2.85259785e-02 9.99593039e-01 -1.60760924e-04 2.38897550e+00] [ 5.59122012e-03 1.26390037e-06 9.99984369e-01 8.32957090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:228.66, Y:2.38, Z:0.83 [[ 9.99616154e-01 -2.71348195e-02 -5.58989733e-03 2.28657093e+02] [ 2.71346233e-02 9.99631782e-01 -1.10949298e-04 2.38388369e+00] [ 5.59084962e-03 -4.07730482e-05 9.99984370e-01 8.32743553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:228.69, Y:2.38, Z:0.83 [[ 9.99653686e-01 -2.57150038e-02 -5.58988259e-03 2.28685905e+02] [ 2.57147813e-02 9.99669314e-01 -1.11686974e-04 2.38104588e+00] [ 5.59090613e-03 -3.20943137e-05 9.99984370e-01 8.32030855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:228.71, Y:2.38, Z:0.83 [[ 9.99715334e-01 -2.31949041e-02 -5.58986773e-03 2.28714534e+02] [ 2.31946381e-02 9.99730962e-01 -1.12425796e-04 2.37556070e+00] [ 5.59097155e-03 -1.72611670e-05 9.99984370e-01 8.31644554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:228.74, Y:2.37, Z:0.83 [[ 9.99750191e-01 -2.16404349e-02 -5.58985270e-03 2.28743794e+02] [ 2.16401404e-02 9.99765818e-01 -1.13168365e-04 2.37385389e+00] [ 5.59099267e-03 -7.82510222e-06 9.99984370e-01 8.32318130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69864 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:228.77, Y:2.37, Z:0.84 [[ 9.99763749e-01 -2.10047485e-02 -5.58984119e-03 2.28771957e+02] [ 2.10044409e-02 9.99779376e-01 -1.13733869e-04 2.37215926e+00] [ 5.59099689e-03 -3.70448985e-06 9.99984370e-01 8.40554907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:228.80, Y:2.37, Z:0.83 [[ 9.99853996e-01 -1.61476269e-02 -5.58940130e-03 2.28802117e+02] [ 1.61471231e-02 9.99869618e-01 -1.35255857e-04 2.37046790e+00] [ 5.59085660e-03 4.49833576e-05 9.99984370e-01 8.32667517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75864 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:228.83, Y:2.37, Z:0.84 [[ 9.99872522e-01 -1.49563802e-02 -5.58982658e-03 2.28830683e+02] [ 1.49559739e-02 9.99888147e-01 -1.14492511e-04 2.36973476e+00] [ 5.59091373e-03 3.08766157e-05 9.99984370e-01 8.41294173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864000000002 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:228.86, Y:2.37, Z:0.84 [[ 9.99912063e-01 -1.20259123e-02 -5.58964769e-03 2.28859339e+02] [ 1.20254113e-02 9.99927685e-01 -1.23238574e-04 2.36987501e+00] [ 5.59072553e-03 5.60099239e-05 9.99984370e-01 8.41129701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81864000000002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:228.89, Y:2.37, Z:0.83 [[ 9.99962426e-01 -6.62564837e-03 -5.58996245e-03 2.28887939e+02] [ 6.62514863e-03 9.99978048e-01 -1.07912482e-04 2.36992715e+00] [ 5.59055473e-03 7.08740953e-05 9.99984370e-01 8.31957581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864000000002 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:228.92, Y:2.37, Z:0.83 [[ 9.99972872e-01 -4.79693232e-03 -5.58977826e-03 2.28916604e+02] [ 4.79635471e-03 9.99988491e-01 -1.16732490e-04 2.37121532e+00] [ 5.59027389e-03 8.99187640e-05 9.99984370e-01 8.32929455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87864000000002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:228.94, Y:2.38, Z:0.83 [[ 9.99983881e-01 -9.96491385e-04 -5.58976282e-03 2.28944357e+02] [ 9.95850323e-04 9.99999497e-01 -1.17467155e-04 2.37756021e+00] [ 5.58987707e-03 1.11898695e-04 9.99984370e-01 8.32879725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90864 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:228.98, Y:2.38, Z:0.84 [[ 9.99984350e-01 2.34615121e-04 -5.58969994e-03 2.28975294e+02] [-2.35291722e-04 9.99999965e-01 -1.20386856e-04 2.38049216e+00] [ 5.58967150e-03 1.21700182e-04 9.99984370e-01 8.43327124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:229.00, Y:2.38, Z:0.83 [[ 9.99984187e-01 6.07425597e-04 -5.59072179e-03 2.29002727e+02] [-6.07846736e-04 9.99999813e-01 -7.36293413e-05 2.38269757e+00] [ 5.59067602e-03 7.70264791e-05 9.99984369e-01 8.32891631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:229.03, Y:2.39, Z:0.83 [[ 9.99984215e-01 5.70991222e-04 -5.58959103e-03 2.29030666e+02] [-5.71695641e-04 9.99999829e-01 -1.24426502e-04 2.38583112e+00] [ 5.58951903e-03 1.27620083e-04 9.99984370e-01 8.32649204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:229.06, Y:2.39, Z:0.83 [[ 9.99984208e-01 5.83184164e-04 -5.58952495e-03 2.29059759e+02] [-5.83904982e-04 9.99999821e-01 -1.27327673e-04 2.38905773e+00] [ 5.58944969e-03 1.30589413e-04 9.99984370e-01 8.33572642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:229.09, Y:2.40, Z:0.83 [[ 9.99984060e-01 -7.98243667e-04 -5.58946597e-03 2.29088562e+02] [ 7.97530238e-04 9.99999674e-01 -1.29865867e-04 2.39550316e+00] [ 5.58956781e-03 1.25406029e-04 9.99984370e-01 8.31784031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:229.12, Y:2.40, Z:0.83 [[ 9.99983035e-01 -1.63921671e-03 -5.58944894e-03 2.29116991e+02] [ 1.63851234e-03 9.99998649e-01 -1.30595000e-04 2.39800802e+00] [ 5.58965546e-03 1.21434403e-04 9.99984370e-01 8.31757115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:229.15, Y:2.40, Z:0.83 [[ 9.99978236e-01 -3.50512731e-03 -5.58943185e-03 2.29145653e+02] [ 3.50444801e-03 9.99993851e-01 -1.31322184e-04 2.39990556e+00] [ 5.58985778e-03 1.11731453e-04 9.99984370e-01 8.31683552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:229.17, Y:2.40, Z:0.83 [[ 9.99955952e-01 -7.54001766e-03 -5.58941466e-03 2.29174031e+02] [ 7.53939731e-03 9.99971570e-01 -1.32049924e-04 2.40463076e+00] [ 5.59025141e-03 8.99032895e-05 9.99984370e-01 8.31071479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:229.21, Y:2.41, Z:0.84 [[ 9.99940788e-01 -9.33701313e-03 -5.58939724e-03 2.29205836e+02] [ 9.33641674e-03 9.99956406e-01 -1.32783131e-04 2.40639779e+00] [ 5.59039337e-03 8.05903267e-05 9.99984370e-01 8.41109322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:229.23, Y:2.41, Z:0.83 [[ 9.99894405e-01 -1.34134603e-02 -5.59088263e-03 2.29233849e+02] [ 1.34132764e-02 9.99910035e-01 -7.03820713e-05 2.40687610e+00] [ 5.59132372e-03 -4.61741467e-06 9.99984368e-01 8.30800875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:229.26, Y:2.41, Z:0.83 [[ 9.99814328e-01 -1.84409947e-02 -5.58929581e-03 2.29263012e+02] [ 1.84405241e-02 9.99829950e-01 -1.35728025e-04 2.40570094e+00] [ 5.59084831e-03 3.26332799e-05 9.99984371e-01 8.30363346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:229.29, Y:2.41, Z:0.83 [[ 9.99798322e-01 -1.92892767e-02 -5.58927741e-03 2.29291579e+02] [ 1.92888151e-02 9.99813944e-01 -1.36481398e-04 2.40685261e+00] [ 5.59087012e-03 2.86433336e-05 9.99984371e-01 8.29298037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:229.32, Y:2.41, Z:0.84 [[ 9.99736852e-01 -2.22482861e-02 -5.58925894e-03 2.29321923e+02] [ 2.22478666e-02 9.99752476e-01 -1.37233573e-04 2.40786344e+00] [ 5.59092868e-03 1.28483731e-05 9.99984371e-01 8.40657848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:229.35, Y:2.41, Z:0.83 [[ 9.99691181e-01 -2.42134657e-02 -5.59021824e-03 2.29350377e+02] [ 2.42132951e-02 9.99706810e-01 -9.82103362e-05 2.40789426e+00] [ 5.59095726e-03 -3.71775966e-05 9.99984370e-01 8.28367893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:229.38, Y:2.41, Z:0.83 [[ 9.99633446e-01 -2.64902551e-02 -5.58920957e-03 2.29378880e+02] [ 2.64898930e-02 9.99649072e-01 -1.38821402e-04 2.40765348e+00] [ 5.59092557e-03 -9.28704687e-06 9.99984371e-01 8.28089123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:229.41, Y:2.41, Z:0.83 [[ 9.99519060e-01 -3.05026022e-02 -5.58919087e-03 2.29408147e+02] [ 3.05022986e-02 9.99534687e-01 -1.39570312e-04 2.40771261e+00] [ 5.59084740e-03 -3.09799818e-05 9.99984371e-01 8.27671376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.44, Y:2.41, Z:0.83 [[ 9.99470392e-01 -3.20577153e-02 -5.58917221e-03 2.29436920e+02] [ 3.20574318e-02 9.99486019e-01 -1.40313514e-04 2.40725172e+00] [ 5.59079761e-03 -3.89353047e-05 9.99984371e-01 8.27366263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:229.47, Y:2.40, Z:0.83 [[ 9.99391046e-01 -3.44426830e-02 -5.58915358e-03 2.29465655e+02] [ 3.44424327e-02 9.99406673e-01 -1.41051667e-04 2.40275719e+00] [ 5.59069559e-03 -5.15382730e-05 9.99984371e-01 8.27714828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:229.49, Y:2.40, Z:0.83 [[ 9.99349114e-01 -3.56385886e-02 -5.58913504e-03 2.29494557e+02] [ 3.56383529e-02 9.99364742e-01 -1.41782580e-04 2.40122904e+00] [ 5.59063743e-03 -5.74972711e-05 9.99984371e-01 8.27878532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:229.52, Y:2.40, Z:0.83 [[ 9.99340175e-01 -3.58883862e-02 -5.58911641e-03 2.29523901e+02] [ 3.58881504e-02 9.99355803e-01 -1.42513355e-04 2.40098211e+00] [ 5.59063049e-03 -5.81637291e-05 9.99984371e-01 8.27573732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:229.55, Y:2.40, Z:0.83 [[ 9.99307825e-01 -3.67781596e-02 -5.58910244e-03 2.29553143e+02] [ 3.67779346e-02 9.99323453e-01 -1.43059100e-04 2.39928061e+00] [ 5.59058260e-03 -6.25955659e-05 9.99984371e-01 8.26161283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:229.58, Y:2.40, Z:0.83 [[ 9.99317240e-01 -3.65214381e-02 -5.58908373e-03 2.29581738e+02] [ 3.65212050e-02 9.99332868e-01 -1.43786373e-04 2.39771795e+00] [ 5.59060636e-03 -6.04318710e-05 9.99984371e-01 8.27065786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.61, Y:2.39, Z:0.83 [[ 9.99414076e-01 -3.37678397e-02 -5.58906499e-03 2.29610854e+02] [ 3.37675596e-02 9.99429703e-01 -1.44511153e-04 2.39484855e+00] [ 5.59075739e-03 -4.43026042e-05 9.99984371e-01 8.26736353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:2.39, Z:0.83 [[ 9.99459807e-01 -3.23860496e-02 -5.58904604e-03 2.29639760e+02] [ 3.23857438e-02 9.99475434e-01 -1.45240234e-04 2.39466277e+00] [ 5.59081797e-03 -3.58436371e-05 9.99984371e-01 8.27930210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:229.67, Y:2.39, Z:0.83 [[ 9.99514303e-01 -3.06581165e-02 -5.58902699e-03 2.29668573e+02] [ 3.06577795e-02 9.99529929e-01 -1.45969737e-04 2.39389583e+00] [ 5.59087491e-03 -2.54483172e-05 9.99984371e-01 8.27388802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:229.70, Y:2.39, Z:0.84 [[ 9.99574938e-01 -2.86130460e-02 -5.58900752e-03 2.29698729e+02] [ 2.86126729e-02 9.99590563e-01 -1.46711614e-04 2.38993521e+00] [ 5.59091704e-03 -1.32671917e-05 9.99984371e-01 8.41574616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:229.73, Y:2.39, Z:0.83 [[ 9.99635044e-01 -2.64299829e-02 -5.58883960e-03 2.29729371e+02] [ 2.64295400e-02 9.99650667e-01 -1.53094304e-04 2.38926508e+00] [ 5.59093351e-03 5.32797111e-06 9.99984371e-01 8.27868100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:229.76, Y:2.39, Z:0.83 [[ 9.99666869e-01 -2.51975157e-02 -5.58898263e-03 2.29758114e+02] [ 2.51970838e-02 9.99682492e-01 -1.47681070e-04 2.38908184e+00] [ 5.59092928e-03 6.80580874e-06 9.99984371e-01 8.27272644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:229.79, Y:2.39, Z:0.83 [[ 9.99739327e-01 -2.21368643e-02 -5.58896263e-03 2.29786870e+02] [ 2.21363804e-02 9.99754949e-01 -1.48434400e-04 2.38917939e+00] [ 5.59087892e-03 2.46763046e-05 9.99984371e-01 8.27425194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:229.82, Y:2.39, Z:0.83 [[ 9.99757474e-01 -2.13015920e-02 -5.58894267e-03 2.29816178e+02] [ 2.13010908e-02 9.99773095e-01 -1.49182096e-04 2.38858274e+00] [ 5.59085233e-03 3.00953398e-05 9.99984371e-01 8.28155445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:229.84, Y:2.39, Z:0.83 [[ 9.99795357e-01 -1.94424236e-02 -5.58892254e-03 2.29844928e+02] [ 1.94418892e-02 9.99810977e-01 -1.49932298e-04 2.38569074e+00] [ 5.59078116e-03 4.12424021e-05 9.99984371e-01 8.28670546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:229.87, Y:2.39, Z:0.83 [[ 9.99813598e-01 -1.84806116e-02 -5.58890235e-03 2.29873284e+02] [ 1.84800580e-02 9.99829218e-01 -1.50681169e-04 2.38501571e+00] [ 5.59073255e-03 4.73698425e-05 9.99984371e-01 8.28354535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:229.90, Y:2.38, Z:0.83 [[ 9.99844416e-01 -1.67304464e-02 -5.58887163e-03 2.29901585e+02] [ 1.67298591e-02 9.99860035e-01 -1.51812136e-04 2.38473077e+00] [ 5.59062927e-03 5.82874818e-05 9.99984371e-01 8.28418860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:229.93, Y:2.38, Z:0.83 [[ 9.99885266e-01 -1.40790578e-02 -5.58884147e-03 2.29930112e+02] [ 1.40784230e-02 9.99900882e-01 -1.52914688e-04 2.38367995e+00] [ 5.59044041e-03 7.42150695e-05 9.99984371e-01 8.29401161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:229.96, Y:2.38, Z:0.83 [[ 9.99883421e-01 -1.42094929e-02 -5.58882131e-03 2.29959429e+02] [ 1.42088560e-02 9.99899037e-01 -1.53647820e-04 2.38445573e+00] [ 5.59044031e-03 7.42191506e-05 9.99984371e-01 8.29565089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:229.99, Y:2.39, Z:0.84 [[ 9.99886633e-01 -1.39816711e-02 -5.58880117e-03 2.29988819e+02] [ 1.39810266e-02 9.99902249e-01 -1.54376868e-04 2.38558885e+00] [ 5.59041331e-03 7.62221895e-05 9.99984371e-01 8.43641733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:230.02, Y:2.39, Z:0.83 [[ 9.99945260e-01 -8.84543892e-03 -5.58890171e-03 2.30017844e+02] [ 8.84473441e-03 9.99960873e-01 -1.50758855e-04 2.39050866e+00] [ 5.59001656e-03 1.01318251e-04 9.99984371e-01 8.30511199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01864 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:230.05, Y:2.39, Z:0.85 [[ 9.99957990e-01 -7.26530414e-03 -5.58877078e-03 2.30047702e+02] [ 7.26454867e-03 9.99973601e-01 -1.55465508e-04 2.39338307e+00] [ 5.58975274e-03 1.14859079e-04 9.99984371e-01 8.45355525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04864 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:230.08, Y:2.40, Z:0.85 [[ 9.99976296e-01 -4.02078477e-03 -5.58937579e-03 2.30076717e+02] [ 4.02009949e-03 9.99991910e-01 -1.33833388e-04 2.39611308e+00] [ 5.58986868e-03 1.11360369e-04 9.99984370e-01 8.45449796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:230.11, Y:2.40, Z:0.83 [[ 9.99984301e-01 -3.87273654e-04 -5.58990576e-03 2.30105127e+02] [ 3.86635792e-04 9.99999919e-01 -1.15189713e-04 2.40120698e+00] [ 5.58994991e-03 1.13026647e-04 9.99984370e-01 8.30496896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:230.13, Y:2.40, Z:0.83 [[ 9.99984017e-01 8.56563957e-04 -5.58858474e-03 2.30133756e+02] [-8.57477292e-04 9.99999619e-01 -1.61034627e-04 2.40458744e+00] [ 5.58844468e-03 1.65824137e-04 9.99984371e-01 8.30729316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.16, Y:2.41, Z:0.83 [[ 9.99984046e-01 8.22706456e-04 -5.58851247e-03 2.30161439e+02] [-8.23633056e-04 9.99999647e-01 -1.63505049e-04 2.40726679e+00] [ 5.58837598e-03 1.68105324e-04 9.99984371e-01 8.30530726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16864 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:230.19, Y:2.41, Z:0.85 [[ 9.99983929e-01 9.54776532e-04 -5.58842880e-03 2.30192171e+02] [-9.55720889e-04 9.99999529e-01 -1.66316350e-04 2.41108363e+00] [ 5.58826737e-03 1.71654655e-04 9.99984371e-01 8.45180703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:230.22, Y:2.41, Z:0.83 [[ 9.99984170e-01 -6.40336487e-04 -5.59014594e-03 2.30219901e+02] [ 6.39737086e-04 9.99999789e-01 -1.09012118e-04 2.41259858e+00] [ 5.59021457e-03 1.05434169e-04 9.99984369e-01 8.31612782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22864 meters Centerline goodness : 0.855062 Centerline is valid? [True, False] Translation: X:230.24, Y:2.41, Z:0.83 [[ 9.99955950e-01 -5.18587460e-03 -7.82333236e-03 2.30242091e+02] [ 5.22570615e-03 9.99973445e-01 5.07955796e-03 2.41230109e+00] [ 7.79678266e-03 -5.12021664e-03 9.99956496e-01 8.33528190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25864 meters Centerline goodness : 0.996117 Centerline is valid? [False, True] Translation: X:230.24, Y:2.41, Z:0.83 [[ 9.99955561e-01 -5.19686239e-03 -7.86567480e-03 2.30242225e+02] [ 5.23420375e-03 9.99975095e-01 4.73426477e-03 2.41366337e+00] [ 7.84087558e-03 -4.77522493e-03 9.99957858e-01 8.33573382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864000000002 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:230.27, Y:2.42, Z:0.82 [[ 9.99945026e-01 -7.11918595e-03 -7.69816317e-03 2.30269049e+02] [ 7.11759560e-03 9.99974642e-01 -2.33965376e-04 2.41903471e+00] [ 7.69963361e-03 1.79160102e-04 9.99970341e-01 8.21009637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31864000000002 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:230.30, Y:2.42, Z:0.84 [[ 9.99934815e-01 -8.43328883e-03 -7.69713415e-03 2.30297978e+02] [ 8.43150656e-03 9.99964419e-01 -2.63970877e-04 2.42056039e+00] [ 7.69908642e-03 1.99055233e-04 9.99970342e-01 8.35231202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864000000002 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:230.33, Y:2.42, Z:0.84 [[ 9.99940359e-01 -7.74701020e-03 -7.69821909e-03 2.30328111e+02] [ 7.74544914e-03 9.99969977e-01 -2.32575712e-04 2.42421130e+00] [ 7.69978973e-03 1.72935677e-04 9.99970341e-01 8.36143766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37864000000002 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:230.36, Y:2.43, Z:0.84 [[ 9.99948733e-01 -6.57708315e-03 -7.69897008e-03 2.30356327e+02] [ 6.57565307e-03 9.99978358e-01 -2.11047557e-04 2.42878881e+00] [ 7.70019154e-03 1.60410981e-04 9.99970340e-01 8.36912807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40864 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:230.38, Y:2.43, Z:0.84 [[ 9.99951147e-01 -6.19936119e-03 -7.69881066e-03 2.30384863e+02] [ 6.19788507e-03 9.99980770e-01 -2.15577536e-04 2.43124074e+00] [ 7.69999905e-03 1.67850660e-04 9.99970340e-01 8.37303422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:230.41, Y:2.43, Z:0.82 [[ 9.99942665e-01 -7.44206562e-03 -7.69954414e-03 2.30412294e+02] [ 7.44078516e-03 9.99972298e-01 -1.94936452e-04 2.43331050e+00] [ 7.70078158e-03 1.37634621e-04 9.99970339e-01 8.23398326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46864 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:230.44, Y:2.44, Z:0.82 [[ 9.99935106e-01 -8.39920574e-03 -7.69655478e-03 2.30440900e+02] [ 8.39731636e-03 9.99964703e-01 -2.77768104e-04 2.43587544e+00] [ 7.69861615e-03 2.13119673e-04 9.99970343e-01 8.23968661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49864 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:230.47, Y:2.44, Z:0.84 [[ 9.99896499e-01 -1.21554821e-02 -7.69651930e-03 2.30471148e+02] [ 1.21536964e-02 9.99926102e-01 -2.78747707e-04 2.43922870e+00] [ 7.69933886e-03 1.85177697e-04 9.99970343e-01 8.37085360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:230.50, Y:2.44, Z:0.82 [[ 9.99890464e-01 -1.26414260e-02 -7.69771037e-03 2.30499887e+02] [ 1.26399066e-02 9.99920083e-01 -2.45999309e-04 2.44178163e+00] [ 7.70020497e-03 1.48674023e-04 9.99970342e-01 8.23795149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55864 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:230.53, Y:2.45, Z:0.82 [[ 9.99869837e-01 -1.41801046e-02 -7.69635893e-03 2.30528787e+02] [ 1.41783478e-02 9.99899442e-01 -2.82781250e-04 2.44822470e+00] [ 7.69959486e-03 1.73622789e-04 9.99970343e-01 8.24668674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58864 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:230.56, Y:2.45, Z:0.84 [[ 9.99848668e-01 -1.56015224e-02 -7.69632242e-03 2.30557779e+02] [ 1.55998001e-02 9.99878275e-01 -2.83771197e-04 2.45206475e+00] [ 7.69981286e-03 1.63667162e-04 9.99970343e-01 8.37856325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:230.59, Y:2.46, Z:0.83 [[ 9.99843745e-01 -1.59135026e-02 -7.69713108e-03 2.30586796e+02] [ 1.59119578e-02 9.99873362e-01 -2.61906116e-04 2.45684149e+00] [ 7.70032418e-03 1.39388767e-04 9.99970342e-01 8.25480283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64864 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:230.62, Y:2.46, Z:0.84 [[ 9.99800121e-01 -1.84522485e-02 -7.69623474e-03 2.30615838e+02] [ 1.84505933e-02 9.99829732e-01 -2.86024482e-04 2.46088329e+00] [ 7.70020212e-03 1.43967215e-04 9.99970343e-01 8.39459661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:230.65, Y:2.46, Z:0.83 [[ 9.99822788e-01 -1.71803242e-02 -7.69604362e-03 2.30645531e+02] [ 1.71785918e-02 9.99852395e-01 -2.91164929e-04 2.46456117e+00] [ 7.69990995e-03 1.58906140e-04 9.99970343e-01 8.26394478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:230.67, Y:2.47, Z:0.83 [[ 9.99813319e-01 -1.77227530e-02 -7.69620225e-03 2.30673150e+02] [ 1.77210693e-02 9.99842928e-01 -2.86909645e-04 2.47110590e+00] [ 7.70007822e-03 1.50471151e-04 9.99970343e-01 8.25675264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:230.70, Y:2.47, Z:0.83 [[ 9.99800531e-01 -1.84300804e-02 -7.69614481e-03 2.30701982e+02] [ 1.84284059e-02 9.99830141e-01 -2.88442153e-04 2.47495576e+00] [ 7.70015357e-03 1.46556936e-04 9.99970343e-01 8.26552918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76864 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:230.73, Y:2.48, Z:0.84 [[ 9.99757298e-01 -2.06425386e-02 -7.69610693e-03 2.30730981e+02] [ 2.06409219e-02 9.99786912e-01 -2.89449393e-04 2.48189401e+00] [ 7.70044195e-03 1.30524401e-04 9.99970343e-01 8.43335915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79864 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:230.76, Y:2.49, Z:0.84 [[ 9.99711218e-01 -2.27651586e-02 -7.69593084e-03 2.30759964e+02] [ 2.27635687e-02 9.99740833e-01 -2.94134348e-04 2.48530346e+00] [ 7.70063233e-03 1.18862557e-04 9.99970343e-01 8.43196665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82864 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:230.79, Y:2.49, Z:0.84 [[ 9.99719350e-01 -2.24057769e-02 -7.69426644e-03 2.30792322e+02] [ 2.24038347e-02 9.99748945e-01 -3.38528445e-04 2.48912156e+00] [ 7.69991975e-03 1.66052363e-04 9.99970341e-01 8.41181195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85864 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:230.82, Y:2.50, Z:0.84 [[ 9.99638005e-01 -2.57800678e-02 -7.69720254e-03 2.30820341e+02] [ 2.57788311e-02 9.99667637e-01 -2.59853593e-04 2.49591089e+00] [ 7.70134332e-03 6.13346431e-05 9.99970342e-01 8.41129532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88864 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:230.85, Y:2.50, Z:0.84 [[ 9.99593901e-01 -2.74370707e-02 -7.69671518e-03 2.30847719e+02] [ 2.74357829e-02 9.99623531e-01 -2.72871253e-04 2.49947965e+00] [ 7.70130439e-03 6.15950338e-05 9.99970343e-01 8.42175258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91864 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:230.88, Y:2.51, Z:0.83 [[ 9.99520329e-01 -2.99981150e-02 -7.69576163e-03 2.30878243e+02] [ 2.99967083e-02 9.99549953e-01 -2.98187216e-04 2.50530881e+00] [ 7.70124323e-03 6.71966683e-05 9.99970343e-01 8.29044754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94864 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:230.91, Y:2.51, Z:0.84 [[ 9.99428434e-01 -3.29177159e-02 -7.69604432e-03 2.30905962e+02] [ 3.29164533e-02 9.99458064e-01 -2.90703186e-04 2.50878800e+00] [ 7.70144285e-03 3.72105467e-05 9.99970343e-01 8.42626839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97864 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:230.93, Y:2.51, Z:0.84 [[ 9.99364257e-01 -3.48118756e-02 -7.69513436e-03 2.30934864e+02] [ 3.48104844e-02 9.99393882e-01 -3.14697892e-04 2.51214912e+00] [ 7.70142542e-03 4.66264710e-05 9.99970342e-01 8.42704400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00864 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:230.97, Y:2.52, Z:0.83 [[ 9.99273978e-01 -3.73135687e-02 -7.69510911e-03 2.30965260e+02] [ 3.73122465e-02 9.99303606e-01 -3.15363508e-04 2.51634926e+00] [ 7.70151762e-03 2.80127386e-05 9.99970342e-01 8.26562009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03864000000002 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:230.99, Y:2.52, Z:0.83 [[ 9.99190832e-01 -3.94772420e-02 -7.69601438e-03 2.30993638e+02] [ 3.94761681e-02 9.99220470e-01 -2.91459954e-04 2.51866196e+00] [ 7.70152114e-03 -1.25850430e-05 9.99970343e-01 8.26785458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864000000002 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:231.02, Y:2.52, Z:0.83 [[ 9.99078134e-01 -4.22333265e-02 -7.69597610e-03 2.31022533e+02] [ 4.22323265e-02 9.99107774e-01 -2.92467178e-04 2.52061668e+00] [ 7.70146142e-03 -3.28214132e-05 9.99970343e-01 8.27284968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09864000000002 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:231.05, Y:2.52, Z:0.84 [[ 9.98674036e-01 -5.09012952e-02 -7.69593769e-03 2.31050472e+02] [ 5.09005447e-02 9.98703684e-01 -2.93474397e-04 2.52173975e+00] [ 7.70089955e-03 -9.86421606e-05 9.99970343e-01 8.43848337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864000000002 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:231.08, Y:2.52, Z:0.84 [[ 9.98585849e-01 -5.26033780e-02 -7.69335100e-03 2.31080198e+02] [ 5.26021562e-02 9.98615483e-01 -3.61213527e-04 2.52274062e+00] [ 7.70170047e-03 -4.39841345e-05 9.99970340e-01 8.44089258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:231.11, Y:2.52, Z:0.83 [[ 9.98358161e-01 -5.67608479e-02 -7.69344742e-03 2.31111706e+02] [ 5.67597690e-02 9.98387800e-01 -3.58680277e-04 2.52259507e+00] [ 7.70140305e-03 -7.85869169e-05 9.99970341e-01 8.28347718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:231.14, Y:2.52, Z:0.85 [[ 9.98149283e-01 -6.03223064e-02 -7.69600524e-03 2.31139418e+02] [ 6.03218544e-02 9.98178936e-01 -2.91045369e-04 2.52268434e+00] [ 7.69954685e-03 -1.73730581e-04 9.99970343e-01 8.45108387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:231.17, Y:2.52, Z:0.83 [[ 9.98182125e-01 -5.97766631e-02 -7.69383731e-03 2.31172145e+02] [ 5.97757523e-02 9.98211770e-01 -3.48496642e-04 2.52330035e+00] [ 7.70091092e-03 -1.12041794e-04 9.99970341e-01 8.28067906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.20, Y:2.52, Z:0.83 [[ 9.98072556e-01 -6.15787497e-02 -7.69611182e-03 2.31201355e+02] [ 6.15783613e-02 9.98102211e-01 -2.87640145e-04 2.52254572e+00] [ 7.69921874e-03 -1.86828219e-04 9.99970343e-01 8.28068150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.23, Y:2.52, Z:0.83 [[ 9.98077810e-01 -6.14935353e-02 -7.69607621e-03 2.31230617e+02] [ 6.14931370e-02 9.98107465e-01 -2.88589684e-04 2.52225733e+00] [ 7.69925751e-03 -1.85220909e-04 9.99970343e-01 8.27596833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:231.26, Y:2.52, Z:0.84 [[ 9.97875253e-01 -6.46973815e-02 -7.69604049e-03 2.31258431e+02] [ 6.46970712e-02 9.97904908e-01 -2.89539053e-04 2.51878341e+00] [ 7.69864900e-03 -2.08987424e-04 9.99970343e-01 8.42982562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:2.52, Z:0.83 [[ 9.98006946e-01 -6.26334373e-02 -7.69336401e-03 2.31290622e+02] [ 6.26325183e-02 9.98036591e-01 -3.60569665e-04 2.51868649e+00] [ 7.70084251e-03 -1.22003731e-04 9.99970341e-01 8.28382040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.32, Y:2.52, Z:0.83 [[ 9.97954388e-01 -6.34650343e-02 -7.69606697e-03 2.31319830e+02] [ 6.34646957e-02 9.97984043e-01 -2.88453893e-04 2.51861700e+00] [ 7.69885877e-03 -2.00564720e-04 9.99970343e-01 8.29376004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:2.52, Z:0.83 [[ 9.97930427e-01 -6.38406901e-02 -7.69603127e-03 2.31348419e+02] [ 6.38403553e-02 9.97960082e-01 -2.89403261e-04 2.51883819e+00] [ 7.69880771e-03 -2.02513051e-04 9.99970343e-01 8.29702274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:231.38, Y:2.52, Z:0.85 [[ 9.97876368e-01 -6.46801746e-02 -7.69599543e-03 2.31377845e+02] [ 6.46798575e-02 9.97906023e-01 -2.90353314e-04 2.51678667e+00] [ 7.69866030e-03 -2.08039177e-04 9.99970343e-01 8.47552918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:2.52, Z:0.83 [[ 9.97941908e-01 -6.36611175e-02 -7.69480473e-03 2.31409007e+02] [ 6.36605284e-02 9.97971560e-01 -3.21708223e-04 2.51692080e+00] [ 7.69967658e-03 -1.68809217e-04 9.99970343e-01 8.29682267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:2.52, Z:0.83 [[ 9.97934135e-01 -6.37827049e-02 -7.69599911e-03 2.31438100e+02] [ 6.37823637e-02 9.97963790e-01 -2.90013168e-04 2.51699954e+00] [ 7.69882627e-03 -2.01454974e-04 9.99970343e-01 8.30431241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:231.47, Y:2.52, Z:0.83 [[ 9.97858013e-01 -6.49627505e-02 -7.69596305e-03 2.31466541e+02] [ 6.49624371e-02 9.97887668e-01 -2.90967022e-04 2.51659488e+00] [ 7.69860864e-03 -2.09604741e-04 9.99970343e-01 8.29605034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.49, Y:2.52, Z:0.85 [[ 9.97801010e-01 -6.58324966e-02 -7.69592704e-03 2.31494982e+02] [ 6.58322017e-02 9.97830665e-01 -2.91916376e-04 2.51515197e+00] [ 7.69844958e-03 -2.15365366e-04 9.99970343e-01 8.48475806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.52, Y:2.51, Z:0.85 [[ 9.97401413e-01 -7.16324999e-02 -7.69462713e-03 2.31524576e+02] [ 7.16321129e-02 9.97431067e-01 -3.26235333e-04 2.51010508e+00] [ 7.69822921e-03 -2.25794818e-04 9.99970343e-01 8.48431961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:2.51, Z:0.83 [[ 9.97256884e-01 -7.36172646e-02 -7.69448385e-03 2.31555520e+02] [ 7.36169074e-02 9.97286540e-01 -3.30026154e-04 2.50879082e+00] [ 7.69790080e-03 -2.37323251e-04 9.99970343e-01 8.30893027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:231.58, Y:2.51, Z:0.85 [[ 9.97197333e-01 -7.44194267e-02 -7.69600370e-03 2.31584027e+02] [ 7.44194046e-02 9.97226989e-01 -2.89642804e-04 2.50679293e+00] [ 7.69621766e-03 -2.83900982e-04 9.99970343e-01 8.49375815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:231.62, Y:2.50, Z:0.83 [[ 9.97032543e-01 -7.65956701e-02 -7.69488881e-03 2.31615318e+02] [ 7.65954846e-02 9.97062200e-01 -3.19238745e-04 2.50283057e+00] [ 7.69673507e-03 -2.71102320e-04 9.99970343e-01 8.32660473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:231.64, Y:2.50, Z:0.83 [[ 9.97064899e-01 -7.61732098e-02 -7.69606497e-03 2.31644032e+02] [ 7.61732542e-02 9.97094555e-01 -2.87785609e-04 2.49806892e+00] [ 7.69562603e-03 -2.99293384e-04 9.99970343e-01 8.32938066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:231.67, Y:2.50, Z:0.85 [[ 9.97234770e-01 -7.39160674e-02 -7.69603007e-03 2.31673447e+02] [ 7.39160374e-02 9.97264426e-01 -2.88715925e-04 2.49508743e+00] [ 7.69631776e-03 -2.80942487e-04 9.99970343e-01 8.50188092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:2.49, Z:0.83 [[ 9.97200612e-01 -7.43754965e-02 -7.69578489e-03 2.31704402e+02] [ 7.43754298e-02 9.97230268e-01 -2.95263945e-04 2.49242361e+00] [ 7.69643004e-03 -2.77939923e-04 9.99970343e-01 8.34561612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:2.49, Z:0.83 [[ 9.97318243e-01 -7.27811359e-02 -7.69602856e-03 2.31733718e+02] [ 7.27810718e-02 9.97347899e-01 -2.88769923e-04 2.49014178e+00] [ 7.69663492e-03 -2.72129695e-04 9.99970343e-01 8.34939995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:231.76, Y:2.49, Z:0.85 [[ 9.97677333e-01 -6.76809523e-02 -7.69599321e-03 2.31764757e+02] [ 6.76807293e-02 9.97706989e-01 -2.89708906e-04 2.48531047e+00] [ 7.69795399e-03 -2.31834424e-04 9.99970343e-01 8.48642454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:2.48, Z:0.84 [[ 9.97798826e-01 -6.58654750e-02 -7.69689161e-03 2.31794968e+02] [ 6.58653818e-02 9.97828483e-01 -2.65863794e-04 2.48322601e+00] [ 7.69768893e-03 -2.41680123e-04 9.99970343e-01 8.36573367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:2.48, Z:0.84 [[ 9.97790629e-01 -6.59896447e-02 -7.69596361e-03 2.31824270e+02] [ 6.59893657e-02 9.97820284e-01 -2.90452711e-04 2.48432099e+00] [ 7.69835546e-03 -2.18040764e-04 9.99970343e-01 8.36798745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:231.85, Y:2.48, Z:0.85 [[ 9.98288779e-01 -5.79679731e-02 -7.69592740e-03 2.31853934e+02] [ 5.79674484e-02 9.98318431e-01 -2.91408992e-04 2.48108811e+00] [ 7.69987855e-03 -1.55202948e-04 9.99970343e-01 8.53551166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:231.88, Y:2.48, Z:0.84 [[ 9.98437007e-01 -5.53562644e-02 -7.69586321e-03 2.31884399e+02] [ 5.53556491e-02 9.98466658e-01 -2.93103870e-04 2.48172759e+00] [ 7.70028795e-03 -1.33363753e-04 9.99970343e-01 8.38517366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:2.48, Z:0.84 [[ 9.98585534e-01 -5.26089728e-02 -7.69592140e-03 2.31912831e+02] [ 5.26082877e-02 9.98615183e-01 -2.91567830e-04 2.48193019e+00] [ 7.70060304e-03 -1.13713831e-04 9.99970343e-01 8.38502074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:2.48, Z:0.84 [[ 9.98822648e-01 -4.78966711e-02 -7.69586487e-03 2.31941555e+02] [ 4.78958347e-02 9.98852293e-01 -2.93052506e-04 2.48054660e+00] [ 7.70106851e-03 -7.58923917e-05 9.99970343e-01 8.38389595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:231.97, Y:2.48, Z:0.84 [[ 9.98949355e-01 -4.51769898e-02 -7.69582658e-03 2.31970402e+02] [ 4.51760650e-02 9.98978997e-01 -2.94054699e-04 2.48071069e+00] [ 7.70125362e-03 -5.39214093e-05 9.99970343e-01 8.38750270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.00, Y:2.48, Z:0.84 [[ 9.99165251e-01 -4.01195296e-02 -7.69578783e-03 2.31999498e+02] [ 4.01184470e-02 9.99194887e-01 -2.95065204e-04 2.48404388e+00] [ 7.70142973e-03 -1.39241578e-05 9.99970343e-01 8.40363484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.03, Y:2.49, Z:0.84 [[ 9.99203028e-01 -3.91673895e-02 -7.69575853e-03 2.32027196e+02] [ 3.91662728e-02 9.99232663e-01 -2.95827450e-04 2.48649762e+00] [ 7.70144008e-03 -5.82249405e-06 9.99970343e-01 8.40349972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:232.06, Y:2.49, Z:0.85 [[ 9.99300062e-01 -3.66082207e-02 -7.69569860e-03 2.32058011e+02] [ 3.66070161e-02 9.99329694e-01 -2.97378317e-04 2.48841108e+00] [ 7.70142662e-03 1.54536076e-05 9.99970343e-01 8.53286911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:2.49, Z:0.84 [[ 9.99319967e-01 -3.60603484e-02 -7.69767468e-03 2.32086861e+02] [ 3.60595215e-02 9.99349614e-01 -2.46225981e-04 2.49159609e+00] [ 7.70154721e-03 -3.15159263e-05 9.99970342e-01 8.41921671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.12, Y:2.49, Z:0.84 [[ 9.99339943e-01 -3.55029038e-02 -7.69563361e-03 2.32115454e+02] [ 3.55016555e-02 9.99369573e-01 -2.98795143e-04 2.49494037e+00] [ 7.70139016e-03 2.53901881e-05 9.99970344e-01 8.42312681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:2.50, Z:0.84 [[ 9.99404022e-01 -3.36508319e-02 -7.69559347e-03 2.32144396e+02] [ 3.36495208e-02 9.99433650e-01 -2.99825300e-04 2.50013866e+00] [ 7.70132444e-03 4.06935780e-05 9.99970344e-01 8.43501330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:2.50, Z:0.84 [[ 9.99444087e-01 -3.24390976e-02 -7.69555322e-03 2.32172959e+02] [ 3.24377427e-02 9.99473713e-01 -3.00854835e-04 2.50235151e+00] [ 7.70126261e-03 5.10612112e-05 9.99970344e-01 8.43045301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:232.20, Y:2.51, Z:0.86 [[ 9.99476296e-01 -3.14310648e-02 -7.69551274e-03 2.32203313e+02] [ 3.14296720e-02 9.99505920e-01 -3.01886806e-04 2.50695947e+00] [ 7.70119916e-03 5.98612659e-05 9.99970344e-01 8.57878095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:232.23, Y:2.51, Z:0.86 [[ 9.99497529e-01 -3.07482396e-02 -7.69649716e-03 2.32231999e+02] [ 3.07470195e-02 9.99527160e-01 -2.76828930e-04 2.51081059e+00] [ 7.70136995e-03 4.00454827e-05 9.99970343e-01 8.57987552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:2.51, Z:0.84 [[ 9.99500308e-01 -3.06576228e-02 -7.69704980e-03 2.32260961e+02] [ 3.06565080e-02 9.99529944e-01 -2.62803446e-04 2.51437521e+00] [ 7.70148869e-03 2.67074561e-05 9.99970343e-01 8.44303955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:2.52, Z:0.84 [[ 9.99502086e-01 -3.06000198e-02 -7.69535233e-03 2.32290021e+02] [ 3.05985742e-02 9.99531707e-01 -3.05554388e-04 2.51778581e+00] [ 7.70109862e-03 6.99354388e-05 9.99970344e-01 8.44210353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.32, Y:2.52, Z:0.84 [[ 9.99486572e-01 -3.11026429e-02 -7.69531152e-03 2.32318562e+02] [ 3.11012043e-02 9.99516194e-01 -3.06578656e-04 2.51957858e+00] [ 7.70112389e-03 6.70877947e-05 9.99970344e-01 8.44703615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:2.52, Z:0.84 [[ 9.99477169e-01 -3.14033618e-02 -7.69527027e-03 2.32347701e+02] [ 3.14019241e-02 9.99506791e-01 -3.07610594e-04 2.52322242e+00] [ 7.70113490e-03 6.58034734e-05 9.99970344e-01 8.44698444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:2.53, Z:0.85 [[ 9.99475722e-01 -3.14493960e-02 -7.69522887e-03 2.32376833e+02] [ 3.14479517e-02 9.99505343e-01 -3.08642724e-04 2.52614870e+00] [ 7.70112900e-03 6.64817234e-05 9.99970344e-01 8.46653996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.41, Y:2.53, Z:0.86 [[ 9.99526694e-01 -2.97854239e-02 -7.69518773e-03 2.32407311e+02] [ 2.97839224e-02 9.99556313e-01 -3.09665179e-04 2.52920915e+00] [ 7.70099698e-03 8.03257385e-05 9.99970344e-01 8.60569976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:232.43, Y:2.53, Z:0.86 [[ 9.99527817e-01 -2.97473162e-02 -7.69675655e-03 2.32434685e+02] [ 2.97461150e-02 9.99557450e-01 -2.70526371e-04 2.53319320e+00] [ 7.70139779e-03 4.14500271e-05 9.99970343e-01 8.60493034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:2.54, Z:0.85 [[ 9.99559337e-01 -2.86688650e-02 -7.69600703e-03 2.32463809e+02] [ 2.86674894e-02 9.99588961e-01 -2.89017291e-04 2.53586628e+00] [ 7.70112947e-03 6.82647315e-05 9.99970344e-01 8.47125894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:2.54, Z:0.85 [[ 9.99559658e-01 -2.86579307e-02 -7.69502679e-03 2.32491844e+02] [ 2.86563694e-02 9.99589273e-01 -3.13107971e-04 2.53939010e+00] [ 7.70083926e-03 9.24585661e-05 9.99970344e-01 8.48373467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.52, Y:2.54, Z:0.85 [[ 9.99554202e-01 -2.88476154e-02 -7.69496425e-03 2.32520834e+02] [ 2.88460479e-02 9.99583817e-01 -3.14637561e-04 2.54236715e+00] [ 7.70083828e-03 9.25279890e-05 9.99970344e-01 8.47045780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:2.55, Z:0.85 [[ 9.99539032e-01 -2.93685540e-02 -7.69492209e-03 2.32549299e+02] [ 2.93669941e-02 9.99568647e-01 -3.15665197e-04 2.54504724e+00] [ 7.70087350e-03 8.95429538e-05 9.99970344e-01 8.47648122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:232.58, Y:2.55, Z:0.86 [[ 9.99493203e-01 -3.08889230e-02 -7.69487966e-03 2.32578715e+02] [ 3.08874001e-02 9.99522820e-01 -3.16696268e-04 2.54832461e+00] [ 7.70099022e-03 7.88609406e-05 9.99970344e-01 8.60846798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:2.55, Z:0.85 [[ 9.99500817e-01 -3.06417050e-02 -7.69434792e-03 2.32609373e+02] [ 3.06400757e-02 9.99530428e-01 -3.29563861e-04 2.55133118e+00] [ 7.70083327e-03 9.36439449e-05 9.99970344e-01 8.48068742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.64, Y:2.56, Z:0.85 [[ 9.99433632e-01 -3.27598226e-02 -7.69479342e-03 2.32637598e+02] [ 3.27583389e-02 9.99463251e-01 -3.18811270e-04 2.55588157e+00] [ 7.70110745e-03 6.65620543e-05 9.99970344e-01 8.47933767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:2.56, Z:0.85 [[ 9.99373183e-01 -3.45547794e-02 -7.69475085e-03 2.32666678e+02] [ 3.45533410e-02 9.99402804e-01 -3.19835464e-04 2.55769078e+00] [ 7.70120742e-03 5.37556354e-05 9.99970344e-01 8.48145901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.70, Y:2.56, Z:0.85 [[ 9.99309269e-01 -3.63562512e-02 -7.69470815e-03 2.32695003e+02] [ 3.63548584e-02 9.99338892e-01 -3.20859459e-04 2.55923081e+00] [ 7.70128637e-03 4.08978061e-05 9.99970344e-01 8.48044011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.72, Y:2.56, Z:0.85 [[ 9.99154104e-01 -4.03963945e-02 -7.69466521e-03 2.32723824e+02] [ 4.03951135e-02 9.99183732e-01 -3.21886057e-04 2.56236166e+00] [ 7.70138734e-03 1.07869008e-05 9.99970344e-01 8.47538548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:2.56, Z:0.85 [[ 9.99050779e-01 -4.28757920e-02 -7.69462252e-03 2.32752454e+02] [ 4.28745767e-02 9.99080410e-01 -3.22903275e-04 2.56316497e+00] [ 7.70139136e-03 -7.30691571e-06 9.99970344e-01 8.47040677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:232.78, Y:2.56, Z:0.86 [[ 9.98966248e-01 -4.48021085e-02 -7.69457963e-03 2.32781956e+02] [ 4.48009424e-02 9.98995881e-01 -3.23922265e-04 2.56337002e+00] [ 7.70136575e-03 -2.11370093e-05 9.99970344e-01 8.61894442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.81, Y:2.56, Z:0.85 [[ 9.98774658e-01 -4.88873980e-02 -7.69445876e-03 2.32812827e+02] [ 4.88863311e-02 9.98804295e-01 -3.26792425e-04 2.56235511e+00] [ 7.70123449e-03 -4.97618659e-05 9.99970344e-01 8.46677047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:2.56, Z:0.85 [[ 9.98664586e-01 -5.10865794e-02 -7.69456611e-03 2.32842082e+02] [ 5.10855973e-02 9.98694226e-01 -3.24244833e-04 2.56283376e+00] [ 7.70108330e-03 -6.92696738e-05 9.99970344e-01 8.46913397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.87, Y:2.56, Z:0.85 [[ 9.98449303e-01 -5.51342321e-02 -7.69452407e-03 2.32870772e+02] [ 5.51333626e-02 9.98478946e-01 -3.25239436e-04 2.56013627e+00] [ 7.70075211e-03 -9.94898971e-05 9.99970344e-01 8.47311848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:2.56, Z:0.85 [[ 9.98362204e-01 -5.66895460e-02 -7.69448193e-03 2.32899382e+02] [ 5.66887150e-02 9.98391849e-01 -3.26233276e-04 2.55893344e+00] [ 7.70060206e-03 -1.10491321e-04 9.99970344e-01 8.47279126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:232.93, Y:2.56, Z:0.85 [[ 9.98339999e-01 -5.70792642e-02 -7.69444019e-03 2.32928364e+02] [ 5.70784372e-02 9.98369643e-01 -3.27214823e-04 2.55858414e+00] [ 7.70057269e-03 -1.12514974e-04 9.99970344e-01 8.47471634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:2.56, Z:0.85 [[ 9.98403446e-01 -5.59585119e-02 -7.69439809e-03 2.32957497e+02] [ 5.59576440e-02 9.98433090e-01 -3.28201917e-04 2.55784657e+00] [ 7.70070735e-03 -1.02882464e-04 9.99970344e-01 8.46504385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:232.99, Y:2.56, Z:0.86 [[ 9.98480912e-01 -5.45588299e-02 -7.69435585e-03 2.32986963e+02] [ 5.45579128e-02 9.98510554e-01 -3.29189186e-04 2.55746791e+00] [ 7.70085569e-03 -9.10988771e-05 9.99970344e-01 8.62006331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:2.56, Z:0.85 [[ 9.98545560e-01 -5.33626574e-02 -7.69364530e-03 2.33017712e+02] [ 5.33615774e-02 9.98575196e-01 -3.45725695e-04 2.55666840e+00] [ 7.70113220e-03 -6.53221920e-05 9.99970344e-01 8.47687201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:2.56, Z:0.85 [[ 9.98548707e-01 -5.33036460e-02 -7.69428666e-03 2.33046807e+02] [ 5.33026792e-02 9.98578347e-01 -3.30808141e-04 2.55737143e+00] [ 7.70098134e-03 -7.97980530e-05 9.99970344e-01 8.46958902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:2.56, Z:0.85 [[ 9.98561398e-01 -5.30653662e-02 -7.69424342e-03 2.33075499e+02] [ 5.30643846e-02 9.98591038e-01 -3.31810898e-04 2.55837522e+00] [ 7.70101019e-03 -7.69567379e-05 9.99970344e-01 8.47412416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:233.10, Y:2.56, Z:0.86 [[ 9.98608181e-01 -5.21775731e-02 -7.69420054e-03 2.33104822e+02] [ 5.21765575e-02 9.98637820e-01 -3.32802256e-04 2.55671841e+00] [ 7.70108447e-03 -6.91178416e-05 9.99970344e-01 8.62771775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.14, Y:2.56, Z:0.85 [[ 9.98632615e-01 -5.17079656e-02 -7.69326930e-03 2.33135748e+02] [ 5.17067706e-02 9.98662247e-01 -3.54279726e-04 2.55556720e+00] [ 7.70129669e-03 -4.39988217e-05 9.99970344e-01 8.46951012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:2.56, Z:0.85 [[ 9.98577115e-01 -5.27687874e-02 -7.69419119e-03 2.33164871e+02] [ 5.27677880e-02 9.98606754e-01 -3.32977331e-04 2.55610796e+00] [ 7.70104210e-03 -7.35019067e-05 9.99970344e-01 8.47543162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864000000002 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:233.19, Y:2.56, Z:0.86 [[ 9.98472454e-01 -5.47134201e-02 -7.69414806e-03 2.33192787e+02] [ 5.47124708e-02 9.98502095e-01 -3.33970946e-04 2.55645684e+00] [ 7.70089565e-03 -8.75050612e-05 9.99970344e-01 8.62689194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:233.22, Y:2.56, Z:0.86 [[ 9.98443898e-01 -5.52323525e-02 -7.69214252e-03 2.33221685e+02] [ 5.52310638e-02 9.98473528e-01 -3.80019839e-04 2.55673788e+00] [ 7.70139007e-03 -4.54167252e-05 9.99970343e-01 8.63047320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:2.55, Z:0.85 [[ 9.98442086e-01 -5.52651794e-02 -7.69164650e-03 2.33253656e+02] [ 5.52638033e-02 9.98471712e-01 -3.91489431e-04 2.55499210e+00] [ 7.70152718e-03 -3.41901157e-05 9.99970342e-01 8.46662662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.28, Y:2.55, Z:0.85 [[ 9.98520979e-01 -5.38205522e-02 -7.69428060e-03 2.33282983e+02] [ 5.38196063e-02 9.98550620e-01 -3.30089820e-04 2.55376035e+00] [ 7.70089428e-03 -8.45015424e-05 9.99970344e-01 8.46921260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:2.55, Z:0.85 [[ 9.98585496e-01 -5.26099463e-02 -7.69423756e-03 2.33311583e+02] [ 5.26089567e-02 9.98615135e-01 -3.31090086e-04 2.55399226e+00] [ 7.70100071e-03 -7.41640526e-05 9.99970344e-01 8.46766950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:2.55, Z:0.85 [[ 9.98665276e-01 -5.10731420e-02 -7.69419432e-03 2.33340405e+02] [ 5.10720991e-02 9.98694914e-01 -3.32091882e-04 2.55396121e+00] [ 7.70111371e-03 -6.13100239e-05 9.99970344e-01 8.46624413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:233.37, Y:2.55, Z:0.86 [[ 9.98621664e-01 -5.19189044e-02 -7.69415091e-03 2.33368067e+02] [ 5.19178788e-02 9.98651302e-01 -3.33094627e-04 2.55366423e+00] [ 7.70106773e-03 -6.68284843e-05 9.99970344e-01 8.62228579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.40, Y:2.55, Z:0.85 [[ 9.98810954e-01 -4.81405363e-02 -7.69200883e-03 2.33399339e+02] [ 4.81390189e-02 9.98840572e-01 -3.82393353e-04 2.55334228e+00] [ 7.70149913e-03 1.16529106e-05 9.99970343e-01 8.46764256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:2.55, Z:0.85 [[ 9.98844923e-01 -4.74301643e-02 -7.69413723e-03 2.33428162e+02] [ 4.74290044e-02 9.98874556e-01 -3.33253300e-04 2.55386176e+00] [ 7.70128417e-03 -3.20569019e-05 9.99970344e-01 8.47100460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:233.46, Y:2.55, Z:0.86 [[ 9.98839935e-01 -4.75350932e-02 -7.69409362e-03 2.33457963e+02] [ 4.75339287e-02 9.98869568e-01 -3.34256993e-04 2.55422036e+00] [ 7.70128491e-03 -3.18612640e-05 9.99970344e-01 8.59784805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:233.49, Y:2.55, Z:0.86 [[ 9.98789711e-01 -4.85789450e-02 -7.69408492e-03 2.33488269e+02] [ 4.85778099e-02 9.98819345e-01 -3.34457295e-04 2.55416177e+00] [ 7.70124844e-03 -3.97092894e-05 9.99970344e-01 8.61919218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:2.55, Z:0.85 [[ 9.98720699e-01 -4.99777207e-02 -7.69365060e-03 2.33518750e+02] [ 4.99765498e-02 9.98750332e-01 -3.44479028e-04 2.55309389e+00] [ 7.70125236e-03 -4.04637769e-05 9.99970344e-01 8.47012326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:233.55, Y:2.55, Z:0.86 [[ 9.98617976e-01 -5.19897777e-02 -7.69418299e-03 2.33547326e+02] [ 5.19887616e-02 9.98647615e-01 -3.32146139e-04 2.55379770e+00] [ 7.70104569e-03 -6.83239401e-05 9.99970344e-01 8.62078722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:2.55, Z:0.85 [[ 9.98430372e-01 -5.54761791e-02 -7.69318227e-03 2.33577613e+02] [ 5.54750886e-02 9.98460008e-01 -3.55239281e-04 2.55348143e+00] [ 7.70104215e-03 -7.20982808e-05 9.99970344e-01 8.48579189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:2.55, Z:0.85 [[ 9.98316539e-01 -5.74881644e-02 -7.69413881e-03 2.33606657e+02] [ 5.74873038e-02 9.98346182e-01 -3.33147726e-04 2.55279348e+00] [ 7.70056616e-03 -1.09728411e-04 9.99970344e-01 8.48693188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:2.55, Z:0.85 [[ 9.98305392e-01 -5.76814157e-02 -7.69409577e-03 2.33635119e+02] [ 5.76805532e-02 9.98335035e-01 -3.34138889e-04 2.55398368e+00] [ 7.70055897e-03 -1.10227046e-04 9.99970344e-01 8.48912566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:233.66, Y:2.55, Z:0.86 [[ 9.98224945e-01 -5.90572753e-02 -7.69403080e-03 2.33663525e+02] [ 5.90564421e-02 9.98254589e-01 -3.35628272e-04 2.55320898e+00] [ 7.70042284e-03 -1.19349572e-04 9.99970344e-01 8.63492951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:2.55, Z:0.85 [[ 9.98211505e-01 -5.92841476e-02 -7.69291340e-03 2.33694295e+02] [ 5.92831246e-02 9.98241144e-01 -3.61145301e-04 2.55228611e+00] [ 7.70079286e-03 -9.55605494e-05 9.99970344e-01 8.48180037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:2.55, Z:0.85 [[ 9.98246392e-01 -5.86936325e-02 -7.69398431e-03 2.33722987e+02] [ 5.86927806e-02 9.98276036e-01 -3.36671800e-04 2.55323774e+00] [ 7.70048065e-03 -1.15499923e-04 9.99970344e-01 8.49346778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.75, Y:2.55, Z:0.85 [[ 9.98431715e-01 -5.54518994e-02 -7.69394140e-03 2.33752180e+02] [ 5.54509437e-02 9.98461356e-01 -3.37649432e-04 2.55460820e+00] [ 7.70082647e-03 -8.95164093e-05 9.99970344e-01 8.50124160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.78, Y:2.56, Z:0.85 [[ 9.98520652e-01 -5.38266740e-02 -7.69389764e-03 2.33780886e+02] [ 5.38256624e-02 9.98550291e-01 -3.38643771e-04 2.55627822e+00] [ 7.70097179e-03 -7.59863379e-05 9.99970344e-01 8.49599429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:233.81, Y:2.56, Z:0.85 [[ 9.98585025e-01 -5.26189392e-02 -7.69385355e-03 2.33809639e+02] [ 5.26178840e-02 9.98614662e-01 -3.39642457e-04 2.55781250e+00] [ 7.70106659e-03 -6.56724224e-05 9.99970344e-01 8.51187719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:233.84, Y:2.56, Z:0.87 [[ 9.98599244e-01 -5.23484084e-02 -7.69380923e-03 2.33839028e+02] [ 5.23473375e-02 9.98628880e-01 -3.40643434e-04 2.55942493e+00] [ 7.70109224e-03 -6.25841524e-05 9.99970344e-01 8.65949779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:2.56, Z:0.85 [[ 9.98662975e-01 -5.11183253e-02 -7.69274715e-03 2.33869074e+02] [ 5.11170333e-02 9.98692603e-01 -3.64596941e-04 2.56161915e+00] [ 7.70132726e-03 -2.91209467e-05 9.99970344e-01 8.50720551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:233.90, Y:2.56, Z:0.86 [[ 9.98674799e-01 -5.08866549e-02 -7.69379605e-03 2.33897953e+02] [ 5.08855384e-02 9.98704434e-01 -3.40925981e-04 2.56309478e+00] [ 7.70117681e-03 -5.10287693e-05 9.99970344e-01 8.64305612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:233.93, Y:2.56, Z:0.87 [[ 9.98610207e-01 -5.21388737e-02 -7.69367303e-03 2.33925811e+02] [ 5.21377730e-02 9.98639842e-01 -3.43696801e-04 2.56412279e+00] [ 7.70112838e-03 -5.79118447e-05 9.99970344e-01 8.65082521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.96, Y:2.57, Z:0.85 [[ 9.98608319e-01 -5.21751369e-02 -7.69290910e-03 2.33956486e+02] [ 5.21739056e-02 9.98637949e-01 -3.60782648e-04 2.56592501e+00] [ 7.70125485e-03 -4.10885602e-05 9.99970344e-01 8.50988093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.99, Y:2.57, Z:0.85 [[ 9.98527867e-01 -5.36927014e-02 -7.69370270e-03 2.33985625e+02] [ 5.36916524e-02 9.98557504e-01 -3.42980746e-04 2.56780557e+00] [ 7.70102013e-03 -7.06117786e-05 9.99970344e-01 8.51670384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:2.57, Z:0.85 [[ 9.98508568e-01 -5.40504223e-02 -7.69365769e-03 2.34014270e+02] [ 5.40493762e-02 9.98538205e-01 -3.43987478e-04 2.56860573e+00] [ 7.70100381e-03 -7.23629545e-05 9.99970344e-01 8.51548165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.04, Y:2.57, Z:0.85 [[ 9.98364326e-01 -5.66522848e-02 -7.69361281e-03 2.34043206e+02] [ 5.66513082e-02 9.98393965e-01 -3.44988430e-04 2.56673049e+00] [ 7.70080098e-03 -9.14290888e-05 9.99970344e-01 8.51328063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:234.07, Y:2.57, Z:0.87 [[ 9.98298908e-01 -5.77935949e-02 -7.69356775e-03 2.34071198e+02] [ 5.77926444e-02 9.98328548e-01 -3.45990330e-04 2.56742225e+00] [ 7.70070435e-03 -9.92298572e-05 9.99970344e-01 8.66110185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:234.10, Y:2.57, Z:0.87 [[ 9.98451537e-01 -5.50940064e-02 -7.69273787e-03 2.34099729e+02] [ 5.50928345e-02 9.98481170e-01 -3.64335244e-04 2.56965795e+00] [ 7.70112660e-03 -6.00436500e-05 9.99970344e-01 8.67383715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:2.57, Z:0.85 [[ 9.98493244e-01 -5.43326760e-02 -7.69428289e-03 2.34128734e+02] [ 5.43317450e-02 9.98522885e-01 -3.30129629e-04 2.57035103e+00] [ 7.70085437e-03 -8.84116113e-05 9.99970344e-01 8.52886183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:234.16, Y:2.57, Z:0.87 [[ 9.98533449e-01 -5.35888365e-02 -7.69341269e-03 2.34157979e+02] [ 5.35877357e-02 9.98563084e-01 -3.49296196e-04 2.57095553e+00] [ 7.70107628e-03 -6.34886308e-05 9.99970344e-01 8.65408463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:2.57, Z:0.85 [[ 9.98668738e-01 -5.10056125e-02 -7.69275851e-03 2.34188015e+02] [ 5.10043246e-02 9.98698366e-01 -3.63642380e-04 2.57309089e+00] [ 7.70129316e-03 -2.92056753e-05 9.99970344e-01 8.51512149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:234.22, Y:2.57, Z:0.85 [[ 9.98683589e-01 -5.07139269e-02 -7.69328774e-03 2.34216392e+02] [ 5.07127194e-02 9.98713220e-01 -3.52078258e-04 2.57459285e+00] [ 7.70124344e-03 -3.85327632e-05 9.99970344e-01 8.51783969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:234.25, Y:2.58, Z:0.87 [[ 9.98726053e-01 -4.98706875e-02 -7.69324142e-03 2.34246213e+02] [ 4.98694472e-02 9.98755683e-01 -3.53087458e-04 2.57503243e+00] [ 7.70127730e-03 -3.10200530e-05 9.99970344e-01 8.66591229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:234.28, Y:2.58, Z:0.87 [[ 9.98691854e-01 -5.05507149e-02 -7.69455159e-03 2.34275083e+02] [ 5.05497142e-02 9.98721493e-01 -3.24596564e-04 2.57581664e+00] [ 7.70112264e-03 -6.47854395e-05 9.99970344e-01 8.66970589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:2.58, Z:0.85 [[ 9.98675494e-01 -5.08730364e-02 -7.69366616e-03 2.34304425e+02] [ 5.08718981e-02 9.98705128e-01 -3.43701005e-04 2.57698263e+00] [ 7.70118896e-03 -4.81456298e-05 9.99970344e-01 8.51270293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:234.33, Y:2.58, Z:0.87 [[ 9.98725496e-01 -4.98818621e-02 -7.69309592e-03 2.34334311e+02] [ 4.98805995e-02 9.98755125e-01 -3.56022956e-04 2.57839990e+00] [ 7.70127806e-03 -2.81670329e-05 9.99970344e-01 8.65373843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:234.36, Y:2.58, Z:0.85 [[ 9.98693347e-01 -5.05212559e-02 -7.69419826e-03 2.34363649e+02] [ 5.05201957e-02 9.98722984e-01 -3.32212278e-04 2.57967896e+00] [ 7.70115643e-03 -5.69342096e-05 9.99970344e-01 8.51570629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:234.39, Y:2.58, Z:0.85 [[ 9.98641843e-01 -5.15294722e-02 -7.69302968e-03 2.34392025e+02] [ 5.15282481e-02 9.98671473e-01 -3.57368166e-04 2.57913271e+00] [ 7.70122428e-03 -3.95255383e-05 9.99970344e-01 8.50133046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.42, Y:2.58, Z:0.85 [[ 9.98639814e-01 -5.15687952e-02 -7.69297087e-03 2.34420846e+02] [ 5.15675625e-02 9.98669444e-01 -3.58629799e-04 2.58018633e+00] [ 7.70122904e-03 -3.85657602e-05 9.99970344e-01 8.50174301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:234.45, Y:2.58, Z:0.85 [[ 9.98684188e-01 -5.07021770e-02 -7.69292383e-03 2.34449317e+02] [ 5.07009109e-02 9.98713817e-01 -3.59635847e-04 2.58222599e+00] [ 7.70126365e-03 -3.08756116e-05 9.99970344e-01 8.50260799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:234.48, Y:2.59, Z:0.87 [[ 9.98886766e-01 -4.65408305e-02 -7.69287652e-03 2.34480293e+02] [ 4.65394332e-02 9.98916388e-01 -3.60645188e-04 2.58763197e+00] [ 7.70132515e-03 2.22159306e-06 9.99970344e-01 8.66504999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:234.51, Y:2.59, Z:0.87 [[ 9.98956855e-01 -4.50110175e-02 -7.69481870e-03 2.34509091e+02] [ 4.50098929e-02 9.98986490e-01 -3.19340303e-04 2.59030687e+00] [ 7.70139375e-03 -2.73357806e-05 9.99970343e-01 8.66442433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:234.54, Y:2.60, Z:0.87 [[ 9.99109273e-01 -4.14903675e-02 -7.69485168e-03 2.34538678e+02] [ 4.14891439e-02 9.99138904e-01 -3.18644047e-04 2.59584611e+00] [ 7.70144633e-03 -8.92586727e-07 9.99970343e-01 8.69674732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:234.57, Y:2.60, Z:0.87 [[ 9.99156818e-01 -4.03291013e-02 -7.69528799e-03 2.34568183e+02] [ 4.03279134e-02 9.99186451e-01 -3.09543297e-04 2.60131352e+00] [ 7.70151110e-03 -1.05261153e-06 9.99970343e-01 8.67408153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:234.60, Y:2.61, Z:0.85 [[ 9.99277024e-01 -3.72321090e-02 -7.69406286e-03 2.34596608e+02] [ 3.72306330e-02 9.99306643e-01 -3.35023623e-04 2.61124538e+00] [ 7.70120177e-03 4.83265791e-05 9.99970344e-01 8.50515953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:234.63, Y:2.62, Z:0.87 [[ 9.99342442e-01 -3.54331811e-02 -7.69236961e-03 2.34626919e+02] [ 3.54313810e-02 9.99372043e-01 -3.70207011e-04 2.61619048e+00] [ 7.70065675e-03 9.74123000e-05 9.99970345e-01 8.68557280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:2.62, Z:0.85 [[ 9.99332380e-01 -3.57153394e-02 -7.69478183e-03 2.34655959e+02] [ 3.57139333e-02 9.99362003e-01 -3.20103403e-04 2.62075456e+00] [ 7.70130518e-03 4.50787700e-05 9.99970343e-01 8.51135096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:234.69, Y:2.63, Z:0.87 [[ 9.99296854e-01 -3.66964106e-02 -7.69223441e-03 2.34685304e+02] [ 3.66946288e-02 9.99326456e-01 -3.72682830e-04 2.63082122e+00] [ 7.70072947e-03 9.01570935e-05 9.99970345e-01 8.70431583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.71, Y:2.64, Z:0.85 [[ 9.99206946e-01 -3.90676904e-02 -7.69381647e-03 2.34714118e+02] [ 3.90662300e-02 9.99236566e-01 -3.40067027e-04 2.63669077e+00] [ 7.70122838e-03 3.92289322e-05 9.99970344e-01 8.50601712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.74, Y:2.64, Z:0.85 [[ 9.98945908e-01 -4.52537542e-02 -7.69219041e-03 2.34742438e+02] [ 4.52522193e-02 9.98975524e-01 -3.73550934e-04 2.64437125e+00] [ 7.70121453e-03 2.50684891e-05 9.99970345e-01 8.49742462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:234.77, Y:2.65, Z:0.87 [[ 9.98801392e-01 -4.83384997e-02 -7.69214073e-03 2.34773435e+02] [ 4.83370485e-02 9.98831011e-01 -3.74571194e-04 2.64699934e+00] [ 7.70125492e-03 2.30685007e-06 9.99970345e-01 8.67517363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:234.80, Y:2.65, Z:0.87 [[ 9.98635293e-01 -5.16561723e-02 -7.69355132e-03 2.34801789e+02] [ 5.16550424e-02 9.98664927e-01 -3.45641350e-04 2.64937993e+00] [ 7.70113438e-03 -5.22410686e-05 9.99970344e-01 8.67861894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:234.83, Y:2.65, Z:0.85 [[ 9.98316763e-01 -5.74844444e-02 -7.69285212e-03 2.34831482e+02] [ 5.74833770e-02 9.98346399e-01 -3.59976319e-04 2.65209175e+00] [ 7.70082425e-03 -8.28407254e-05 9.99970345e-01 8.49790871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.86, Y:2.65, Z:0.85 [[ 9.98239506e-01 -5.88108733e-02 -7.69215572e-03 2.34860016e+02] [ 5.88097350e-02 9.98269140e-01 -3.74288440e-04 2.65418566e+00] [ 7.70085390e-03 -7.87441313e-05 9.99970345e-01 8.50128517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:234.89, Y:2.66, Z:0.85 [[ 9.98219510e-01 -5.91493110e-02 -7.69210784e-03 2.34888777e+02] [ 5.91481751e-02 9.98249144e-01 -3.75269868e-04 2.65741377e+00] [ 7.70083701e-03 -8.03724373e-05 9.99970345e-01 8.50399503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:2.66, Z:0.85 [[ 9.98275917e-01 -5.81895686e-02 -7.69206019e-03 2.34917329e+02] [ 5.81883968e-02 9.98305549e-01 -3.76243992e-04 2.65953530e+00] [ 7.70091985e-03 -7.19933346e-05 9.99970345e-01 8.51745051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:234.95, Y:2.66, Z:0.87 [[ 9.98380503e-01 -5.63667010e-02 -7.69201210e-03 2.34948027e+02] [ 5.63654675e-02 9.98410132e-01 -3.77224493e-04 2.66083219e+00] [ 7.70104572e-03 -5.69502800e-05 9.99970345e-01 8.67368501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:234.98, Y:2.66, Z:0.87 [[ 9.98467519e-01 -5.48036806e-02 -7.69221854e-03 2.34978958e+02] [ 5.48024331e-02 9.98497148e-01 -3.73020423e-04 2.66115911e+00] [ 7.70110117e-03 -4.91035157e-05 9.99970345e-01 8.67866905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:235.01, Y:2.66, Z:0.87 [[ 9.98448942e-01 -5.51408196e-02 -7.69417968e-03 2.35008874e+02] [ 5.51398896e-02 9.98478583e-01 -3.33112908e-04 2.66143779e+00] [ 7.70084175e-03 -9.16599879e-05 9.99970344e-01 8.68898793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:235.04, Y:2.66, Z:0.87 [[ 9.98258283e-01 -5.84910864e-02 -7.69366400e-03 2.35037667e+02] [ 5.84901754e-02 9.98287925e-01 -3.43555055e-04 2.66032668e+00] [ 7.70058678e-03 -1.07047077e-04 9.99970344e-01 8.68921860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:235.07, Y:2.66, Z:0.87 [[ 9.98118930e-01 -6.08228533e-02 -7.69292865e-03 2.35066680e+02] [ 6.08218968e-02 9.98148570e-01 -3.58442707e-04 2.65968578e+00] [ 7.70048724e-03 -1.10130060e-04 9.99970345e-01 8.69269257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:235.10, Y:2.66, Z:0.85 [[ 9.97894045e-01 -6.44073087e-02 -7.69247545e-03 2.35097111e+02] [ 6.44063881e-02 9.97923685e-01 -3.67606469e-04 2.65920413e+00] [ 7.70018000e-03 -1.28612253e-04 9.99970345e-01 8.51350966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:235.13, Y:2.66, Z:0.85 [[ 9.97803747e-01 -6.57914714e-02 -7.69181465e-03 2.35125873e+02] [ 6.57904891e-02 9.97833386e-01 -3.80949014e-04 2.65634423e+00] [ 7.70021265e-03 -1.25935894e-04 9.99970345e-01 8.50958181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:235.16, Y:2.66, Z:0.85 [[ 9.97859331e-01 -6.49429927e-02 -7.69176636e-03 2.35155046e+02] [ 6.49419776e-02 9.97888969e-01 -3.81921474e-04 2.65610932e+00] [ 7.70033192e-03 -1.18414613e-04 9.99970345e-01 8.51751886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:235.18, Y:2.66, Z:0.85 [[ 9.98078622e-01 -6.14809095e-02 -7.69171794e-03 2.35183588e+02] [ 6.14797841e-02 9.98108255e-01 -3.82894102e-04 2.65556178e+00] [ 7.70070785e-03 -9.07267403e-05 9.99970345e-01 8.52069380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:2.66, Z:0.85 [[ 9.98236436e-01 -5.88630224e-02 -7.69166894e-03 2.35211926e+02] [ 5.88618117e-02 9.98266067e-01 -3.83876034e-04 2.65651996e+00] [ 7.70092820e-03 -6.95465243e-05 9.99970345e-01 8.51793963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:235.24, Y:2.66, Z:0.87 [[ 9.98665945e-01 -5.10604415e-02 -7.69160732e-03 2.35242879e+02] [ 5.10589898e-02 9.98695565e-01 -3.85106608e-04 2.65606319e+00] [ 7.70123783e-03 -8.13284539e-06 9.99970345e-01 8.71069482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:235.27, Y:2.66, Z:0.87 [[ 9.98877809e-01 -4.67325812e-02 -7.69336455e-03 2.35271587e+02] [ 4.67312708e-02 9.98907436e-01 -3.50100911e-04 2.65735814e+00] [ 7.70132018e-03 -9.81267129e-06 9.99970344e-01 8.70519045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:235.30, Y:2.66, Z:0.87 [[ 9.99101607e-01 -4.16749515e-02 -7.69272286e-03 2.35300104e+02] [ 4.16733927e-02 9.99131221e-01 -3.62879634e-04 2.65997375e+00] [ 7.70116257e-03 4.19717648e-05 9.99970345e-01 8.70918891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:235.33, Y:2.67, Z:0.87 [[ 9.99409553e-01 -3.34864979e-02 -7.69418875e-03 2.35327382e+02] [ 3.34849201e-02 9.99439167e-01 -3.33831104e-04 2.66617711e+00] [ 7.70105243e-03 7.59946989e-05 9.99970344e-01 8.69472822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:235.36, Y:2.67, Z:0.87 [[ 9.99547248e-01 -2.90880298e-02 -7.69326899e-03 2.35356529e+02] [ 2.90861829e-02 9.99576846e-01 -3.51871376e-04 2.66974207e+00] [ 7.70024880e-03 1.27944236e-04 9.99970344e-01 8.68381778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:235.39, Y:2.68, Z:0.87 [[ 9.99645162e-01 -2.55018017e-02 -7.69467978e-03 2.35385177e+02] [ 2.55000596e-02 9.99674768e-01 -3.24449730e-04 2.67502671e+00] [ 7.70045128e-03 1.28119810e-04 9.99970343e-01 8.68511762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:235.41, Y:2.68, Z:0.87 [[ 9.99630389e-01 -2.60742135e-02 -7.69554312e-03 2.35412542e+02] [ 2.60726161e-02 9.99660004e-01 -3.07835908e-04 2.67937473e+00] [ 7.70095325e-03 1.07079187e-04 9.99970341e-01 8.66288023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:235.44, Y:2.68, Z:0.87 [[ 9.99692368e-01 -2.35797953e-02 -7.69167098e-03 2.35444838e+02] [ 2.35775558e-02 9.99721938e-01 -3.81716566e-04 2.68489818e+00] [ 7.69853301e-03 2.00248336e-04 9.99970346e-01 8.69120755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:235.47, Y:2.69, Z:0.85 [[ 9.99668295e-01 -2.45779847e-02 -7.69556492e-03 2.35472660e+02] [ 2.45763470e-02 9.99697909e-01 -3.07319621e-04 2.69106557e+00] [ 7.70079346e-03 1.18088808e-04 9.99970341e-01 8.53008296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:235.50, Y:2.69, Z:0.85 [[ 9.99663569e-01 -2.47711236e-02 -7.69032932e-03 2.35501092e+02] [ 2.47687297e-02 9.99693125e-01 -4.06395158e-04 2.69261033e+00] [ 7.69803622e-03 2.15778746e-04 9.99970346e-01 8.53230569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.53, Y:2.70, Z:0.85 [[ 9.99639015e-01 -2.57429621e-02 -7.69025082e-03 2.35529386e+02] [ 2.57405855e-02 9.99668573e-01 -4.07875116e-04 2.69656550e+00] [ 7.69820198e-03 2.09776320e-04 9.99970346e-01 8.53001586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:235.56, Y:2.70, Z:0.87 [[ 9.99596240e-01 -2.73535733e-02 -7.69019840e-03 2.35561044e+02] [ 2.73512367e-02 9.99625801e-01 -4.08861105e-04 2.70474482e+00] [ 7.69850455e-03 1.98359587e-04 9.99970346e-01 8.71133860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:235.59, Y:2.71, Z:0.85 [[ 9.99515778e-01 -3.01497351e-02 -7.69433420e-03 2.35588847e+02] [ 3.01480787e-02 9.99545388e-01 -3.31198925e-04 2.70858695e+00] [ 7.70082183e-03 9.90691579e-05 9.99970343e-01 8.53268540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:235.62, Y:2.71, Z:0.87 [[ 9.99491757e-01 -3.09369254e-02 -7.68994344e-03 2.35621429e+02] [ 3.09346633e-02 9.99521323e-01 -4.12961600e-04 2.71239135e+00] [ 7.69903821e-03 1.74865904e-04 9.99970347e-01 8.70336049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:2.72, Z:0.85 [[ 9.99206733e-01 -3.90729678e-02 -7.69472814e-03 2.35649485e+02] [ 3.90716317e-02 9.99236360e-01 -3.23943695e-04 2.71651972e+00] [ 7.70150958e-03 2.30411372e-05 9.99970343e-01 8.53199303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:2.72, Z:0.85 [[ 9.99066433e-01 -4.25103705e-02 -7.68970257e-03 2.35678469e+02] [ 4.25084223e-02 9.99096022e-01 -4.16687937e-04 2.71919406e+00] [ 7.70046480e-03 8.94218066e-05 9.99970347e-01 8.52514035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:235.71, Y:2.72, Z:0.87 [[ 9.98766126e-01 -4.90621491e-02 -7.68964744e-03 2.35710161e+02] [ 4.90603872e-02 9.98795727e-01 -4.17702725e-04 2.72130844e+00] [ 7.70088040e-03 3.99302516e-05 9.99970347e-01 8.67993566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:235.74, Y:2.72, Z:0.87 [[ 9.98546860e-01 -5.33384095e-02 -7.69295629e-03 2.35739248e+02] [ 5.33372448e-02 9.98576492e-01 -3.56629031e-04 2.72123536e+00] [ 7.70102733e-03 -5.42102938e-05 9.99970345e-01 8.69772440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:235.77, Y:2.72, Z:0.87 [[ 9.98300635e-01 -5.77638616e-02 -7.69273337e-03 2.35768302e+02] [ 5.77627968e-02 9.98330271e-01 -3.60712067e-04 2.72115036e+00] [ 7.70072471e-03 -8.42547097e-05 9.99970345e-01 8.70010016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:235.80, Y:2.72, Z:0.85 [[ 9.97862390e-01 -6.48959356e-02 -7.69210658e-03 2.35797148e+02] [ 6.48949944e-02 9.97892029e-01 -3.72154048e-04 2.71857166e+00] [ 7.70004313e-03 -1.27820686e-04 9.99970346e-01 8.51348418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:2.72, Z:0.85 [[ 9.97723858e-01 -6.69923711e-02 -7.68931994e-03 2.35826422e+02] [ 6.69911016e-02 9.97753483e-01 -4.22830245e-04 2.71857261e+00] [ 7.70037216e-03 -9.32481910e-05 9.99970347e-01 8.50708211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:2.72, Z:0.85 [[ 9.97655050e-01 -6.80093883e-02 -7.68926600e-03 2.35854822e+02] [ 6.80081415e-02 9.97684676e-01 -4.23808925e-04 2.71867190e+00] [ 7.70028584e-03 -1.00117576e-04 9.99970347e-01 8.49819852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:235.89, Y:2.71, Z:0.87 [[ 9.97610287e-01 -6.86628748e-02 -7.68921185e-03 2.35885055e+02] [ 6.86616398e-02 9.97639914e-01 -4.24789069e-04 2.71496569e+00] [ 7.70023189e-03 -1.04179950e-04 9.99970347e-01 8.68172041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.92, Y:2.71, Z:0.85 [[ 9.97441776e-01 -7.10686896e-02 -7.69058568e-03 2.35915076e+02] [ 7.10677176e-02 9.97471413e-01 -3.99939508e-04 2.71357340e+00] [ 7.69956254e-03 -1.47635999e-04 9.99970347e-01 8.49260754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:235.95, Y:2.71, Z:0.87 [[ 9.97453942e-01 -7.08978927e-02 -7.68912479e-03 2.35945459e+02] [ 7.08967125e-02 9.97483571e-01 -4.26290132e-04 2.71153329e+00] [ 7.69999873e-03 -1.19928897e-04 9.99970347e-01 8.67819822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:2.71, Z:0.85 [[ 9.97331133e-01 -7.26049053e-02 -7.69023825e-03 2.35975842e+02] [ 7.26039307e-02 9.97360769e-01 -4.06195120e-04 2.70739198e+00] [ 7.69943369e-03 -1.53230486e-04 9.99970347e-01 8.48857151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.00, Y:2.71, Z:0.85 [[ 9.97303388e-01 -7.29851324e-02 -7.68906907e-03 2.36004936e+02] [ 7.29840069e-02 9.97333020e-01 -4.27237153e-04 2.70585635e+00] [ 7.69974443e-03 -1.35094010e-04 9.99970347e-01 8.49231507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.04, Y:2.70, Z:0.87 [[ 9.97397604e-01 -7.16861173e-02 -7.68901488e-03 2.36036219e+02] [ 7.16849458e-02 9.97427233e-01 -4.28210165e-04 2.70020382e+00] [ 7.69992956e-03 -1.24090822e-04 9.99970347e-01 8.65555093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.07, Y:2.70, Z:0.85 [[ 9.97367332e-01 -7.21059119e-02 -7.69045969e-03 2.36066355e+02] [ 7.21049527e-02 9.97396969e-01 -4.02268053e-04 2.69873427e+00] [ 7.69944709e-03 -1.53311218e-04 9.99970347e-01 8.50269498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.10, Y:2.70, Z:0.87 [[ 9.97528025e-01 -6.98478236e-02 -7.68897657e-03 2.36097572e+02] [ 6.98465925e-02 9.97557652e-01 -4.28858892e-04 2.69722510e+00] [ 7.70015227e-03 -1.09250049e-04 9.99970347e-01 8.68558262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.13, Y:2.69, Z:0.85 [[ 9.97728157e-01 -6.69281376e-02 -7.69082624e-03 2.36127102e+02] [ 6.69270748e-02 9.97757791e-01 -3.95754691e-04 2.69281441e+00] [ 7.70006893e-03 -1.19868905e-04 9.99970347e-01 8.50023155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:236.16, Y:2.69, Z:0.87 [[ 9.98120317e-01 -6.08006010e-02 -7.68892577e-03 2.36159826e+02] [ 6.07990944e-02 9.98149931e-01 -4.29756763e-04 2.69119419e+00] [ 7.70083020e-03 -3.85307670e-05 9.99970347e-01 8.69170834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864000000002 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:236.19, Y:2.69, Z:0.87 [[ 9.98377973e-01 -5.64110651e-02 -7.69504836e-03 2.36190255e+02] [ 5.64102746e-02 9.98407621e-01 -3.19915540e-04 2.68643358e+00] [ 7.70084170e-03 -1.14683162e-04 9.99970342e-01 8.69016488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37864000000002 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:236.22, Y:2.68, Z:0.87 [[ 9.98442115e-01 -5.52642129e-02 -7.69482377e-03 2.36219229e+02] [ 5.52633576e-02 9.98471760e-01 -3.23898031e-04 2.68498216e+00] [ 7.70096421e-03 -1.01848363e-04 9.99970342e-01 8.68501826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:236.25, Y:2.68, Z:0.87 [[ 9.98774904e-01 -4.88826013e-02 -7.69294993e-03 2.36249508e+02] [ 4.88813023e-02 9.98804531e-01 -3.56897849e-04 2.68187454e+00] [ 7.70119934e-03 -1.95807962e-05 9.99970345e-01 8.68558717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:236.28, Y:2.68, Z:0.85 [[ 9.98816179e-01 -4.80316191e-02 -7.69442109e-03 2.36276433e+02] [ 4.80304925e-02 9.98845815e-01 -3.31243970e-04 2.68179886e+00] [ 7.70145049e-03 -3.87149986e-05 9.99970343e-01 8.51655301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:236.31, Y:2.68, Z:0.87 [[ 9.99061278e-01 -4.26317003e-02 -7.68776183e-03 2.36308877e+02] [ 4.26295300e-02 9.99090849e-01 -4.46025023e-04 2.68332379e+00] [ 7.69978729e-03 1.17880656e-04 9.99970349e-01 8.70014757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:236.34, Y:2.68, Z:0.87 [[ 9.99298754e-01 -3.66440752e-02 -7.69498314e-03 2.36338963e+02] [ 3.66426838e-02 9.99328380e-01 -3.21768010e-04 2.68391585e+00] [ 7.70160592e-03 3.95775372e-05 9.99970341e-01 8.68521479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:236.37, Y:2.68, Z:0.87 [[ 9.99386048e-01 -3.41806106e-02 -7.69503899e-03 2.36368089e+02] [ 3.41791534e-02 9.99415671e-01 -3.20822586e-04 2.68493102e+00] [ 7.70150846e-03 5.76156983e-05 9.99970341e-01 8.67879277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:236.39, Y:2.69, Z:0.85 [[ 9.99456748e-01 -3.20466520e-02 -7.69552560e-03 2.36394110e+02] [ 3.20451944e-02 9.99486372e-01 -3.12674084e-04 2.68823045e+00] [ 7.70159312e-03 6.58996096e-05 9.99970340e-01 8.51286929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58864 meters Centerline goodness : 0.894202 Centerline is valid? [True, False] Translation: X:236.39, Y:2.69, Z:0.85 [[ 9.99856135e-01 -1.69619703e-02 3.54923914e-05 2.36389573e+02] [ 1.69619815e-02 9.99848756e-01 -3.84131505e-03 2.69482793e+00] [ 2.96692482e-05 3.84136444e-03 9.99992621e-01 8.51215303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61864 meters Centerline goodness : 0.999312 Centerline is valid? [False, True] Translation: X:236.39, Y:2.69, Z:0.85 [[ 9.99963191e-01 -8.57925600e-03 -1.09709782e-04 2.36389685e+02] [ 8.57973886e-03 9.99947240e-01 5.64856281e-03 2.69038264e+00] [ 6.12435272e-05 -5.64929618e-03 9.99984041e-01 8.51424878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:236.42, Y:2.70, Z:0.85 [[ 9.99976323e-01 -6.88021449e-03 1.24086082e-04 2.36420066e+02] [ 6.88021390e-03 9.99976331e-01 5.14059831e-06 2.70033659e+00] [-1.24118513e-04 -4.28673782e-06 9.99999992e-01 8.50679554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:236.45, Y:2.70, Z:0.87 [[ 9.99989889e-01 -4.49523666e-03 1.24086082e-04 2.36453196e+02] [ 4.49523606e-03 9.99989896e-01 5.14059831e-06 2.70438171e+00] [-1.24107936e-04 -4.58275011e-06 9.99999992e-01 8.65795044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:236.48, Y:2.71, Z:0.85 [[ 9.99984709e-01 -5.52865404e-03 1.24165164e-04 2.36480395e+02] [ 5.52865368e-03 9.99984717e-01 3.22678728e-06 2.70829043e+00] [-1.24181106e-04 -2.54027175e-06 9.99999992e-01 8.51679140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73864 meters Centerline goodness : 0.954367 Centerline is valid? [True, True] Translation: X:236.51, Y:2.67, Z:0.84 [[ 9.94796838e-01 -1.01878538e-01 1.24083721e-04 2.36505233e+02] [ 1.01878538e-01 9.94796845e-01 5.17832544e-06 2.67210203e+00] [-1.23965655e-04 7.49008634e-06 9.99999992e-01 8.44961655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:236.54, Y:2.72, Z:0.85 [[ 9.99989499e-01 -4.58116506e-03 1.23894607e-04 2.36540875e+02] [ 4.58116390e-03 9.99989506e-01 9.60731345e-06 2.71956478e+00] [-1.23937319e-04 -9.03963106e-06 9.99999992e-01 8.52122897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:236.57, Y:2.73, Z:0.87 [[ 9.99990802e-01 -4.28716168e-03 1.24079563e-04 2.36573410e+02] [ 4.28716108e-03 9.99990810e-01 5.15843730e-06 2.72694866e+00] [-1.24100538e-04 -4.62644078e-06 9.99999992e-01 8.65224729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:236.60, Y:2.73, Z:0.85 [[ 9.99978487e-01 -6.55820702e-03 1.24147020e-04 2.36600985e+02] [ 6.55820663e-03 9.99978495e-01 3.52569379e-06 2.73002702e+00] [-1.24167472e-04 -2.71143613e-06 9.99999992e-01 8.51518889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:236.63, Y:2.73, Z:0.86 [[ 9.99963584e-01 -8.53319963e-03 1.24079317e-04 2.36632646e+02] [ 8.53319905e-03 9.99963592e-01 5.15521166e-06 2.73355776e+00] [-1.24118790e-04 -4.09623042e-06 9.99999992e-01 8.63441391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:236.66, Y:2.74, Z:0.87 [[ 9.99935817e-01 -1.13289946e-02 1.24138262e-04 2.36662642e+02] [ 1.13289942e-02 9.99935825e-01 3.73653300e-06 2.73694983e+00] [-1.24172626e-04 -2.32993153e-06 9.99999992e-01 8.66363523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:236.69, Y:2.74, Z:0.85 [[ 9.99873741e-01 -1.58898282e-02 1.24112620e-04 2.36692520e+02] [ 1.58898277e-02 9.99873749e-01 4.35194353e-06 2.74062949e+00] [-1.24166103e-04 -2.37926590e-06 9.99999992e-01 8.51025192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:236.72, Y:2.74, Z:0.85 [[ 9.99849280e-01 -1.73609576e-02 1.24078058e-04 2.36723349e+02] [ 1.73609571e-02 9.99849287e-01 5.17984176e-06 2.74312329e+00] [-1.24149285e-04 -3.02494721e-06 9.99999992e-01 8.51521232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:236.76, Y:2.75, Z:0.87 [[ 9.99810870e-01 -1.94475904e-02 1.24078058e-04 2.36755395e+02] [ 1.94475899e-02 9.99810878e-01 5.17984176e-06 2.74655384e+00] [-1.24155328e-04 -2.76584290e-06 9.99999992e-01 8.65404551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:236.78, Y:2.75, Z:0.85 [[ 9.99727243e-01 -2.33542979e-02 1.24128383e-04 2.36783839e+02] [ 2.33542976e-02 9.99727251e-01 3.96742613e-06 2.74822972e+00] [-1.24187183e-04 -1.06741280e-06 9.99999992e-01 8.51199851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03864000000002 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:236.82, Y:2.75, Z:0.87 [[ 9.99617843e-01 -2.76433186e-02 1.24077669e-04 2.36815556e+02] [ 2.76433181e-02 9.99617850e-01 5.18176421e-06 2.75006595e+00] [-1.24173494e-04 -1.74986548e-06 9.99999992e-01 8.65828734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864000000002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:236.85, Y:2.75, Z:0.85 [[ 9.99506933e-01 -3.13986697e-02 1.24122547e-04 2.36845472e+02] [ 3.13986694e-02 9.99506940e-01 4.10931431e-06 2.75007354e+00] [-1.24190374e-04 -2.10005334e-07 9.99999992e-01 8.51390687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09864000000002 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:236.88, Y:2.75, Z:0.87 [[ 9.99487992e-01 -3.19959062e-02 1.24077841e-04 2.36877164e+02] [ 3.19959058e-02 9.99488000e-01 5.18013673e-06 2.75031351e+00] [-1.24180056e-04 -1.20750156e-06 9.99999992e-01 8.66461055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12864000000002 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:236.91, Y:2.75, Z:0.85 [[ 9.99409310e-01 -3.43659126e-02 1.24113618e-04 2.36907414e+02] [ 3.43659123e-02 9.99409318e-01 4.31756985e-06 2.75102963e+00] [-1.24188684e-04 -4.97417832e-08 9.99999992e-01 8.51468904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15864 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:236.93, Y:2.74, Z:0.85 [[ 9.97265099e-01 -7.39074219e-02 1.24078921e-04 2.36929502e+02] [ 7.39074219e-02 9.97265107e-01 5.15303451e-06 2.73863451e+00] [-1.24120426e-04 4.03141169e-06 9.99999992e-01 8.51621295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:236.97, Y:2.76, Z:0.85 [[ 9.99389486e-01 -3.49376705e-02 1.23850187e-04 2.36967157e+02] [ 3.49376695e-02 9.99389493e-01 1.05990150e-05 2.75678494e+00] [-1.24144881e-04 -6.26550723e-06 9.99999992e-01 8.51586024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:237.00, Y:2.76, Z:0.87 [[ 9.99388431e-01 -3.49678306e-02 1.24075932e-04 2.36998060e+02] [ 3.49678303e-02 9.99388438e-01 5.02506386e-06 2.76011604e+00] [-1.24175767e-04 -6.83324565e-07 9.99999992e-01 8.67400913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:237.03, Y:2.76, Z:0.85 [[ 9.99338679e-01 -3.63619217e-02 1.24095243e-04 2.37028951e+02] [ 3.63619214e-02 9.99338687e-01 4.54811812e-06 2.76259589e+00] [-1.24178556e-04 -3.27688691e-08 9.99999992e-01 8.52226672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:237.06, Y:2.77, Z:0.87 [[ 9.99300222e-01 -3.74038890e-02 1.24076039e-04 2.37058976e+02] [ 3.74038886e-02 9.99300230e-01 5.02254568e-06 2.76566131e+00] [-1.24177077e-04 -3.78104687e-07 9.99999992e-01 8.67628108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:237.09, Y:2.77, Z:0.85 [[ 9.99266099e-01 -3.83046623e-02 1.24053419e-04 2.37090483e+02] [ 3.83046619e-02 9.99266107e-01 5.58555135e-06 2.76678022e+00] [-1.24176330e-04 -8.29627832e-07 9.99999992e-01 8.50161801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:237.12, Y:2.77, Z:0.87 [[ 9.99218670e-01 -3.95225850e-02 1.24079017e-04 2.37121544e+02] [ 3.95225847e-02 9.99218677e-01 4.94299392e-06 2.76710530e+00] [-1.24177431e-04 -3.52083605e-08 9.99999992e-01 8.65435234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:237.15, Y:2.77, Z:0.85 [[ 9.99135498e-01 -4.15721289e-02 1.24084223e-04 2.37152787e+02] [ 4.15721286e-02 9.99135505e-01 4.81133715e-06 2.76804907e+00] [-1.24176971e-04 3.51267548e-07 9.99999992e-01 8.50132771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:237.19, Y:2.77, Z:0.85 [[ 9.99073101e-01 -4.30456079e-02 1.24081218e-04 2.37185279e+02] [ 4.30456076e-02 9.99073108e-01 4.88763173e-06 2.77073676e+00] [-1.24176599e-04 4.58050029e-07 9.99999992e-01 8.51049460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:237.22, Y:2.77, Z:0.85 [[ 9.99083053e-01 -4.28139829e-02 1.24083423e-04 2.37217553e+02] [ 4.28139827e-02 9.99083061e-01 4.83099138e-06 2.77262111e+00] [-1.24176480e-04 4.85943907e-07 9.99999992e-01 8.51074655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:237.25, Y:2.77, Z:0.85 [[ 9.99172513e-01 -4.06727708e-02 1.24085608e-04 2.37248904e+02] [ 4.06727705e-02 9.99172520e-01 4.77420859e-06 2.77342640e+00] [-1.24177110e-04 2.76647457e-07 9.99999992e-01 8.51464001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48864 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:237.28, Y:2.77, Z:0.87 [[ 9.99262951e-01 -3.83867192e-02 1.24086210e-04 2.37278586e+02] [ 3.83867189e-02 9.99262958e-01 4.75850337e-06 2.77439297e+00] [-1.24177417e-04 8.26635326e-09 9.99999992e-01 8.70096713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:237.31, Y:2.78, Z:0.87 [[ 9.99369648e-01 -3.55005732e-02 1.24069960e-04 2.37310565e+02] [ 3.55005728e-02 9.99369656e-01 5.18279741e-06 2.77599550e+00] [-1.24175745e-04 -7.74975781e-07 9.99999992e-01 8.67013504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:237.34, Y:2.78, Z:0.87 [[ 9.99475382e-01 -3.23874193e-02 1.24089492e-04 2.37342207e+02] [ 3.23874190e-02 9.99475390e-01 4.67123861e-06 2.77842295e+00] [-1.24175682e-04 -6.49849643e-07 9.99999992e-01 8.67606812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:237.37, Y:2.78, Z:0.87 [[ 9.99488409e-01 -3.19828915e-02 1.24093429e-04 2.37373867e+02] [ 3.19828911e-02 9.99488416e-01 4.56711369e-06 2.77985943e+00] [-1.24176014e-04 -5.95910570e-07 9.99999992e-01 8.67602879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:237.41, Y:2.78, Z:0.87 [[ 9.99651438e-01 -2.64005097e-02 1.24095345e-04 2.37405358e+02] [ 2.64005094e-02 9.99651446e-01 4.51587480e-06 2.78454740e+00] [-1.24171313e-04 -1.23812041e-06 9.99999992e-01 8.66495055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:237.44, Y:2.79, Z:0.85 [[ 9.99752794e-01 -2.22336423e-02 1.24104403e-04 2.37435684e+02] [ 2.22336420e-02 9.99752802e-01 4.27250763e-06 2.78809368e+00] [-1.24168718e-04 -1.51215857e-06 9.99999992e-01 8.52219545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66864 meters Centerline goodness : 0.889659 Centerline is valid? [True, False] Translation: X:237.43, Y:2.80, Z:0.85 [[ 9.99957294e-01 -8.17565865e-03 4.30925606e-03 2.37432761e+02] [ 8.20496288e-03 9.99943033e-01 -6.82706365e-03 2.80004683e+00] [-4.25319483e-03 6.86212938e-03 9.99967410e-01 8.52338810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:237.41, Y:2.81, Z:0.85 [[ 9.99968954e-01 -3.16391207e-03 7.21669577e-03 2.37410180e+02] [ 3.26034189e-03 9.99905039e-01 -1.33896515e-02 2.80657282e+00] [-7.17364679e-03 1.34127647e-02 9.99884312e-01 8.50757213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72864 meters Centerline goodness : 0.886379 Centerline is valid? [True, False] Translation: X:237.41, Y:2.81, Z:0.85 [[ 9.99974215e-01 1.00926366e-03 7.10983536e-03 2.37410483e+02] [-9.42078888e-04 9.99954936e-01 -9.44657403e-03 2.80779598e+00] [-7.11904905e-03 9.43963243e-03 9.99930104e-01 8.50584515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:237.41, Y:2.81, Z:0.85 [[ 9.99974331e-01 1.03567220e-03 7.08976254e-03 2.37410573e+02] [-9.64930630e-04 9.99949791e-01 -9.97414759e-03 2.81014159e+00] [-7.09973652e-03 9.96705043e-03 9.99925123e-01 8.50610502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:237.44, Y:2.80, Z:0.85 [[ 9.99975028e-01 1.55225013e-03 6.89447407e-03 2.37443823e+02] [-1.55326956e-03 9.99998784e-01 1.42509475e-04 2.80449632e+00] [-6.89424447e-03 -1.53214893e-04 9.99976223e-01 8.49271533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:237.47, Y:2.81, Z:0.85 [[ 9.99970606e-01 -3.35119665e-03 6.89609560e-03 2.37471274e+02] [ 3.35087765e-03 9.99994384e-01 5.78117253e-05 2.81108478e+00] [-6.89625061e-03 -3.47020534e-05 9.99976220e-01 8.47982687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:2.82, Z:0.83 [[ 9.99974053e-01 -2.09005488e-03 6.89381225e-03 2.37503623e+02] [ 2.08888260e-03 9.99997803e-01 1.77242996e-04 2.81513652e+00] [-6.89416755e-03 -1.62838032e-04 9.99976222e-01 8.32754465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:237.53, Y:2.82, Z:0.85 [[ 9.99958500e-01 -5.95490404e-03 6.89471310e-03 2.37533988e+02] [ 5.95415506e-03 9.99982266e-01 1.29151609e-04 2.82131128e+00] [-6.89535991e-03 -8.80940581e-05 9.99976223e-01 8.47846099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:237.57, Y:2.82, Z:0.85 [[ 9.99958193e-01 -6.00643660e-03 6.89456586e-03 2.37565600e+02] [ 6.00563423e-03 9.99981957e-01 1.37074827e-04 2.82442561e+00] [-6.89526479e-03 -9.56628560e-05 9.99976223e-01 8.45240055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.60, Y:2.83, Z:0.85 [[ 9.99939373e-01 -8.58522150e-03 6.89527970e-03 2.37597810e+02] [ 8.58474845e-03 9.99963146e-01 9.81998236e-05 2.82710149e+00] [-6.89586865e-03 -3.89996283e-05 9.99976222e-01 8.45613669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:2.83, Z:0.83 [[ 9.99899331e-01 -1.24009538e-02 6.89520500e-03 2.37628831e+02] [ 1.24005433e-02 9.99923105e-01 1.02278686e-04 2.83065047e+00] [-6.89594315e-03 -1.67641013e-05 9.99976223e-01 8.32683386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:2.83, Z:0.83 [[ 9.99877735e-01 -1.40348795e-02 6.89477439e-03 2.37660783e+02] [ 1.40343452e-02 9.99901506e-01 1.25867018e-04 2.83216173e+00] [-6.89586182e-03 -2.90879844e-05 9.99976223e-01 8.32211648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:2.83, Z:0.85 [[ 9.99871972e-01 -1.44395669e-02 6.89483073e-03 2.37693774e+02] [ 1.44390641e-02 9.99895744e-01 1.22701225e-04 2.83363748e+00] [-6.89588365e-03 -2.31306129e-05 9.99976223e-01 8.47203007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.73, Y:2.84, Z:0.85 [[ 9.99813311e-01 -1.80498218e-02 6.89548069e-03 2.37725957e+02] [ 1.80496600e-02 9.99837088e-01 8.56934539e-05 2.83557052e+00] [-6.89590408e-03 3.87836264e-05 9.99976222e-01 8.46832985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.76, Y:2.84, Z:0.84 [[ 9.99783844e-01 -1.96143449e-02 6.89517466e-03 2.37758630e+02] [ 1.96140983e-02 9.99807620e-01 1.03391480e-04 2.83618250e+00] [-6.89587613e-03 3.18735024e-05 9.99976223e-01 8.44956683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:237.79, Y:2.84, Z:0.84 [[ 9.99750364e-01 -2.12523903e-02 6.89537789e-03 2.37790356e+02] [ 2.12522649e-02 9.99774141e-01 9.14666732e-05 2.83611287e+00] [-6.89576439e-03 5.50985575e-05 9.99976222e-01 8.44745731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.82, Y:2.84, Z:0.84 [[ 9.99732727e-01 -2.20664999e-02 6.89520345e-03 2.37823634e+02] [ 2.20663224e-02 9.99756504e-01 1.01833457e-04 2.83634776e+00] [-6.89577160e-03 5.03455419e-05 9.99976223e-01 8.44417030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:237.86, Y:2.84, Z:0.84 [[ 9.99757726e-01 -2.09031733e-02 6.89534082e-03 2.37856646e+02] [ 2.09030255e-02 9.99781504e-01 9.35020918e-05 2.83693479e+00] [-6.89578871e-03 5.06540465e-05 9.99976222e-01 8.43821533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:237.89, Y:2.84, Z:0.84 [[ 9.99722839e-01 -2.25098930e-02 6.89568754e-03 2.37886244e+02] [ 2.25099327e-02 9.99746617e-01 7.18647573e-05 2.83537154e+00] [-6.89555795e-03 8.33766232e-05 9.99976222e-01 8.40258757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:237.92, Y:2.83, Z:0.84 [[ 9.99758729e-01 -2.08552189e-02 6.89524343e-03 2.37919015e+02] [ 2.08550286e-02 9.99782505e-01 9.94972788e-05 2.83490950e+00] [-6.89581879e-03 4.43272264e-05 9.99976223e-01 8.43916577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:237.95, Y:2.84, Z:0.84 [[ 9.99787664e-01 -1.94185191e-02 6.89548410e-03 2.37951472e+02] [ 1.94183993e-02 9.99811442e-01 8.43307336e-05 2.83597653e+00] [-6.89582148e-03 4.95864366e-05 9.99976222e-01 8.43656574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:237.98, Y:2.84, Z:0.84 [[ 9.99801875e-01 -1.86724466e-02 6.89569430e-03 2.37984187e+02] [ 1.86724011e-02 9.99825653e-01 7.09895252e-05 2.83684335e+00] [-6.89581760e-03 5.77837093e-05 9.99976222e-01 8.41615777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:238.02, Y:2.84, Z:0.84 [[ 9.99816291e-01 -1.78838329e-02 6.89585896e-03 2.38015873e+02] [ 1.78838412e-02 9.99840069e-01 6.04724100e-05 2.83684416e+00] [-6.89583758e-03 6.28631457e-05 9.99976221e-01 8.41210801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.05, Y:2.84, Z:0.83 [[ 9.99789244e-01 -1.93369186e-02 6.89578596e-03 2.38046215e+02] [ 1.93369293e-02 9.99813022e-01 6.51162130e-05 2.83566769e+00] [-6.89575575e-03 6.82408365e-05 9.99976222e-01 8.26856983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.08, Y:2.84, Z:0.83 [[ 9.99809048e-01 -1.82845635e-02 6.89509431e-03 2.38078850e+02] [ 1.82842473e-02 9.99832823e-01 1.08906294e-04 2.83652731e+00] [-6.89593292e-03 1.71861109e-05 9.99976223e-01 8.26909853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.11, Y:2.84, Z:0.83 [[ 9.99824692e-01 -1.74081335e-02 6.89514910e-03 2.38111418e+02] [ 1.74078212e-02 9.99848467e-01 1.05319831e-04 2.83740922e+00] [-6.89593767e-03 1.47281551e-05 9.99976223e-01 8.26385442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:2.84, Z:0.83 [[ 9.99798049e-01 -1.88763720e-02 6.89520216e-03 2.38143945e+02] [ 1.88761194e-02 9.99821825e-01 1.01722775e-04 2.83702944e+00] [-6.89589377e-03 2.84524270e-05 9.99976223e-01 8.26339665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:2.84, Z:0.83 [[ 9.99797349e-01 -1.89133903e-02 6.89524702e-03 2.38176943e+02] [ 1.89131601e-02 9.99821125e-01 9.85856302e-05 2.83693217e+00] [-6.89587822e-03 3.18452593e-05 9.99976223e-01 8.25726011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:238.21, Y:2.84, Z:0.83 [[ 9.99775198e-01 -2.00501344e-02 6.89529643e-03 2.38208929e+02] [ 2.00499560e-02 9.99798975e-01 9.49990900e-05 2.83727668e+00] [-6.89581505e-03 4.32726560e-05 9.99976223e-01 8.26102515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53864000000002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:238.24, Y:2.84, Z:0.84 [[ 9.99816408e-01 -1.78775014e-02 6.89533791e-03 2.38241548e+02] [ 1.78772928e-02 9.99840184e-01 9.18863680e-05 2.83662147e+00] [-6.89587862e-03 3.14004764e-05 9.99976223e-01 8.40061035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:238.27, Y:2.84, Z:0.84 [[ 9.99804326e-01 -1.85405787e-02 6.89615169e-03 2.38274048e+02] [ 1.85408138e-02 9.99828104e-01 2.98455946e-05 2.83572443e+00] [-6.89551962e-03 9.80205098e-05 9.99976221e-01 8.39152969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.30, Y:2.83, Z:0.82 [[ 9.99746861e-01 -2.14162918e-02 6.89607014e-03 2.38304481e+02] [ 2.14165528e-02 9.99770639e-01 3.60094555e-05 2.83488421e+00] [-6.89525964e-03 1.11689710e-04 9.99976221e-01 8.24284765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:238.34, Y:2.83, Z:0.84 [[ 9.99807758e-01 -1.83548639e-02 6.89535142e-03 2.38337477e+02] [ 1.83546750e-02 9.99831535e-01 9.06687411e-05 2.83405896e+00] [-6.89585401e-03 3.59106239e-05 9.99976223e-01 8.37800284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:238.37, Y:2.83, Z:0.82 [[ 9.99762472e-01 -2.06747407e-02 6.89604511e-03 2.38367824e+02] [ 2.06749820e-02 9.99786249e-01 3.63008428e-05 2.83429845e+00] [-6.89532159e-03 1.06283388e-04 9.99976221e-01 8.24076367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:238.40, Y:2.83, Z:0.82 [[ 9.99782578e-01 -1.96786834e-02 6.89538934e-03 2.38401074e+02] [ 1.96785458e-02 9.99806355e-01 8.78017338e-05 2.83442489e+00] [-6.89578190e-03 4.79085913e-05 9.99976223e-01 8.23339329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:238.43, Y:2.83, Z:0.82 [[ 9.99805969e-01 -1.84520175e-02 6.89543294e-03 2.38434202e+02] [ 1.84518754e-02 9.99829746e-01 8.42328495e-05 2.83343598e+00] [-6.89581323e-03 4.30171638e-05 9.99976223e-01 8.23741548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:238.47, Y:2.83, Z:0.84 [[ 9.99832510e-01 -1.69530239e-02 6.89547482e-03 2.38466184e+02] [ 1.69528708e-02 9.99856287e-01 8.06518619e-05 2.83290160e+00] [-6.89585114e-03 3.62597405e-05 9.99976223e-01 8.37259280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.50, Y:2.83, Z:0.82 [[ 9.99815863e-01 -1.79077421e-02 6.89581642e-03 2.38496964e+02] [ 1.79078181e-02 9.99839641e-01 5.07353789e-05 2.83244999e+00] [-6.89561917e-03 7.27629894e-05 9.99976222e-01 8.22449158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:238.53, Y:2.83, Z:0.84 [[ 9.99814223e-01 -1.79992334e-02 6.89550519e-03 2.38526462e+02] [ 1.79991222e-02 9.99838000e-01 7.81850318e-05 2.82982285e+00] [-6.89579538e-03 4.59425338e-05 9.99976223e-01 8.38438194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:238.56, Y:2.83, Z:0.84 [[ 9.99870470e-01 -1.45430679e-02 6.89512991e-03 2.38559317e+02] [ 1.45426422e-02 9.99894244e-01 1.11883505e-04 2.82961183e+00] [-6.89602783e-03 -1.15956059e-05 9.99976222e-01 8.37214576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:238.59, Y:2.83, Z:0.84 [[ 9.99901914e-01 -1.21907066e-02 6.89561361e-03 2.38591407e+02] [ 1.21905315e-02 9.99925690e-01 6.74305958e-05 2.83031641e+00] [-6.89592323e-03 1.66372132e-05 9.99976223e-01 8.36206567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:238.62, Y:2.83, Z:0.84 [[ 9.99929682e-01 -9.64794424e-03 6.89548688e-03 2.38623431e+02] [ 9.64762565e-03 9.99953457e-01 7.94646675e-05 2.83184096e+00] [-6.89593261e-03 -1.29340036e-05 9.99976223e-01 8.35274354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:238.66, Y:2.83, Z:0.82 [[ 9.99954811e-01 -6.54441174e-03 6.89543301e-03 2.38655844e+02] [ 6.54398314e-03 9.99978584e-01 8.47180843e-05 2.83300879e+00] [-6.89583977e-03 -3.95906586e-05 9.99976223e-01 8.21870403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:238.69, Y:2.83, Z:0.84 [[ 9.99974634e-01 -1.78410204e-03 6.89559323e-03 2.38686628e+02] [ 1.78367130e-03 9.99998407e-01 6.86159909e-05 2.83469295e+00] [-6.89570467e-03 -5.63147786e-05 9.99976223e-01 8.35865909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:238.72, Y:2.84, Z:0.84 [[ 9.99976180e-01 3.02127384e-04 6.89549236e-03 2.38718689e+02] [-3.02678171e-04 9.99999951e-01 7.88328272e-05 2.83627515e+00] [-6.89546821e-03 -8.09180644e-05 9.99976223e-01 8.35851996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:238.75, Y:2.84, Z:0.84 [[ 9.99971925e-01 2.93254478e-03 6.89555342e-03 2.38751025e+02] [-2.93311508e-03 9.99995696e-01 7.25931570e-05 2.83959906e+00] [-6.89531086e-03 -9.28165706e-05 9.99976223e-01 8.37755352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.78, Y:2.84, Z:0.82 [[ 9.99967742e-01 4.11905634e-03 6.89549194e-03 2.38783458e+02] [-4.11969966e-03 9.99991511e-01 7.90945516e-05 2.84140023e+00] [-6.89510761e-03 -1.07499356e-04 9.99976223e-01 8.23321240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:238.81, Y:2.84, Z:0.84 [[ 9.99969818e-01 3.57952873e-03 6.89563808e-03 2.38813400e+02] [-3.58004918e-03 9.99993590e-01 6.31331307e-05 2.84421203e+00] [-6.89536788e-03 -8.78179486e-05 9.99976223e-01 8.36015830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:238.85, Y:2.85, Z:0.84 [[ 9.99967498e-01 4.17823046e-03 6.89534286e-03 2.38845409e+02] [-4.17899358e-03 9.99991263e-01 9.62678782e-05 2.84700522e+00] [-6.89488039e-03 -1.25080343e-04 9.99976222e-01 8.36784252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:238.88, Y:2.85, Z:0.83 [[ 9.99957554e-01 6.11087108e-03 6.89540482e-03 2.38878160e+02] [-6.11163138e-03 9.99981320e-01 8.91958134e-05 2.85142514e+00] [-6.89473095e-03 -1.31334200e-04 9.99976222e-01 8.34860629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.91, Y:2.85, Z:0.82 [[ 9.99949664e-01 7.28845583e-03 6.89549554e-03 2.38911132e+02] [-7.28917129e-03 9.99973431e-01 7.86323787e-05 2.85289656e+00] [-6.89473922e-03 -1.28890869e-04 9.99976223e-01 8.20849196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:238.94, Y:2.86, Z:0.84 [[ 9.99957676e-01 6.09065854e-03 6.89567253e-03 2.38941934e+02] [-6.09119883e-03 9.99981447e-01 5.73529682e-05 2.85620542e+00] [-6.89519528e-03 -9.93534532e-05 9.99976223e-01 8.35678546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:238.97, Y:2.86, Z:0.83 [[ 9.99960152e-01 5.66962649e-03 6.89566957e-03 2.38974307e+02] [-5.67015924e-03 9.99983923e-01 5.77115622e-05 2.85791584e+00] [-6.89523150e-03 -9.68088070e-05 9.99976223e-01 8.34597672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:239.01, Y:2.86, Z:0.84 [[ 9.99966258e-01 4.46454512e-03 6.89564633e-03 2.39006583e+02] [-4.46506918e-03 9.99990030e-01 6.06056448e-05 2.86048233e+00] [-6.89530700e-03 -9.13931377e-05 9.99976223e-01 8.35352501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864000000002 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:239.04, Y:2.86, Z:0.84 [[ 9.99963033e-01 5.13632495e-03 6.89568774e-03 2.39039575e+02] [-5.13682915e-03 9.99986805e-01 5.54081069e-05 2.86188197e+00] [-6.89531215e-03 -9.08280285e-05 9.99976223e-01 8.35222310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31864000000002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:239.07, Y:2.86, Z:0.82 [[ 9.99961613e-01 5.40562546e-03 6.89575585e-03 2.39071329e+02] [-5.40607684e-03 9.99985386e-01 4.68193960e-05 2.86315773e+00] [-6.89540199e-03 -8.40965847e-05 9.99976223e-01 8.22279855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:239.10, Y:2.86, Z:0.82 [[ 9.99963952e-01 4.95412984e-03 6.89570479e-03 2.39103704e+02] [-4.95461594e-03 9.99987724e-01 5.34116200e-05 2.86434448e+00] [-6.89535553e-03 -8.75752635e-05 9.99976223e-01 8.21564017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:239.14, Y:2.86, Z:0.82 [[ 9.99965164e-01 4.70315996e-03 6.89571178e-03 2.39136871e+02] [-4.70363377e-03 9.99988936e-01 5.24936103e-05 2.86474011e+00] [-6.89538860e-03 -8.49266844e-05 9.99976223e-01 8.20890350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:239.17, Y:2.86, Z:0.83 [[ 9.99970294e-01 3.44371617e-03 6.89572195e-03 2.39168660e+02] [-3.44415057e-03 9.99994068e-01 5.11210999e-05 2.86407412e+00] [-6.89550500e-03 -7.48694860e-05 9.99976223e-01 8.33961045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:239.20, Y:2.86, Z:0.83 [[ 9.99971958e-01 2.92063327e-03 6.89582700e-03 2.39200928e+02] [-2.92095428e-03 9.99995733e-01 3.64813689e-05 2.86310421e+00] [-6.89569103e-03 -5.66227413e-05 9.99976223e-01 8.34435885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:239.23, Y:2.86, Z:0.83 [[ 9.99971930e-01 2.93023206e-03 6.89586687e-03 2.39232596e+02] [-2.93051523e-03 9.99995706e-01 3.09602614e-05 2.86331237e+00] [-6.89574653e-03 -5.11678353e-05 9.99976223e-01 8.34217918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:239.26, Y:2.86, Z:0.82 [[ 9.99975050e-01 1.53202036e-03 6.89586679e-03 2.39263780e+02] [-1.53227036e-03 9.99998826e-01 3.09706679e-05 2.86185330e+00] [-6.89581124e-03 -4.15362275e-05 9.99976223e-01 8.21919957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:239.30, Y:2.86, Z:0.84 [[ 9.99976140e-01 4.09002497e-04 6.89575311e-03 2.39295774e+02] [-4.09339646e-04 9.99999915e-01 4.74808806e-05 2.86057182e+00] [-6.89573310e-03 -5.03024528e-05 9.99976223e-01 8.35050817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:239.33, Y:2.86, Z:0.82 [[ 9.99971272e-01 -3.14675087e-03 6.89585007e-03 2.39326971e+02] [ 3.14659838e-03 9.99995049e-01 3.29635916e-05 2.85922743e+00] [-6.89591966e-03 -1.12641740e-05 9.99976223e-01 8.21666757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:239.36, Y:2.86, Z:0.82 [[ 9.99966668e-01 -4.37161131e-03 6.89577689e-03 2.39359989e+02] [ 4.37140947e-03 9.99990444e-01 4.43430606e-05 2.85857034e+00] [-6.89590485e-03 -1.41973181e-05 9.99976223e-01 8.20880884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:239.39, Y:2.85, Z:0.82 [[ 9.99946887e-01 -7.65965053e-03 6.89579822e-03 2.39392042e+02] [ 7.65955176e-03 9.99970664e-01 4.07326341e-05 2.85454535e+00] [-6.89590793e-03 1.20882527e-05 9.99976223e-01 8.20825817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:239.43, Y:2.85, Z:0.82 [[ 9.99934954e-01 -9.08485508e-03 6.89581540e-03 2.39425461e+02] [ 9.08481195e-03 9.99958732e-01 3.75795741e-05 2.85208158e+00] [-6.89587223e-03 2.50700565e-05 9.99976223e-01 8.19479434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:239.46, Y:2.85, Z:0.82 [[ 9.99918091e-01 -1.07823226e-02 6.89583322e-03 2.39458127e+02] [ 1.07823448e-02 9.99941868e-01 3.39625249e-05 2.84950741e+00] [-6.89579855e-03 4.03935085e-05 9.99976223e-01 8.19221508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:239.49, Y:2.84, Z:0.82 [[ 9.99859796e-01 -1.52589247e-02 6.89584895e-03 2.39491087e+02] [ 1.52590780e-02 9.99883573e-01 3.03934253e-05 2.84394463e+00] [-6.89550986e-03 7.48351329e-05 9.99976223e-01 8.19736442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.52, Y:2.84, Z:0.82 [[ 9.99832676e-01 -1.69430644e-02 6.89586281e-03 2.39524146e+02] [ 1.69432822e-02 9.99856452e-01 2.68315134e-05 2.84071260e+00] [-6.89532753e-03 9.00115259e-05 9.99976223e-01 8.18723871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:239.56, Y:2.84, Z:0.82 [[ 9.99806411e-01 -1.84279209e-02 6.89587477e-03 2.39557169e+02] [ 1.84281985e-02 9.99830186e-01 2.32886663e-05 2.83695895e+00] [-6.89513292e-03 1.03794391e-04 9.99976223e-01 8.19251032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:239.59, Y:2.83, Z:0.82 [[ 9.99773695e-01 -2.01247370e-02 6.89588488e-03 2.39590569e+02] [ 2.01250793e-02 9.99797470e-01 1.97615384e-05 2.82989755e+00] [-6.89488595e-03 1.19023164e-04 9.99976223e-01 8.20900660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:239.62, Y:2.83, Z:0.82 [[ 9.99768167e-01 -2.03975361e-02 6.89589312e-03 2.39623180e+02] [ 2.03979089e-02 9.99791941e-01 1.62669848e-05 2.82706359e+00] [-6.89479018e-03 1.24398586e-04 9.99976223e-01 8.22518782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:239.66, Y:2.82, Z:0.82 [[ 9.99763502e-01 -2.06248969e-02 6.89589959e-03 2.39656611e+02] [ 2.06252992e-02 9.99787276e-01 1.27755140e-05 2.82069147e+00] [-6.89469616e-03 1.29457500e-04 9.99976223e-01 8.22279725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:2.82, Z:0.82 [[ 9.99781686e-01 -1.97237613e-02 6.89590430e-03 2.39689095e+02] [ 1.97241663e-02 9.99805460e-01 9.27867500e-06 2.81779278e+00] [-6.89474578e-03 1.26739314e-04 9.99976223e-01 8.20863253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:239.72, Y:2.82, Z:0.82 [[ 9.99792610e-01 -1.91620113e-02 6.89590706e-03 2.39722233e+02] [ 1.91624241e-02 9.99816384e-01 6.21478003e-06 2.81525265e+00] [-6.89475995e-03 1.25928804e-04 9.99976223e-01 8.21375900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:239.75, Y:2.81, Z:0.82 [[ 9.99828350e-01 -1.71964046e-02 6.89590844e-03 2.39753912e+02] [ 1.71967948e-02 9.99852124e-01 2.71484364e-06 2.81134879e+00] [-6.89493538e-03 1.15873145e-04 9.99976223e-01 8.21390935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.78, Y:2.81, Z:0.84 [[ 9.99864121e-01 -1.49728537e-02 6.89590837e-03 2.39784280e+02] [ 1.49732107e-02 9.99887895e-01 -1.51374673e-07 2.80930203e+00] [-6.89513304e-03 1.03405243e-04 9.99976223e-01 8.36646788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.82, Y:2.81, Z:0.82 [[ 9.99885666e-01 -1.34574251e-02 6.89590877e-03 2.39815625e+02] [ 1.34576155e-02 9.99909442e-01 1.87905183e-05 2.80789205e+00] [-6.89553717e-03 7.40141187e-05 9.99976223e-01 8.21670726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:2.81, Z:0.82 [[ 9.99932734e-01 -9.32603601e-03 6.89590502e-03 2.39848013e+02] [ 9.32626665e-03 9.99956509e-01 -1.28860381e-06 2.80760476e+00] [-6.89559310e-03 6.56015662e-05 9.99976223e-01 8.22752558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.88, Y:2.81, Z:0.82 [[ 9.99953130e-01 -6.79593405e-03 6.89590463e-03 2.39880663e+02] [ 6.79611226e-03 9.99976906e-01 -2.41044410e-06 2.80818837e+00] [-6.89572900e-03 4.92756731e-05 9.99976223e-01 8.22282123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:239.91, Y:2.81, Z:0.84 [[ 9.99965827e-01 -4.55985698e-03 6.89590142e-03 2.39912564e+02] [ 4.56000720e-03 9.99989603e-01 -6.06075856e-06 2.80809221e+00] [-6.89580209e-03 3.75059116e-05 9.99976223e-01 8.38403998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.95, Y:2.81, Z:0.84 [[ 9.99973383e-01 -2.38315156e-03 6.89588171e-03 2.39945413e+02] [ 2.38338411e-03 9.99997159e-01 -2.55041016e-05 2.80889498e+00] [-6.89580135e-03 4.19389577e-05 9.99976223e-01 8.38196772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.98, Y:2.81, Z:0.84 [[ 9.99974100e-01 -2.06044649e-03 6.89586386e-03 2.39977099e+02] [ 2.06077394e-03 9.99997876e-01 -4.03796571e-05 2.80942277e+00] [-6.89576601e-03 5.45894278e-05 9.99976222e-01 8.38345398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:2.81, Z:0.82 [[ 9.99973893e-01 -2.15864978e-03 6.89589682e-03 2.40007945e+02] [ 2.15883700e-03 9.99997670e-01 -1.97046420e-05 2.80818326e+00] [-6.89583822e-03 3.45912447e-05 9.99976223e-01 8.20230376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:2.81, Z:0.82 [[ 9.99975275e-01 -1.37665261e-03 6.89591020e-03 2.40039803e+02] [ 1.37676846e-03 9.99999052e-01 -1.20522253e-05 2.80778874e+00] [-6.89588707e-03 2.15459989e-05 9.99976223e-01 8.19511545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:240.07, Y:2.81, Z:0.84 [[ 9.99975353e-01 1.31886689e-03 6.89590848e-03 2.40071231e+02] [-1.31880884e-03 9.99999130e-01 -1.29642079e-05 2.80843830e+00] [-6.89591958e-03 3.86950330e-06 9.99976223e-01 8.36801479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:2.81, Z:0.82 [[ 9.99976157e-01 3.64111433e-04 6.89582570e-03 2.40100789e+02] [-3.63747890e-04 9.99999932e-01 -5.39734161e-05 2.80932063e+00] [-6.89584488e-03 5.14637872e-05 9.99976222e-01 8.20008274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:240.13, Y:2.81, Z:0.84 [[ 9.99974203e-01 2.01004511e-03 6.89591032e-03 2.40133632e+02] [-2.00998977e-03 9.99997980e-01 -1.49561745e-05 2.80946248e+00] [-6.89592646e-03 1.09507946e-06 9.99976223e-01 8.37732154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:240.17, Y:2.81, Z:0.84 [[ 9.99972892e-01 2.58139801e-03 6.89580381e-03 2.40165870e+02] [-2.58103914e-03 9.99996667e-01 -6.09408837e-05 2.80655561e+00] [-6.89593814e-03 4.31408922e-05 9.99976222e-01 8.37328562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:240.20, Y:2.81, Z:0.84 [[ 9.99970819e-01 3.28761433e-03 6.89579465e-03 2.40197843e+02] [-3.28724261e-03 9.99994595e-01 -6.52381872e-05 2.80549093e+00] [-6.89597186e-03 4.25681335e-05 9.99976222e-01 8.36809560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:240.23, Y:2.80, Z:0.84 [[ 9.99975403e-01 1.28120096e-03 6.89576581e-03 2.40228929e+02] [-1.28068488e-03 9.99999177e-01 -7.92558677e-05 2.80399438e+00] [-6.89586168e-03 7.04226152e-05 9.99976221e-01 8.37386762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:240.26, Y:2.80, Z:0.84 [[ 9.99974199e-01 2.01201594e-03 6.89586427e-03 2.40261494e+02] [-2.01185900e-03 9.99997976e-01 -2.96956630e-05 2.80368851e+00] [-6.89591006e-03 1.58213902e-05 9.99976223e-01 8.36863110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:240.29, Y:2.80, Z:0.84 [[ 9.99974006e-01 2.10576645e-03 6.89582550e-03 2.40293690e+02] [-2.10548778e-03 9.99997782e-01 -4.76717713e-05 2.80266383e+00] [-6.89591059e-03 3.31514559e-05 9.99976222e-01 8.36461497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:240.33, Y:2.80, Z:0.84 [[ 9.99970330e-01 3.43307900e-03 6.89581741e-03 2.40325937e+02] [-3.43280389e-03 9.99994107e-01 -5.17311863e-05 2.80266264e+00] [-6.89595436e-03 2.80576626e-05 9.99976222e-01 8.35387805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:240.36, Y:2.80, Z:0.84 [[ 9.99968296e-01 3.98181604e-03 6.89580963e-03 2.40355189e+02] [-3.98152555e-03 9.99992072e-01 -5.58523008e-05 2.80334130e+00] [-6.89597736e-03 2.83946878e-05 9.99976222e-01 8.39412262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:240.39, Y:2.81, Z:0.82 [[ 9.99951664e-01 7.00830614e-03 6.89589919e-03 2.40385885e+02] [-7.00842921e-03 9.99975441e-01 -6.31839820e-06 2.80649322e+00] [-6.89577412e-03 -4.20113285e-05 9.99976223e-01 8.22819732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:240.42, Y:2.81, Z:0.84 [[ 9.99914603e-01 1.11010119e-02 6.89588864e-03 2.40418886e+02] [-1.11011913e-02 9.99938380e-01 -1.22545126e-05 2.80780614e+00] [-6.89559976e-03 -6.42991131e-05 9.99976223e-01 8.37402018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:2.81, Z:0.84 [[ 9.99884385e-01 1.35522844e-02 6.89579357e-03 2.40451753e+02] [-1.35521473e-02 9.99908163e-01 -6.66175171e-05 2.80862526e+00] [-6.89606310e-03 -2.68429950e-05 9.99976222e-01 8.37618811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:240.48, Y:2.81, Z:0.84 [[ 9.99872153e-01 1.44265728e-02 6.89576505e-03 2.40481630e+02] [-1.44263473e-02 9.99895931e-01 -8.24449361e-05 2.80932868e+00] [-6.89623681e-03 -1.70463054e-05 9.99976221e-01 8.38838820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:240.51, Y:2.81, Z:0.84 [[ 9.99862402e-01 1.50872424e-02 6.89581376e-03 2.40513992e+02] [-1.50872394e-02 9.99886180e-01 -5.24498936e-05 2.81054166e+00] [-6.89582020e-03 -5.15961166e-05 9.99976222e-01 8.36996569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:240.55, Y:2.81, Z:0.84 [[ 9.99888715e-01 1.32289585e-02 6.89578173e-03 2.40546443e+02] [-1.32287520e-02 9.99912493e-01 -7.55563079e-05 2.81240668e+00] [-6.89617784e-03 -1.56746871e-05 9.99976221e-01 8.37315782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:240.58, Y:2.81, Z:0.84 [[ 9.99904567e-01 1.19710033e-02 6.89579673e-03 2.40578118e+02] [-1.19708688e-02 9.99928345e-01 -6.07821426e-05 2.81246321e+00] [-6.89603023e-03 -2.17723358e-05 9.99976222e-01 8.35946994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:2.81, Z:0.82 [[ 9.99935878e-01 8.98262608e-03 6.89579775e-03 2.40607498e+02] [-8.98242880e-03 9.99959655e-01 -5.95795502e-05 2.81216339e+00] [-6.89605473e-03 -2.36528250e-06 9.99976222e-01 8.22814007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:2.81, Z:0.84 [[ 9.99940848e-01 8.41117284e-03 6.89584253e-03 2.40639835e+02] [-8.41133330e-03 9.99964624e-01 -5.73330946e-06 2.81273152e+00] [-6.89564681e-03 -5.22702596e-05 9.99976223e-01 8.36037877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:240.67, Y:2.81, Z:0.82 [[ 9.99966096e-01 4.50057988e-03 6.89581340e-03 2.40670225e+02] [-4.50043409e-03 9.99989872e-01 -3.66589133e-05 2.81304994e+00] [-6.89590855e-03 5.62351662e-06 9.99976223e-01 8.21679284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:2.81, Z:0.82 [[ 9.99968856e-01 3.83850937e-03 6.89584386e-03 2.40702441e+02] [-3.83855164e-03 9.99992633e-01 -7.10580458e-06 2.81221056e+00] [-6.89582033e-03 -1.93644695e-05 9.99976223e-01 8.21386799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:240.74, Y:2.81, Z:0.82 [[ 9.99971466e-01 3.08457210e-03 6.89584279e-03 2.40735135e+02] [-3.08459010e-03 9.99995243e-01 -8.02545631e-06 2.80910558e+00] [-6.89583474e-03 -1.32456211e-05 9.99976223e-01 8.22526720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:2.81, Z:0.82 [[ 9.99972501e-01 2.72834177e-03 6.89584091e-03 2.40767510e+02] [-2.72834179e-03 9.99996278e-01 -9.40424765e-06 2.80877877e+00] [-6.89584090e-03 -9.41022190e-06 9.99976223e-01 8.22518341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.80, Y:2.81, Z:0.82 [[ 9.99973017e-01 2.53213628e-03 6.89583952e-03 2.40799525e+02] [-2.53212524e-03 9.99996794e-01 -1.03324340e-05 2.80829942e+00] [-6.89584357e-03 -7.12897402e-06 9.99976223e-01 8.21583174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:240.83, Y:2.81, Z:0.83 [[ 9.99972165e-01 2.84896725e-03 6.89583802e-03 2.40831258e+02] [-2.84895740e-03 9.99995942e-01 -1.12506567e-05 2.80640179e+00] [-6.89584209e-03 -8.39560522e-06 9.99976223e-01 8.32205172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.86, Y:2.80, Z:0.82 [[ 9.99975412e-01 1.27395222e-03 6.89576046e-03 2.40860563e+02] [-1.27359279e-03 9.99999187e-01 -5.65152758e-05 2.80368972e+00] [-6.89582686e-03 4.77314954e-05 9.99976222e-01 8.20070982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:2.80, Z:0.83 [[ 9.99975964e-01 7.20132050e-04 6.89583231e-03 2.40892279e+02] [-7.20074357e-04 9.99999741e-01 -1.08490856e-05 2.80016014e+00] [-6.89583834e-03 5.88331283e-06 9.99976223e-01 8.32703172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.92, Y:2.80, Z:0.83 [[ 9.99976174e-01 -3.14624713e-04 6.89576225e-03 2.40924053e+02] [ 3.14993270e-04 9.99999949e-01 -5.23608636e-05 2.79945496e+00] [-6.89574542e-03 5.45317347e-05 9.99976223e-01 8.31100396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:240.96, Y:2.80, Z:0.83 [[ 9.99976029e-01 -6.25253386e-04 6.89575437e-03 2.40955737e+02] [ 6.25657837e-04 9.99999803e-01 -5.64950229e-05 2.79582337e+00] [-6.89571769e-03 6.08080514e-05 9.99976222e-01 8.31817774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:240.99, Y:2.79, Z:0.83 [[ 9.99976217e-01 -1.17988714e-04 6.89575027e-03 2.40987968e+02] [ 1.18394577e-04 9.99999991e-01 -5.84487696e-05 2.79321921e+00] [-6.89574331e-03 5.92637990e-05 9.99976222e-01 8.31463361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.02, Y:2.79, Z:0.83 [[ 9.99975819e-01 -8.99737646e-04 6.89572716e-03 2.41020381e+02] [ 9.00235352e-04 9.99999592e-01 -6.90724900e-05 2.79138048e+00] [-6.89566221e-03 7.52785972e-05 9.99976222e-01 8.31223549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:2.79, Z:0.83 [[ 9.99976109e-01 -4.79415888e-04 6.89574351e-03 2.41052619e+02] [ 4.79853247e-04 9.99999883e-01 -6.17701346e-05 2.79075535e+00] [-6.89571309e-03 6.50776038e-05 9.99976222e-01 8.30815076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.09, Y:2.79, Z:0.83 [[ 9.99976224e-01 3.09934748e-06 6.89575043e-03 2.41085585e+02] [-2.69598910e-06 9.99999998e-01 -5.85030555e-05 2.78817102e+00] [-6.89575060e-03 5.84830737e-05 9.99976222e-01 8.29128970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:241.12, Y:2.79, Z:0.83 [[ 9.99976060e-01 5.72734461e-04 6.89574228e-03 2.41117310e+02] [-5.72316563e-04 9.99999834e-01 -6.25754468e-05 2.78684862e+00] [-6.89577698e-03 5.86274012e-05 9.99976222e-01 8.29918470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:241.15, Y:2.78, Z:0.83 [[ 9.99976070e-01 -5.55355990e-04 6.89571082e-03 2.41148771e+02] [ 5.55917102e-04 9.99999842e-01 -7.94548172e-05 2.78497264e+00] [-6.89566561e-03 8.32863594e-05 9.99976221e-01 8.29613934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:241.18, Y:2.78, Z:0.83 [[ 9.99975803e-01 -9.17050229e-04 6.89575816e-03 2.41181415e+02] [ 9.17437542e-04 9.99999578e-01 -5.30037584e-05 2.78303637e+00] [-6.89570664e-03 5.93289033e-05 9.99976223e-01 8.27696775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.21, Y:2.78, Z:0.83 [[ 9.99976105e-01 -4.88001522e-04 6.89576220e-03 2.41213900e+02] [ 4.88362535e-04 9.99999879e-01 -5.06691479e-05 2.78153565e+00] [-6.89573664e-03 5.40355690e-05 9.99976223e-01 8.27684082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.25, Y:2.78, Z:0.83 [[ 9.99976194e-01 -2.45494601e-04 6.89576061e-03 2.41245578e+02] [ 2.45856365e-04 9.99999968e-01 -5.16142638e-05 2.78166584e+00] [-6.89574772e-03 5.33084017e-05 9.99976223e-01 8.27465631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.28, Y:2.78, Z:0.83 [[ 9.99974762e-01 1.70992363e-03 6.89575758e-03 2.41278756e+02] [-1.70959739e-03 9.99998537e-01 -5.32043810e-05 2.77980196e+00] [-6.89583847e-03 4.14140691e-05 9.99976223e-01 8.27355250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:241.31, Y:2.78, Z:0.83 [[ 9.99975048e-01 1.53389824e-03 6.89574527e-03 2.41310277e+02] [-1.53351851e-03 9.99998822e-01 -6.03544260e-05 2.78010523e+00] [-6.89582973e-03 4.97781670e-05 9.99976222e-01 8.29746319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.34, Y:2.78, Z:0.83 [[ 9.99971114e-01 3.19676186e-03 6.89574991e-03 2.41342486e+02] [-3.19644094e-03 9.99994890e-01 -5.75591942e-05 2.78058218e+00] [-6.89589867e-03 3.55156742e-05 9.99976222e-01 8.29074623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:241.37, Y:2.78, Z:0.83 [[ 9.99965408e-01 4.65091383e-03 6.89574234e-03 2.41372586e+02] [-4.65059246e-03 9.99989184e-01 -6.26387121e-05 2.78055924e+00] [-6.89595908e-03 3.05672580e-05 9.99976222e-01 8.29451350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:2.78, Z:0.81 [[ 9.99922642e-01 1.03517340e-02 6.89578754e-03 2.41403054e+02] [-1.03517614e-02 9.99946419e-01 -3.17183539e-05 2.78201643e+00] [-6.89574639e-03 -3.96676472e-05 9.99976223e-01 8.14903097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.43, Y:2.78, Z:0.81 [[ 9.99885597e-01 1.34625610e-02 6.89581855e-03 2.41434927e+02] [-1.34628141e-02 9.99909372e-01 -9.72137567e-06 2.78399487e+00] [-6.89532447e-03 -8.31168597e-05 9.99976224e-01 8.14051188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:241.47, Y:2.79, Z:0.83 [[ 9.99746802e-01 2.14191402e-02 6.89581712e-03 2.41469852e+02] [-2.14195760e-02 9.99770575e-01 -1.06495591e-05 2.78894439e+00] [-6.89446315e-03 -1.37058616e-04 9.99976224e-01 8.28368248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:241.50, Y:2.79, Z:0.83 [[ 9.99753744e-01 2.10927076e-02 6.89561471e-03 2.41500114e+02] [-2.10922796e-02 9.99777524e-01 -1.34783807e-04 2.78965295e+00] [-6.89692355e-03 -1.06936179e-05 9.99976216e-01 8.25393085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.53, Y:2.79, Z:0.81 [[ 9.99746404e-01 2.14377506e-02 6.89567996e-03 2.41529801e+02] [-2.14377617e-02 9.99770182e-01 -7.23121886e-05 2.79404560e+00] [-6.89564542e-03 -7.55340935e-05 9.99976222e-01 8.12357527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:241.56, Y:2.80, Z:0.82 [[ 9.99724648e-01 2.24293670e-02 6.89573788e-03 2.41562749e+02] [-2.24298587e-02 9.99748419e-01 -6.02336312e-06 2.79599966e+00] [-6.89413814e-03 -1.48648722e-04 9.99976224e-01 8.24489184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:2.80, Z:0.81 [[ 9.99758289e-01 2.08761593e-02 6.89567391e-03 2.41593268e+02] [-2.08762138e-02 9.99782066e-01 -6.40814163e-05 2.79725225e+00] [-6.89550889e-03 -7.98896356e-05 9.99976223e-01 8.12368972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:241.63, Y:2.80, Z:0.83 [[ 9.99805819e-01 1.84600678e-02 6.89572388e-03 2.41626185e+02] [-1.84604659e-02 9.99829591e-01 -5.92351450e-06 2.80007901e+00] [-6.89465814e-03 -1.21375911e-04 9.99976224e-01 8.25144006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:241.65, Y:2.80, Z:0.83 [[ 9.99874660e-01 1.42517933e-02 6.89567602e-03 2.41654935e+02] [-1.42517687e-02 9.99898437e-01 -5.27068144e-05 2.80083675e+00] [-6.89572684e-03 -4.55753713e-05 9.99976223e-01 8.28009661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:241.69, Y:2.80, Z:0.82 [[ 9.99844554e-01 1.62270196e-02 6.89573098e-03 2.41687329e+02] [-1.62274957e-02 9.99868325e-01 1.30896228e-05 2.80219667e+00] [-6.89461058e-03 -1.24988033e-04 9.99976224e-01 8.23446213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:2.80, Z:0.81 [[ 9.99850458e-01 1.58591211e-02 6.89567806e-03 2.41718043e+02] [-1.58591945e-02 9.99874234e-01 -4.40375917e-05 2.80192716e+00] [-6.89550922e-03 -6.53288933e-05 9.99976224e-01 8.11317341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:241.75, Y:2.80, Z:0.81 [[ 9.99845459e-01 1.61712170e-02 6.89570745e-03 2.41750652e+02] [-1.61715655e-02 9.99869232e-01 -5.21941211e-06 2.80146218e+00] [-6.89489011e-03 -1.06295779e-04 9.99976224e-01 8.10026496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:241.78, Y:2.80, Z:0.82 [[ 9.99819702e-01 1.76921486e-02 6.89570639e-03 2.41783386e+02] [-1.76925253e-02 9.99843475e-01 -6.37095358e-06 2.80323962e+00] [-6.89473975e-03 -1.15632655e-04 9.99976224e-01 8.23929232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:2.80, Z:0.81 [[ 9.99833601e-01 1.68884589e-02 6.89566624e-03 2.41814202e+02] [-1.68885570e-02 9.99857377e-01 -4.40050249e-05 2.80425684e+00] [-6.89542594e-03 -7.24601500e-05 9.99976224e-01 8.10467561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864000000003 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:241.85, Y:2.81, Z:0.82 [[ 9.99826057e-01 1.73293129e-02 6.89570125e-03 2.41846080e+02] [-1.73296807e-02 9.99849830e-01 -6.42363867e-06 2.80603419e+00] [-6.89477704e-03 -1.13077779e-04 9.99976224e-01 8.24761761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.88, Y:2.81, Z:0.81 [[ 9.99827873e-01 1.72242027e-02 6.89567746e-03 2.41876552e+02] [-1.72243923e-02 9.99851649e-01 -3.18921634e-05 2.80722200e+00] [-6.89520380e-03 -8.68871799e-05 9.99976224e-01 8.11508350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864000000003 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:241.91, Y:2.81, Z:0.82 [[ 9.99838294e-01 1.66082620e-02 6.89570177e-03 2.41908427e+02] [-1.66086111e-02 9.99862067e-01 -6.63547523e-06 2.80938183e+00] [-6.89486083e-03 -1.07893627e-04 9.99976224e-01 8.21901701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.94, Y:2.81, Z:0.81 [[ 9.99852474e-01 1.57314863e-02 6.89568224e-03 2.41940101e+02] [-1.57316961e-02 9.99876249e-01 -2.38151295e-05 2.81030645e+00] [-6.89520354e-03 -8.46691613e-05 9.99976224e-01 8.10687302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:241.97, Y:2.81, Z:0.81 [[ 9.99875946e-01 1.41613161e-02 6.89570003e-03 2.41972139e+02] [-1.41616008e-02 9.99899719e-01 -7.53359996e-06 2.81313392e+00] [-6.89511521e-03 -9.01214859e-05 9.99976224e-01 8.11066845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.00, Y:2.82, Z:0.81 [[ 9.99873105e-01 1.43604655e-02 6.89569889e-03 2.42004794e+02] [-1.43607487e-02 9.99896879e-01 -8.45866392e-06 2.81511193e+00] [-6.89510927e-03 -9.05698080e-05 9.99976224e-01 8.11986692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.04, Y:2.82, Z:0.81 [[ 9.99880656e-01 1.38247221e-02 6.89569764e-03 2.42037197e+02] [-1.38249862e-02 9.99904430e-01 -9.37920895e-06 2.81814593e+00] [-6.89516829e-03 -8.59548349e-05 9.99976224e-01 8.10937199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:242.07, Y:2.82, Z:0.82 [[ 9.99875692e-01 1.41791751e-02 6.89569625e-03 2.42069754e+02] [-1.41794411e-02 9.99899467e-01 -1.03075775e-05 2.82002641e+00] [-6.89514916e-03 -8.74708227e-05 9.99976224e-01 8.21978679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:242.10, Y:2.82, Z:0.81 [[ 9.99885805e-01 1.34471780e-02 6.89565304e-03 2.42100873e+02] [-1.34472178e-02 9.99909581e-01 -4.06033593e-05 2.82194288e+00] [-6.89557555e-03 -5.21286255e-05 9.99976224e-01 8.10311442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.13, Y:2.83, Z:0.81 [[ 9.99879744e-01 1.38905163e-02 6.89569989e-03 2.42133149e+02] [-1.38907717e-02 9.99903519e-01 -1.08596660e-05 2.82688046e+00] [-6.89518543e-03 -8.49282328e-05 9.99976224e-01 8.10755896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:242.17, Y:2.83, Z:0.81 [[ 9.99869686e-01 1.45966101e-02 6.89569833e-03 2.42165553e+02] [-1.45968759e-02 9.99893460e-01 -1.17732235e-05 2.82840013e+00] [-6.89513551e-03 -8.88839637e-05 9.99976224e-01 8.11580529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:242.20, Y:2.83, Z:0.81 [[ 9.99868524e-01 1.46759666e-02 6.89569664e-03 2.42197811e+02] [-1.46762280e-02 9.99892298e-01 -1.26912313e-05 2.83169746e+00] [-6.89514021e-03 -8.85132534e-05 9.99976224e-01 8.10800645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.23, Y:2.83, Z:0.81 [[ 9.99880537e-01 1.38332989e-02 6.89569481e-03 2.42230320e+02] [-1.38335339e-02 9.99904312e-01 -1.36170184e-05 2.83297196e+00] [-6.89522334e-03 -8.17764365e-05 9.99976224e-01 8.09677352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:242.26, Y:2.83, Z:0.82 [[ 9.99873456e-01 1.43360438e-02 6.89569285e-03 2.42263799e+02] [-1.43362844e-02 9.99897230e-01 -1.45437312e-05 2.83354842e+00] [-6.89519268e-03 -8.43167228e-05 9.99976224e-01 8.21639206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:242.30, Y:2.83, Z:0.82 [[ 9.99927710e-01 9.85014368e-03 6.89559339e-03 2.42295523e+02] [-9.84992457e-03 9.99951486e-01 -6.57368730e-05 2.83450536e+00] [-6.89590637e-03 -2.18895377e-06 9.99976223e-01 8.20931573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:242.33, Y:2.84, Z:0.81 [[ 9.99952102e-01 6.94584117e-03 6.89561812e-03 2.42326321e+02] [-6.94565081e-03 9.99975877e-01 -5.15532345e-05 2.83524674e+00] [-6.89580986e-03 3.65620969e-06 9.99976224e-01 8.10124046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:242.36, Y:2.84, Z:0.81 [[ 9.99972160e-01 2.85096876e-03 6.89568316e-03 2.42359583e+02] [-2.85096013e-03 9.99995936e-01 -1.10808461e-05 2.83604553e+00] [-6.89568672e-03 -8.57878010e-06 9.99976224e-01 8.08941002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:242.39, Y:2.84, Z:0.81 [[ 9.99975088e-01 1.50789342e-03 6.89567516e-03 2.42392375e+02] [-1.50782718e-03 9.99998863e-01 -1.48046163e-05 2.83577942e+00] [-6.89568965e-03 4.40676101e-06 9.99976224e-01 8.07966909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:242.42, Y:2.84, Z:0.82 [[ 9.99975505e-01 1.19970919e-03 6.89567188e-03 2.42424353e+02] [-1.19962599e-03 9.99999280e-01 -1.62008115e-05 2.83588018e+00] [-6.89568636e-03 7.92818743e-06 9.99976224e-01 8.21003261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:242.46, Y:2.84, Z:0.82 [[ 9.99975141e-01 1.47280886e-03 6.89557435e-03 2.42457116e+02] [-1.47246809e-03 9.99998914e-01 -5.44955841e-05 2.83698457e+00] [-6.89564713e-03 4.43407162e-05 9.99976224e-01 8.21418528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:242.49, Y:2.84, Z:0.81 [[ 9.99976183e-01 -2.92754421e-04 6.89553249e-03 2.42487195e+02] [ 2.93249003e-04 9.99999955e-01 -7.07140965e-05 2.83932628e+00] [-6.89551147e-03 7.27345203e-05 9.99976223e-01 8.07650123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55864 meters Centerline goodness : 0.773324 Centerline is valid? [True, False] Translation: X:242.51, Y:2.85, Z:0.81 [[ 9.99995242e-01 -3.07490085e-03 2.46448433e-04 2.42508812e+02] [ 3.07768075e-03 9.99920724e-01 -1.22095375e-02 2.84875764e+00] [-2.08885779e-04 1.22102379e-02 9.99925430e-01 8.11531352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:242.51, Y:2.85, Z:0.81 [[ 9.99999288e-01 -9.92362324e-04 -6.62751120e-04 2.42513963e+02] [ 9.85782383e-04 9.99950944e-01 -9.85582899e-03 2.84771830e+00] [ 6.72499162e-04 9.85516865e-03 9.99951211e-01 8.07102358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.54, Y:2.84, Z:0.79 [[ 9.99996964e-01 -2.37109241e-03 -6.70771708e-04 2.42544021e+02] [ 2.37113200e-03 9.99997187e-01 5.82296437e-05 2.84003309e+00] [ 6.70631753e-04 -5.98199552e-05 9.99999773e-01 7.94663424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.57, Y:2.84, Z:0.79 [[ 9.99997559e-01 -2.10510893e-03 -6.70721435e-04 2.42574138e+02] [ 2.10510902e-03 9.99997784e-01 -5.73436121e-07 2.84111692e+00] [ 6.70721156e-04 -8.38507020e-07 9.99999775e-01 7.94264693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:2.84, Z:0.79 [[ 9.99994960e-01 -3.10310984e-03 -6.70721435e-04 2.42604495e+02] [ 3.10311015e-03 9.99995185e-01 -5.73436121e-07 2.84275753e+00] [ 6.70719985e-04 -1.50788926e-06 9.99999775e-01 7.93428738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.64, Y:2.84, Z:0.79 [[ 9.99992086e-01 -3.92157054e-03 -6.70721435e-04 2.42635205e+02] [ 3.92157104e-03 9.99992311e-01 -5.73436120e-07 2.84332935e+00] [ 6.70718526e-04 -2.05685017e-06 9.99999775e-01 7.92584778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:2.84, Z:0.79 [[ 9.99988462e-01 -4.75675899e-03 -6.70721435e-04 2.42665388e+02] [ 4.75675967e-03 9.99988687e-01 -5.73436121e-07 2.84363254e+00] [ 6.70716574e-04 -2.61703117e-06 9.99999775e-01 7.92938350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:2.85, Z:0.79 [[ 9.99985085e-01 -5.42037473e-03 -6.70721435e-04 2.42695389e+02] [ 5.42037556e-03 9.99985310e-01 -5.73436120e-07 2.84528414e+00] [ 6.70714690e-04 -3.06213451e-06 9.99999775e-01 7.93139304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79864 meters Centerline goodness : 0.802654 Centerline is valid? [True, False] Translation: X:242.72, Y:2.85, Z:0.80 [[ 9.99991934e-01 -1.55368614e-03 -3.70383430e-03 2.42716903e+02] [ 1.52756005e-03 9.99974008e-01 -7.04621791e-03 2.85179069e+00] [ 3.71468564e-03 7.04050325e-03 9.99968316e-01 7.96650954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:242.72, Y:2.85, Z:0.79 [[ 9.99981985e-01 -3.72882358e-03 -4.70371914e-03 2.42722303e+02] [ 3.68446870e-03 9.99948999e-01 -9.40342716e-03 2.85275296e+00] [ 4.73854296e-03 9.38592705e-03 9.99944724e-01 7.92341607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:2.84, Z:0.79 [[ 9.99984686e-01 -2.88958225e-03 -4.71996668e-03 2.42750671e+02] [ 2.88957640e-03 9.99995825e-01 -8.05764709e-06 2.84470213e+00] [ 4.71997026e-03 -5.58118065e-06 9.99988861e-01 7.92039306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:2.85, Z:0.80 [[ 9.99988850e-01 -1.46568931e-04 -4.71996111e-03 2.42781273e+02] [ 1.46520764e-04 9.99999989e-01 -1.05507208e-05 2.84557401e+00] [ 4.71996260e-03 9.85903089e-06 9.99988861e-01 8.04680401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:2.85, Z:0.79 [[ 9.99988656e-01 6.40378588e-04 -4.72001479e-03 2.42810442e+02] [-6.40330877e-04 9.99999795e-01 1.16193472e-05 2.84683325e+00] [ 4.72002126e-03 -8.59684419e-06 9.99988861e-01 7.91601385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:2.85, Z:0.81 [[ 9.99987795e-01 1.46021774e-03 -4.71994654e-03 2.42839868e+02] [-1.46029563e-03 9.99998934e-01 -1.30551015e-05 2.84556810e+00] [ 4.71992245e-03 1.99474595e-05 9.99988861e-01 8.05985503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.87, Y:2.84, Z:0.81 [[ 9.99988470e-01 8.83509957e-04 -4.71999049e-03 2.42868532e+02] [-8.83508514e-04 9.99999610e-01 2.39074724e-06 2.84348361e+00] [ 4.71999076e-03 1.77943211e-06 9.99988861e-01 8.06403332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:2.84, Z:0.79 [[ 9.99988596e-01 -7.27360642e-04 -4.71998230e-03 2.42897814e+02] [ 7.27367149e-04 9.99999735e-01 -3.37992884e-07 2.83993641e+00] [ 4.71998130e-03 -3.09517104e-06 9.99988861e-01 7.94077070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:242.93, Y:2.84, Z:0.81 [[ 9.99988597e-01 7.26530853e-04 -4.71993576e-03 2.42927758e+02] [-7.26609704e-04 9.99999736e-01 -1.49912202e-05 2.83901635e+00] [ 4.71992362e-03 1.84206004e-05 9.99988861e-01 8.06219618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:2.84, Z:0.81 [[ 9.99987368e-01 1.72776780e-03 -4.71998101e-03 2.42956771e+02] [-1.72779124e-03 9.99998507e-01 -8.88239009e-07 2.83548923e+00] [ 4.71997243e-03 9.04336962e-06 9.99988861e-01 8.06395497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:2.83, Z:0.81 [[ 9.99984548e-01 2.93691184e-03 -4.71996843e-03 2.42985852e+02] [-2.93696467e-03 9.99995687e-01 -4.26129634e-06 2.83439743e+00] [ 4.71993556e-03 1.81236110e-05 9.99988861e-01 8.07184575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.01, Y:2.83, Z:0.81 [[ 9.99977453e-01 4.77657883e-03 -4.71998077e-03 2.43013721e+02] [-4.77663796e-03 9.99988592e-01 -1.25459862e-06 2.83450823e+00] [ 4.71992093e-03 2.38002096e-05 9.99988861e-01 8.08269056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.04, Y:2.84, Z:0.80 [[ 9.99932027e-01 1.06613309e-02 -4.71994192e-03 2.43042730e+02] [-1.06614967e-02 9.99943165e-01 -9.96654820e-06 2.83518770e+00] [ 4.71956740e-03 6.02875159e-05 9.99988861e-01 7.95433904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:2.83, Z:0.80 [[ 9.99903430e-01 1.30710805e-02 -4.71988473e-03 2.43071071e+02] [-1.30713306e-02 9.99914566e-01 -2.21524993e-05 2.83457264e+00] [ 4.71919193e-03 8.38455338e-05 9.99988861e-01 7.96074260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.10, Y:2.84, Z:0.81 [[ 9.99834006e-01 1.75978360e-02 -4.71987889e-03 2.43101572e+02] [-1.75981421e-02 9.99845140e-01 -2.33324096e-05 2.83558868e+00] [ 4.71873737e-03 1.06389636e-04 9.99988861e-01 8.08634480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.13, Y:2.84, Z:0.81 [[ 9.99859327e-01 1.60949765e-02 -4.72002169e-03 2.43129252e+02] [-1.60951319e-02 9.99870465e-01 5.05178569e-06 2.83746629e+00] [ 4.71949159e-03 7.09182967e-05 9.99988861e-01 8.09802218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:2.84, Z:0.81 [[ 9.99862878e-01 1.58729025e-02 -4.71982679e-03 2.43157570e+02] [-1.58732208e-02 9.99874012e-01 -2.99764618e-05 2.83755376e+00] [ 4.71875633e-03 1.04891204e-04 9.99988861e-01 8.09937611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.19, Y:2.84, Z:0.81 [[ 9.99862379e-01 1.59042824e-02 -4.71982072e-03 2.43188822e+02] [-1.59046060e-02 9.99873513e-01 -3.10257570e-05 2.83955396e+00] [ 4.71873028e-03 1.06088376e-04 9.99988861e-01 8.10271575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.22, Y:2.84, Z:0.81 [[ 9.99918075e-01 1.18981431e-02 -4.71989968e-03 2.43218015e+02] [-1.18983571e-02 9.99929212e-01 -1.72689251e-05 2.84021638e+00] [ 4.71936010e-03 7.34265623e-05 9.99988861e-01 8.08719400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.25, Y:2.84, Z:0.80 [[ 9.99937327e-01 1.01520898e-02 -4.71985798e-03 2.43247365e+02] [-1.01523166e-02 9.99948464e-01 -2.40823581e-05 2.84096324e+00] [ 4.71937024e-03 7.19983410e-05 9.99988861e-01 7.96284276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:243.28, Y:2.85, Z:0.81 [[ 9.99954190e-01 8.32708846e-03 -4.71981601e-03 2.43276368e+02] [-8.32732546e-03 9.99965327e-01 -3.05627558e-05 2.84671445e+00] [ 4.71939786e-03 6.98647998e-05 9.99988861e-01 8.09576066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.31, Y:2.85, Z:0.80 [[ 9.99949576e-01 8.86384615e-03 -4.71982579e-03 2.43305539e+02] [-8.86408218e-03 9.99960713e-01 -2.90906044e-05 2.84886823e+00] [ 4.71938250e-03 7.09260612e-05 9.99988861e-01 7.96325783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.33, Y:2.85, Z:0.81 [[ 9.99939415e-01 9.94438561e-03 -4.71979696e-03 2.43334561e+02] [-9.94465301e-03 9.99950550e-01 -3.31891973e-05 2.85237422e+00] [ 4.71923353e-03 8.01239296e-05 9.99988861e-01 8.09245369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.36, Y:2.86, Z:0.81 [[ 9.99922144e-01 1.15511304e-02 -4.71978660e-03 2.43363019e+02] [-1.15514226e-02 9.99933279e-01 -3.46462447e-05 2.86000723e+00] [ 4.71907149e-03 8.91637968e-05 9.99988861e-01 8.08141023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.39, Y:2.86, Z:0.79 [[ 9.99915333e-01 1.21264182e-02 -4.71987070e-03 2.43392152e+02] [-1.21266641e-02 9.99926469e-01 -2.34914666e-05 2.86369584e+00] [ 4.71923877e-03 8.07257643e-05 9.99988861e-01 7.94934712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.42, Y:2.87, Z:0.80 [[ 9.99934099e-01 1.04652673e-02 -4.71976905e-03 2.43419913e+02] [-1.04655566e-02 9.99945234e-01 -3.65998951e-05 2.86823944e+00] [ 4.71912753e-03 8.59924933e-05 9.99988861e-01 7.95252607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:2.87, Z:0.80 [[ 9.99958214e-01 7.82912343e-03 -4.71974819e-03 2.43447441e+02] [-7.82939525e-03 9.99969349e-01 -3.91165375e-05 2.87012533e+00] [ 4.71929727e-03 7.60676770e-05 9.99988861e-01 7.95818833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.48, Y:2.88, Z:0.80 [[ 9.99976700e-01 4.93199736e-03 -4.71972626e-03 2.43476607e+02] [-4.93224865e-03 9.99987836e-01 -4.16043595e-05 2.87521406e+00] [ 4.71946365e-03 6.48822535e-05 9.99988861e-01 7.96190922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:243.51, Y:2.88, Z:0.81 [[ 9.99984842e-01 2.83555473e-03 -4.71972071e-03 2.43506674e+02] [-2.83578560e-03 9.99995978e-01 -4.22246719e-05 2.87781750e+00] [ 4.71958200e-03 5.56081478e-05 9.99988861e-01 8.05906850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.54, Y:2.88, Z:0.81 [[ 9.99987336e-01 1.74675010e-03 -4.71972815e-03 2.43536972e+02] [-1.74696496e-03 9.99998473e-01 -4.14010744e-05 2.88069381e+00] [ 4.71964863e-03 4.96457498e-05 9.99988861e-01 8.06906816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:243.56, Y:2.88, Z:0.81 [[ 9.99988825e-01 2.73915428e-04 -4.71971528e-03 2.43564947e+02] [-2.74120614e-04 9.99999962e-01 -4.28275104e-05 2.88259791e+00] [ 4.71970337e-03 4.41208030e-05 9.99988861e-01 8.07955733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:243.59, Y:2.89, Z:0.81 [[ 9.99986745e-01 -2.05784279e-03 -4.71966022e-03 2.43593835e+02] [ 2.05763485e-03 9.99997882e-01 -4.89148198e-05 2.88604484e+00] [ 4.71975088e-03 3.92028341e-05 9.99988861e-01 8.09606529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:243.62, Y:2.89, Z:0.81 [[ 9.99983148e-01 -3.38042312e-03 -4.71969679e-03 2.43622624e+02] [ 3.38024854e-03 9.99994286e-01 -4.49660463e-05 2.88798557e+00] [ 4.71982182e-03 2.90115404e-05 9.99988861e-01 8.10057824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:243.65, Y:2.89, Z:0.81 [[ 9.99980761e-01 -4.02516495e-03 -4.71964601e-03 2.43651123e+02] [ 4.02497158e-03 9.99991898e-01 -5.04687311e-05 2.88962548e+00] [ 4.71981092e-03 3.14713191e-05 9.99988861e-01 8.10730389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:243.68, Y:2.89, Z:0.81 [[ 9.99982682e-01 -3.51561023e-03 -4.71972475e-03 2.43681268e+02] [ 3.51545157e-03 9.99993820e-01 -4.19108193e-05 2.88949955e+00] [ 4.71984293e-03 2.53181297e-05 9.99988861e-01 8.08999306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.71, Y:2.89, Z:0.80 [[ 9.99977570e-01 -4.75203978e-03 -4.71987287e-03 2.43710707e+02] [ 4.75196978e-03 9.99988709e-01 -2.60450502e-05 2.88944896e+00] [ 4.71994335e-03 3.61577278e-06 9.99988861e-01 7.95282269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:2.89, Z:0.80 [[ 9.99984729e-01 -2.87501464e-03 -4.71968904e-03 2.43739089e+02] [ 2.87483319e-03 9.99995867e-01 -4.52288501e-05 2.89227442e+00] [ 4.71979956e-03 3.16598407e-05 9.99988861e-01 7.95270979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:2.89, Z:0.80 [[ 9.99986113e-01 -2.34490688e-03 -4.71968309e-03 2.43768199e+02] [ 2.34471664e-03 9.99997250e-01 -4.58408875e-05 2.89423713e+00] [ 4.71977761e-03 3.47739314e-05 9.99988861e-01 7.95644131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.80, Y:2.90, Z:0.80 [[ 9.99988540e-01 -8.02661237e-04 -4.71967709e-03 2.43797176e+02] [ 8.02450942e-04 9.99999677e-01 -4.64504823e-05 2.89604611e+00] [ 4.71971285e-03 4.26626407e-05 9.99988861e-01 7.95428289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:2.90, Z:0.80 [[ 9.99988850e-01 -1.60289494e-04 -4.71965499e-03 2.43825986e+02] [ 1.60061914e-04 9.99999986e-01 -4.85972438e-05 2.89707186e+00] [ 4.71966271e-03 4.78412649e-05 9.99988861e-01 7.95621370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:2.90, Z:0.80 [[ 9.99988834e-01 -2.38023041e-04 -4.71964863e-03 2.43855212e+02] [ 2.37793448e-04 9.99999971e-01 -4.92072995e-05 2.89890778e+00] [ 4.71966020e-03 4.80844486e-05 9.99988861e-01 7.96071865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:243.89, Y:2.90, Z:0.81 [[ 9.99988737e-01 -5.01287357e-04 -4.71964217e-03 2.43885472e+02] [ 5.01057810e-04 9.99999873e-01 -4.98188642e-05 2.90010435e+00] [ 4.71966655e-03 4.74534895e-05 9.99988861e-01 8.11257792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.91, Y:2.90, Z:0.80 [[ 9.99980352e-01 -4.12554566e-03 -4.71972362e-03 2.43914749e+02] [ 4.12539213e-03 9.99991490e-01 -4.22628768e-05 2.90089287e+00] [ 4.71985781e-03 2.27913357e-05 9.99988861e-01 7.95939635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:243.95, Y:2.90, Z:0.81 [[ 9.99969083e-01 -6.28950410e-03 -4.71963444e-03 2.43945365e+02] [ 6.28933540e-03 9.99980221e-01 -5.05836509e-05 2.90289637e+00] [ 4.71985924e-03 2.08987230e-05 9.99988861e-01 8.09476100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:2.90, Z:0.80 [[ 9.99935498e-01 -1.03306657e-02 -4.71994735e-03 2.43973708e+02] [ 1.03306799e-02 9.99946637e-01 -2.13714016e-05 2.90349637e+00] [ 4.71991626e-03 -2.73902422e-05 9.99988861e-01 7.95846651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.00, Y:2.90, Z:0.80 [[ 9.99917513e-01 -1.19453802e-02 -4.71961318e-03 2.44002478e+02] [ 1.19452687e-02 9.99928651e-01 -5.18115457e-05 2.90406111e+00] [ 4.71989535e-03 -4.56977588e-06 9.99988861e-01 7.95867625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:2.90, Z:0.81 [[ 9.99929610e-01 -1.08857635e-02 -4.71960643e-03 2.44032276e+02] [ 1.08856374e-02 9.99940748e-01 -5.24195201e-05 2.90483155e+00] [ 4.71989741e-03 1.03990613e-06 9.99988861e-01 8.09109394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.06, Y:2.91, Z:0.80 [[ 9.99926076e-01 -1.12056287e-02 -4.71972193e-03 2.44061559e+02] [ 1.12055546e-02 9.99937215e-01 -4.21387375e-05 2.90940505e+00] [ 4.71989779e-03 -1.07514793e-05 9.99988861e-01 7.96525701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:2.91, Z:0.80 [[ 9.99941481e-01 -9.73451577e-03 -4.71958902e-03 2.44090539e+02] [ 9.73437027e-03 9.99952618e-01 -5.37987767e-05 2.91266729e+00] [ 4.71988910e-03 7.85340145e-06 9.99988861e-01 7.96524117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.12, Y:2.92, Z:0.80 [[ 9.99941353e-01 -9.74763950e-03 -4.71958195e-03 2.44119070e+02] [ 9.74749125e-03 9.99952491e-01 -5.44118510e-05 2.91691138e+00] [ 4.71988811e-03 8.40457611e-06 9.99988861e-01 7.97430128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:2.92, Z:0.80 [[ 9.99927740e-01 -1.10562303e-02 -4.71957486e-03 2.44147343e+02] [ 1.10560938e-02 9.99938878e-01 -5.50198213e-05 2.91803133e+00] [ 4.71989470e-03 2.83578344e-06 9.99988861e-01 7.98797236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.18, Y:2.92, Z:0.80 [[ 9.99902861e-01 -1.31146769e-02 -4.71956477e-03 2.44176443e+02] [ 1.31145592e-02 9.99913999e-01 -5.58724456e-05 2.91950740e+00] [ 4.71989163e-03 -6.02799351e-06 9.99988861e-01 7.97513513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:2.92, Z:0.80 [[ 9.99861944e-01 -1.59316829e-02 -4.71955741e-03 2.44205247e+02] [ 1.59315938e-02 9.99873083e-01 -5.64870415e-05 2.92402009e+00] [ 4.71985835e-03 -1.87108284e-05 9.99988861e-01 7.98709671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:244.24, Y:2.92, Z:0.81 [[ 9.99869793e-01 -1.54312292e-02 -4.71955010e-03 2.44235220e+02] [ 1.54311317e-02 9.99880931e-01 -5.70911190e-05 2.92490827e+00] [ 4.71986914e-03 -1.57443137e-05 9.99988861e-01 8.13584255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:2.93, Z:0.80 [[ 9.99807689e-01 -1.90343929e-02 -4.71975408e-03 2.44264499e+02] [ 1.90344140e-02 9.99818828e-01 -4.04431309e-05 2.92624460e+00] [ 4.71966881e-03 -4.94024001e-05 9.99988861e-01 7.98655132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:244.30, Y:2.93, Z:0.81 [[ 9.99833864e-01 -1.76060037e-02 -4.71953353e-03 2.44295224e+02] [ 1.76059246e-02 9.99845002e-01 -5.82981935e-05 2.92679831e+00] [ 4.71982841e-03 -2.48032434e-05 9.99988861e-01 8.12005593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:244.33, Y:2.93, Z:0.81 [[ 9.99825867e-01 -1.80543069e-02 -4.71985031e-03 2.44325017e+02] [ 1.80543539e-02 9.99837006e-01 -3.26516049e-05 2.92779564e+00] [ 4.71967051e-03 -5.25679285e-05 9.99988861e-01 8.11994846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:2.93, Z:0.80 [[ 9.99798542e-01 -1.95089546e-02 -4.71984778e-03 2.44353437e+02] [ 1.95090169e-02 9.99809680e-01 -3.28516127e-05 2.92852654e+00] [ 4.71959040e-03 -5.92345955e-05 9.99988861e-01 7.99297969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:244.38, Y:2.93, Z:0.80 [[ 9.99814879e-01 -1.86529690e-02 -4.71948680e-03 2.44383139e+02] [ 1.86528896e-02 9.99826018e-01 -6.08495897e-05 2.92788333e+00] [ 4.71980072e-03 -2.71937408e-05 9.99988861e-01 7.99005639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:2.93, Z:0.80 [[ 9.99843399e-01 -1.70559253e-02 -4.71948291e-03 2.44413229e+02] [ 1.70558267e-02 9.99854537e-01 -6.11500771e-05 2.92847576e+00] [ 4.71983937e-03 -1.93541815e-05 9.99988861e-01 7.99677928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.44, Y:2.93, Z:0.80 [[ 9.99848949e-01 -1.67274072e-02 -4.71947900e-03 2.44442133e+02] [ 1.67273035e-02 9.99860087e-01 -6.14503391e-05 2.92893652e+00] [ 4.71984658e-03 -1.75031004e-05 9.99988861e-01 7.99505222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:2.93, Z:0.80 [[ 9.99862496e-01 -1.58970579e-02 -4.71947105e-03 2.44471030e+02] [ 1.58969421e-02 9.99873634e-01 -6.20548625e-05 2.92906269e+00] [ 4.71986115e-03 -1.29788282e-05 9.99988861e-01 7.99838241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:2.93, Z:0.80 [[ 9.99879304e-01 -1.48021406e-02 -4.71946299e-03 2.44499713e+02] [ 1.48020097e-02 9.99890442e-01 -6.26613263e-05 2.92836011e+00] [ 4.71987346e-03 -7.20377381e-06 9.99988861e-01 7.99730782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:244.53, Y:2.93, Z:0.81 [[ 9.99921694e-01 -1.15901915e-02 -4.71945486e-03 2.44530600e+02] [ 1.15900220e-02 9.99932831e-01 -6.32682483e-05 2.92876352e+00] [ 4.71987115e-03 8.56470840e-06 9.99988861e-01 8.11228288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:244.56, Y:2.93, Z:0.81 [[ 9.99887497e-01 -1.42378434e-02 -4.71992526e-03 2.44559041e+02] [ 1.42378717e-02 9.99898636e-01 -2.76254161e-05 2.92768119e+00] [ 4.71984016e-03 -3.95793820e-05 9.99988861e-01 8.13065497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:244.59, Y:2.93, Z:0.81 [[ 9.99887043e-01 -1.42698090e-02 -4.71954218e-03 2.44589436e+02] [ 1.42697033e-02 9.99898181e-01 -5.60622296e-05 2.92652086e+00] [ 4.71986164e-03 -1.12905697e-05 9.99988861e-01 8.12375003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:244.62, Y:2.93, Z:0.81 [[ 9.99874534e-01 -1.51208952e-02 -4.71963618e-03 2.44618349e+02] [ 1.51208322e-02 9.99885672e-01 -4.90470855e-05 2.92527000e+00] [ 4.71983823e-03 -2.23238948e-05 9.99988861e-01 8.12724157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:2.92, Z:0.80 [[ 9.99803311e-01 -1.92630042e-02 -4.71965763e-03 2.44647257e+02] [ 1.92629947e-02 9.99814450e-01 -4.74817339e-05 2.92387368e+00] [ 4.71969654e-03 -4.34423452e-05 9.99988861e-01 7.98501812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:244.68, Y:2.92, Z:0.81 [[ 9.99796591e-01 -1.96087454e-02 -4.71941292e-03 2.44676809e+02] [ 1.96086561e-02 9.99807730e-01 -6.51959039e-05 2.92383244e+00] [ 4.71978393e-03 -2.73587024e-05 9.99988861e-01 8.11244855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:244.71, Y:2.92, Z:0.81 [[ 9.99804033e-01 -1.92255658e-02 -4.71937944e-03 2.44707085e+02] [ 1.92254609e-02 9.99815171e-01 -6.76133578e-05 2.92009459e+00] [ 4.71980707e-03 -2.31321370e-05 9.99988861e-01 8.10555363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:244.74, Y:2.92, Z:0.81 [[ 9.99811799e-01 -1.88173230e-02 -4.71958062e-03 2.44736718e+02] [ 1.88172818e-02 9.99822938e-01 -5.31388478e-05 2.91802549e+00] [ 4.71974489e-03 -3.56808317e-05 9.99988861e-01 8.12283883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.77, Y:2.92, Z:0.80 [[ 9.99787065e-01 -2.00885211e-02 -4.71972342e-03 2.44766243e+02] [ 2.00885422e-02 9.99798204e-01 -4.29472990e-05 2.91662053e+00] [ 4.71963375e-03 -5.18742089e-05 9.99988861e-01 7.98587438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.80, Y:2.91, Z:0.80 [[ 9.99811240e-01 -1.88470819e-02 -4.71940348e-03 2.44795237e+02] [ 1.88469810e-02 9.99822378e-01 -6.58699531e-05 2.91330967e+00] [ 4.71980667e-03 -2.30889883e-05 9.99988861e-01 7.99386005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.82, Y:2.91, Z:0.80 [[ 9.99823494e-01 -1.81853883e-02 -4.71939494e-03 2.44824194e+02] [ 1.81852771e-02 9.99834632e-01 -6.64768674e-05 2.91109425e+00] [ 4.71982341e-03 -1.93583707e-05 9.99988861e-01 7.98147230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:244.85, Y:2.91, Z:0.81 [[ 9.99852874e-01 -1.64911139e-02 -4.71938620e-03 2.44853887e+02] [ 1.64909809e-02 9.99864012e-01 -6.70913269e-05 2.90813653e+00] [ 4.71985083e-03 -1.07458518e-05 9.99988861e-01 8.12680669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.88, Y:2.91, Z:0.80 [[ 9.99842993e-01 -1.70796940e-02 -4.71939442e-03 2.44883421e+02] [ 1.70795703e-02 9.99854131e-01 -6.65161984e-05 2.90731570e+00] [ 4.71984208e-03 -1.40994739e-05 9.99988861e-01 7.99696886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:2.91, Z:0.80 [[ 9.99839376e-01 -1.72901351e-02 -4.71937935e-03 2.44912135e+02] [ 1.72900088e-02 9.99850514e-01 -6.75684788e-05 2.90601594e+00] [ 4.71984214e-03 -1.40404847e-05 9.99988861e-01 7.99232284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:2.90, Z:0.80 [[ 9.99806928e-01 -1.90744634e-02 -4.71937050e-03 2.44940884e+02] [ 1.90743541e-02 9.99818066e-01 -6.81814120e-05 2.90117510e+00] [ 4.71981241e-03 -2.18506958e-05 9.99988861e-01 7.99815658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:244.97, Y:2.90, Z:0.80 [[ 9.99780465e-01 -2.04144336e-02 -4.71936161e-03 2.44969548e+02] [ 2.04143363e-02 9.99791603e-01 -6.87914306e-05 2.89877422e+00] [ 4.71978244e-03 -2.75663066e-05 9.99988861e-01 8.01539887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.00, Y:2.90, Z:0.80 [[ 9.99777812e-01 -2.05439850e-02 -4.71935272e-03 2.44998856e+02] [ 2.05438863e-02 9.99788950e-01 -6.93959389e-05 2.89917177e+00] [ 4.71978236e-03 -2.75733258e-05 9.99988861e-01 8.01678288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:2.89, Z:0.80 [[ 9.99748618e-01 -2.19186820e-02 -4.71934364e-03 2.45027766e+02] [ 2.19185957e-02 9.99759756e-01 -7.00074649e-05 2.89462606e+00] [ 4.71974432e-03 -3.34515191e-05 9.99988861e-01 8.01117617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:245.06, Y:2.89, Z:0.80 [[ 9.99748548e-01 -2.19218982e-02 -4.71933452e-03 2.45056227e+02] [ 2.19218091e-02 9.99759686e-01 -7.06170155e-05 2.89181593e+00] [ 4.71974846e-03 -3.28570917e-05 9.99988861e-01 8.00891558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.09, Y:2.89, Z:0.80 [[ 9.99788431e-01 -2.00205088e-02 -4.71932539e-03 2.45085113e+02] [ 2.00203957e-02 9.99799569e-01 -7.12219768e-05 2.88877238e+00] [ 4.71980540e-03 -2.32758532e-05 9.99988861e-01 8.01203401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:2.89, Z:0.80 [[ 9.99823932e-01 -1.81612919e-02 -4.71931615e-03 2.45113562e+02] [ 1.81611552e-02 9.99835070e-01 -7.18294528e-05 2.88867971e+00] [ 4.71984231e-03 -1.38914268e-05 9.99988861e-01 8.01131697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:245.14, Y:2.89, Z:0.82 [[ 9.99848838e-01 -1.67340539e-02 -4.71930679e-03 2.45142337e+02] [ 1.67338984e-02 9.99859976e-01 -7.24393519e-05 2.88796511e+00] [ 4.71985817e-03 -6.54399839e-06 9.99988861e-01 8.16030493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.17, Y:2.89, Z:0.80 [[ 9.99886720e-01 -1.42924996e-02 -4.71925573e-03 2.45172443e+02] [ 1.42923012e-02 9.99897857e-01 -7.57623184e-05 2.88517822e+00] [ 4.71985653e-03 8.30471146e-06 9.99988861e-01 8.02103775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:2.89, Z:0.80 [[ 9.99911055e-01 -1.24743538e-02 -4.71929953e-03 2.45201419e+02] [ 1.24741486e-02 9.99922192e-01 -7.29278877e-05 2.88563186e+00] [ 4.71984206e-03 1.40521577e-05 9.99988861e-01 8.02886026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.23, Y:2.89, Z:0.80 [[ 9.99949069e-01 -8.92120609e-03 -4.71928986e-03 2.45230341e+02] [ 8.92095833e-03 9.99960205e-01 -7.35485080e-05 2.88681157e+00] [ 4.71975820e-03 3.14441740e-05 9.99988861e-01 8.03964902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.26, Y:2.89, Z:0.80 [[ 9.99962051e-01 -7.32297379e-03 -4.71928013e-03 2.45259234e+02] [ 7.32270531e-03 9.99973186e-01 -7.41675721e-05 2.88690665e+00] [ 4.71969672e-03 3.96068598e-05 9.99988861e-01 8.03760553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.29, Y:2.89, Z:0.80 [[ 9.99969544e-01 -6.21605676e-03 -4.71927039e-03 2.45288267e+02] [ 6.21577305e-03 9.99980679e-01 -7.47826026e-05 2.88714461e+00] [ 4.71964406e-03 4.54464114e-05 9.99988861e-01 8.02984654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:2.89, Z:0.80 [[ 9.99970691e-01 -6.02881258e-03 -4.71926054e-03 2.45316656e+02] [ 6.02852387e-03 9.99981825e-01 -7.53985775e-05 2.88785123e+00] [ 4.71962934e-03 4.69461928e-05 9.99988861e-01 8.03295761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.35, Y:2.89, Z:0.80 [[ 9.99979510e-01 -4.32534797e-03 -4.71925058e-03 2.45345723e+02] [ 4.32503738e-03 9.99990644e-01 -7.60171598e-05 2.89058093e+00] [ 4.71953523e-03 5.56046671e-05 9.99988861e-01 8.04130544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:2.89, Z:0.80 [[ 9.99981379e-01 -3.86926123e-03 -4.71924059e-03 2.45374418e+02] [ 3.86894266e-03 9.99992513e-01 -7.66321865e-05 2.89160920e+00] [ 4.71950177e-03 5.83722882e-05 9.99988861e-01 8.04668894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.40, Y:2.89, Z:0.82 [[ 9.99980700e-01 -4.04084986e-03 -4.71923049e-03 2.45404161e+02] [ 4.04053028e-03 9.99991834e-01 -7.72493360e-05 2.89255537e+00] [ 4.71950411e-03 5.81796513e-05 9.99988861e-01 8.18950241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:2.89, Z:0.81 [[ 9.99975883e-01 -5.09515889e-03 -4.71929855e-03 2.45434029e+02] [ 5.09487051e-03 9.99987018e-01 -7.31278206e-05 2.89351483e+00] [ 4.71960988e-03 4.90818420e-05 9.99988861e-01 8.05159903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:2.89, Z:0.81 [[ 9.99970470e-01 -6.06523687e-03 -4.71922392e-03 2.45462971e+02] [ 6.06493789e-03 9.99981605e-01 -7.76626047e-05 2.89460876e+00] [ 4.71960815e-03 4.90385115e-05 9.99988861e-01 8.05745009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:2.90, Z:0.81 [[ 9.99941454e-01 -9.73741287e-03 -4.71921355e-03 2.45491912e+02] [ 9.73715183e-03 9.99952590e-01 -7.82874394e-05 2.89523677e+00] [ 4.71975213e-03 3.23311571e-05 9.99988861e-01 8.05163507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:2.90, Z:0.81 [[ 9.99919026e-01 -1.18182196e-02 -4.71920323e-03 2.45520526e+02] [ 1.18179789e-02 9.99930162e-01 -7.89045853e-05 2.89580890e+00] [ 4.71980617e-03 2.31267520e-05 9.99988861e-01 8.06618900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.55, Y:2.90, Z:0.81 [[ 9.99847145e-01 -1.68349436e-02 -4.71919277e-03 2.45549664e+02] [ 1.68347558e-02 9.99858282e-01 -7.95253093e-05 2.89758506e+00] [ 4.71986279e-03 6.66954751e-08 9.99988861e-01 8.07236237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:2.90, Z:0.81 [[ 9.99782720e-01 -2.03037576e-02 -4.71918221e-03 2.45578982e+02] [ 2.03036055e-02 9.99793857e-01 -8.01471118e-05 2.89679923e+00] [ 4.71983668e-03 -1.56867163e-05 9.99988861e-01 8.06687612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:2.90, Z:0.81 [[ 9.99745242e-01 -2.20721848e-02 -4.71917154e-03 2.45607802e+02] [ 2.20720495e-02 9.99756379e-01 -8.07704817e-05 2.89559461e+00] [ 4.71980464e-03 -2.34118831e-05 9.99988861e-01 8.06279258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:2.90, Z:0.81 [[ 9.99650393e-01 -2.60157709e-02 -4.71916097e-03 2.45636354e+02] [ 2.60156766e-02 9.99661532e-01 -8.13835012e-05 2.89531236e+00] [ 4.71968094e-03 -4.14171166e-05 9.99988861e-01 8.07143998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:245.67, Y:2.90, Z:0.82 [[ 9.99666993e-01 -2.53699341e-02 -4.71915042e-03 2.45666603e+02] [ 2.53698297e-02 9.99678131e-01 -8.19909558e-05 2.89617616e+00] [ 4.71971157e-03 -3.77603904e-05 9.99988861e-01 8.24489198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.70, Y:2.89, Z:0.81 [[ 9.99527049e-01 -3.03875622e-02 -4.71953003e-03 2.45695335e+02] [ 3.03876173e-02 9.99538188e-01 -6.00363238e-05 2.89312574e+00] [ 4.71917485e-03 -8.34073429e-05 9.99988861e-01 8.08152106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:2.89, Z:0.81 [[ 9.99462154e-01 -3.24519992e-02 -4.71915534e-03 2.45724900e+02] [ 3.24519752e-02 9.99473293e-01 -8.16833127e-05 2.89108248e+00] [ 4.71932051e-03 -7.15065325e-05 9.99988861e-01 8.07867641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:2.89, Z:0.81 [[ 9.99406928e-01 -3.41104310e-02 -4.71915014e-03 2.45754760e+02] [ 3.41104240e-02 9.99418067e-01 -8.19828258e-05 2.88881977e+00] [ 4.71920038e-03 -7.90380081e-05 9.99988861e-01 8.08677439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:2.88, Z:0.81 [[ 9.99268698e-01 -3.79446790e-02 -4.71914497e-03 2.45784478e+02] [ 3.79447134e-02 9.99279837e-01 -8.22792424e-05 2.88218735e+00] [ 4.71886847e-03 -9.68475322e-05 9.99988861e-01 8.09266470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:245.81, Y:2.88, Z:0.82 [[ 9.99296417e-01 -3.72075347e-02 -4.71913978e-03 2.45814573e+02] [ 3.72075595e-02 9.99307556e-01 -8.25758781e-05 2.87830718e+00] [ 4.71894448e-03 -9.30698949e-05 9.99988861e-01 8.24642638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:245.84, Y:2.87, Z:0.81 [[ 9.99199553e-01 -3.97238099e-02 -4.71933390e-03 2.45844298e+02] [ 3.97239152e-02 9.99210691e-01 -7.14575598e-05 2.87234835e+00] [ 4.71844745e-03 -1.16070058e-04 9.99988861e-01 8.11963613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:2.87, Z:0.81 [[ 9.99276381e-01 -3.77418056e-02 -4.71912912e-03 2.45873823e+02] [ 3.77418339e-02 9.99287520e-01 -8.30880183e-05 2.87049775e+00] [ 4.71890273e-03 -9.50806935e-05 9.99988861e-01 8.12015193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.90, Y:2.87, Z:0.81 [[ 9.99345132e-01 -3.58753065e-02 -4.71912389e-03 2.45902525e+02] [ 3.58753127e-02 9.99356270e-01 -8.33842143e-05 2.86807882e+00] [ 4.71907748e-03 -8.59704364e-05 9.99988861e-01 8.12905196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:2.86, Z:0.81 [[ 9.99503398e-01 -3.11558418e-02 -4.71911319e-03 2.45931195e+02] [ 3.11557925e-02 9.99514537e-01 -8.39851879e-05 2.86099731e+00] [ 4.71943887e-03 -6.30842305e-05 9.99988861e-01 8.12456303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.96, Y:2.86, Z:0.83 [[ 9.99560509e-01 -2.92663462e-02 -4.71910247e-03 2.45960913e+02] [ 2.92662730e-02 9.99571647e-01 -8.45838060e-05 2.85820990e+00] [ 4.71955648e-03 -5.35639089e-05 9.99988861e-01 8.28525344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:2.86, Z:0.81 [[ 9.99576838e-01 -2.87031876e-02 -4.71925554e-03 2.45991015e+02] [ 2.87031486e-02 9.99587977e-01 -7.60195192e-05 2.85677588e+00] [ 4.71949310e-03 -5.94701424e-05 9.99988861e-01 8.12984654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.02, Y:2.85, Z:0.81 [[ 9.99658556e-01 -2.57002031e-02 -4.71912099e-03 2.46019516e+02] [ 2.57000948e-02 9.99669695e-01 -8.36134980e-05 2.85322383e+00] [ 4.71971112e-03 -3.76969079e-05 9.99988861e-01 8.12991277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.05, Y:2.85, Z:0.83 [[ 9.99692311e-01 -2.43518548e-02 -4.71911003e-03 2.46050183e+02] [ 2.43517285e-02 9.99703449e-01 -8.42274508e-05 2.85065331e+00] [ 4.71976167e-03 -3.07169512e-05 9.99988861e-01 8.28251590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:2.85, Z:0.82 [[ 9.99669823e-01 -2.52581190e-02 -4.71946007e-03 2.46079468e+02] [ 2.52580954e-02 9.99680961e-01 -6.46108426e-05 2.84644584e+00] [ 4.71958633e-03 -5.46150630e-05 9.99988861e-01 8.15345836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.11, Y:2.85, Z:0.83 [[ 9.99731534e-01 -2.26845629e-02 -4.71910299e-03 2.46110096e+02] [ 2.26844166e-02 9.99742672e-01 -8.45429051e-05 2.84559408e+00] [ 4.71980645e-03 -2.25298899e-05 9.99988861e-01 8.31067179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:2.85, Z:0.82 [[ 9.99726673e-01 -2.28977783e-02 -4.71930709e-03 2.46140227e+02] [ 2.28976883e-02 9.99737811e-01 -7.31081066e-05 2.84507277e+00] [ 4.71974375e-03 -3.49730987e-05 9.99988861e-01 8.15248303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:2.84, Z:0.81 [[ 9.99816472e-01 -1.85675300e-02 -4.71909438e-03 2.46169340e+02] [ 1.85673360e-02 9.99827609e-01 -8.49273450e-05 2.84256374e+00] [ 4.71985774e-03 -2.70925257e-06 9.99988861e-01 8.14365031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:2.84, Z:0.81 [[ 9.99845734e-01 -1.69185743e-02 -4.71907712e-03 2.46197888e+02] [ 1.69183574e-02 9.99856871e-01 -8.58757909e-05 2.84143260e+00] [ 4.71985458e-03 6.02350968e-06 9.99988861e-01 8.14236205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:2.84, Z:0.82 [[ 9.99904859e-01 -1.29615757e-02 -4.71906570e-03 2.46226398e+02] [ 1.29613118e-02 9.99915995e-01 -8.64990299e-05 2.84004457e+00] [ 4.71979044e-03 2.53255185e-05 9.99988861e-01 8.15740915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:2.84, Z:0.82 [[ 9.99920194e-01 -1.17190675e-02 -4.71905425e-03 2.46255455e+02] [ 1.17187869e-02 9.99931329e-01 -8.71192547e-05 2.83957466e+00] [ 4.71975114e-03 3.18107111e-05 9.99988861e-01 8.15629952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:2.84, Z:0.82 [[ 9.99932649e-01 -1.06031746e-02 -4.71904253e-03 2.46284331e+02] [ 1.06028785e-02 9.99943784e-01 -8.77493381e-05 2.83908546e+00] [ 4.71970767e-03 3.77079935e-05 9.99988861e-01 8.15955135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.31, Y:2.84, Z:0.83 [[ 9.99963052e-01 -7.18510660e-03 -4.71903067e-03 2.46314867e+02] [ 7.18476950e-03 9.99974185e-01 -8.83826500e-05 2.83779510e+00] [ 4.71954389e-03 5.44742369e-05 9.99988861e-01 8.31231635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:2.84, Z:0.82 [[ 9.99954323e-01 -8.31122179e-03 -4.71960130e-03 2.46342771e+02] [ 8.31104077e-03 9.99965461e-01 -5.79652585e-05 2.83692618e+00] [ 4.71992005e-03 1.87378120e-05 9.99988861e-01 8.17873740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.37, Y:2.84, Z:0.82 [[ 9.99952359e-01 -8.54464510e-03 -4.71899399e-03 2.46371456e+02] [ 8.54431618e-03 9.99963493e-01 -8.98586912e-05 2.83578157e+00] [ 4.71958952e-03 4.95338335e-05 9.99988861e-01 8.18991998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:2.84, Z:0.82 [[ 9.99950469e-01 -8.76302076e-03 -4.71898196e-03 2.46399880e+02] [ 8.76269131e-03 9.99961603e-01 -9.04861793e-05 2.83503488e+00] [ 4.71959370e-03 4.91307153e-05 9.99988861e-01 8.19515500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:2.83, Z:0.82 [[ 9.99955055e-01 -8.22304032e-03 -4.71896984e-03 2.46428413e+02] [ 8.22270189e-03 9.99966189e-01 -9.11136659e-05 2.83454530e+00] [ 4.71955952e-03 5.23068886e-05 9.99988861e-01 8.19848394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:2.83, Z:0.82 [[ 9.99969994e-01 -6.14352718e-03 -4.71895767e-03 2.46455927e+02] [ 6.14316265e-03 9.99981126e-01 -9.17401688e-05 2.83481059e+00] [ 4.71943221e-03 6.27480916e-05 9.99988861e-01 8.20305906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.48, Y:2.84, Z:0.82 [[ 9.99972197e-01 -5.77372818e-03 -4.71893922e-03 2.46484518e+02] [ 5.77335510e-03 9.99983330e-01 -9.26790837e-05 2.83526447e+00] [ 4.71939566e-03 6.54323952e-05 9.99988861e-01 8.20218914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.52, Y:2.83, Z:0.83 [[ 9.99980523e-01 -4.08479385e-03 -4.71892687e-03 2.46516008e+02] [ 4.08439902e-03 9.99991654e-01 -9.33038804e-05 2.83405916e+00] [ 4.71926862e-03 7.40280828e-05 9.99988861e-01 8.30560019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:2.83, Z:0.82 [[ 9.99973221e-01 -5.59319560e-03 -4.71957243e-03 2.46544042e+02] [ 5.59296990e-03 9.99984357e-01 -6.10207213e-05 2.83370651e+00] [ 4.71983991e-03 3.46226607e-05 9.99988861e-01 8.20311184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:2.83, Z:0.82 [[ 9.99973939e-01 -5.46383363e-03 -4.71888553e-03 2.46572884e+02] [ 5.46344566e-03 9.99985071e-01 -9.51038339e-05 2.83377872e+00] [ 4.71933471e-03 6.93199808e-05 9.99988861e-01 8.20405216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.60, Y:2.83, Z:0.82 [[ 9.99969586e-01 -6.20965993e-03 -4.71887287e-03 2.46601727e+02] [ 6.20927732e-03 9.99980718e-01 -9.57276501e-05 2.83414549e+00] [ 4.71937632e-03 6.64239483e-05 9.99988861e-01 8.20987171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:246.63, Y:2.83, Z:0.84 [[ 9.99981938e-01 -3.72237648e-03 -4.71886339e-03 2.46631548e+02] [ 3.72196399e-03 9.99993069e-01 -9.61930480e-05 2.83379826e+00] [ 4.71918875e-03 7.86278710e-05 9.99988861e-01 8.35229103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.66, Y:2.83, Z:0.82 [[ 9.99980015e-01 -4.20659662e-03 -4.71954588e-03 2.46659481e+02] [ 4.20634518e-03 9.99991151e-01 -6.32017649e-05 2.83362422e+00] [ 4.71976998e-03 4.33484628e-05 9.99988861e-01 8.21414321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.69, Y:2.83, Z:0.82 [[ 9.99984064e-01 -3.09905395e-03 -4.71881007e-03 2.46688018e+02] [ 3.09862380e-03 9.99995194e-01 -9.84647100e-05 2.83461776e+00] [ 4.71909254e-03 8.38413237e-05 9.99988862e-01 8.20905342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.72, Y:2.84, Z:0.83 [[ 9.99988237e-01 -1.12152754e-03 -4.71879711e-03 2.46718941e+02] [ 1.12107247e-03 9.99999367e-01 -9.90818029e-05 2.83553087e+00] [ 4.71890525e-03 9.37905239e-05 9.99988862e-01 8.32703385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.75, Y:2.83, Z:0.82 [[ 9.99987067e-01 -1.89544886e-03 -4.71946086e-03 2.46747573e+02] [ 1.89515010e-03 9.99998202e-01 -6.77742372e-05 2.83451224e+00] [ 4.71958083e-03 5.88292740e-05 9.99988861e-01 8.19760717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.78, Y:2.83, Z:0.82 [[ 9.99988363e-01 -1.00377730e-03 -4.71873406e-03 2.46775777e+02] [ 1.00330929e-03 9.99999492e-01 -1.01547533e-04 2.83462964e+00] [ 4.71883359e-03 9.68120015e-05 9.99988862e-01 8.19214534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:2.84, Z:0.82 [[ 9.99988864e-01 -8.12342829e-05 -4.71871416e-03 2.46803442e+02] [ 8.07516837e-05 9.99999991e-01 -1.02463903e-04 2.83578678e+00] [ 4.71872244e-03 1.02081718e-04 9.99988862e-01 8.19683931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:2.84, Z:0.83 [[ 9.99987737e-01 1.50347557e-03 -4.71865940e-03 2.46833923e+02] [-1.50398742e-03 9.99998864e-01 -1.04926372e-04 2.83736260e+00] [ 4.71849628e-03 1.12021889e-04 9.99988862e-01 8.34493545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:2.84, Z:0.83 [[ 9.99988218e-01 1.13789461e-03 -4.71908063e-03 2.46862250e+02] [-1.13831362e-03 9.99999348e-01 -8.61040801e-05 2.83782664e+00] [ 4.71897958e-03 9.14748594e-05 9.99988861e-01 8.34627248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.89, Y:2.84, Z:0.82 [[ 9.99980001e-01 4.21042406e-03 -4.71904348e-03 2.46891401e+02] [-4.21088496e-03 9.99991130e-01 -8.77381053e-05 2.83880783e+00] [ 4.71863221e-03 1.07607700e-04 9.99988861e-01 8.19680240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:246.92, Y:2.84, Z:0.83 [[ 9.99972020e-01 5.80472159e-03 -4.71857365e-03 2.46922557e+02] [-5.80529683e-03 9.99983143e-01 -1.08222866e-04 2.83990801e+00] [ 4.71786591e-03 1.35612559e-04 9.99988862e-01 8.31981850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:2.84, Z:0.82 [[ 9.99973086e-01 5.61752530e-03 -4.71913106e-03 2.46951306e+02] [-5.61798442e-03 9.99984215e-01 -8.40377260e-05 2.84270513e+00] [ 4.71858449e-03 1.10547469e-04 9.99988861e-01 8.18748621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:2.84, Z:0.82 [[ 9.99969663e-01 6.19751931e-03 -4.71852190e-03 2.46978835e+02] [-6.19810794e-03 9.99980785e-01 -1.10135954e-04 2.84435525e+00] [ 4.71774867e-03 1.39378521e-04 9.99988862e-01 8.19761324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:2.85, Z:0.82 [[ 9.99968951e-01 6.31139199e-03 -4.71846412e-03 2.47006534e+02] [-6.31199330e-03 9.99980073e-01 -1.12558277e-04 2.84581858e+00] [ 4.71765969e-03 1.42337696e-04 9.99988862e-01 8.19420706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.04, Y:2.85, Z:0.83 [[ 9.99951068e-01 8.69477965e-03 -4.71840479e-03 2.47038628e+02] [-8.69541895e-03 9.99962188e-01 -1.14992503e-04 2.85006477e+00] [ 4.71722654e-03 1.56015382e-04 9.99988862e-01 8.32953024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.07, Y:2.85, Z:0.82 [[ 9.99964145e-01 7.03113900e-03 -4.71938275e-03 2.47066605e+02] [-7.03156980e-03 9.99975275e-01 -7.46970387e-05 2.85228912e+00] [ 4.71874086e-03 1.07879030e-04 9.99988861e-01 8.17849162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.10, Y:2.85, Z:0.83 [[ 9.99965113e-01 6.89277810e-03 -4.71836144e-03 2.47097171e+02] [-6.89340294e-03 9.99976233e-01 -1.16176381e-04 2.85481396e+00] [ 4.71744852e-03 1.48697895e-04 9.99988862e-01 8.31410240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:247.13, Y:2.86, Z:0.83 [[ 9.99970502e-01 6.06018942e-03 -4.71909209e-03 2.47127912e+02] [-6.06066563e-03 9.99981630e-01 -8.66189954e-05 2.85816843e+00] [ 4.71848047e-03 1.15217279e-04 9.99988861e-01 8.31833432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.16, Y:2.86, Z:0.82 [[ 9.99985734e-01 2.50106278e-03 -4.71979325e-03 2.47155462e+02] [-2.50136706e-03 9.99996870e-01 -5.85671730e-05 2.86011348e+00] [ 4.71963199e-03 7.03722728e-05 9.99988860e-01 8.18852464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.18, Y:2.87, Z:0.82 [[ 9.99988365e-01 1.00385762e-03 -4.71822511e-03 2.47183881e+02] [-1.00443568e-03 9.99999488e-01 -1.20148168e-04 2.86501886e+00] [ 4.71810209e-03 1.24885923e-04 9.99988862e-01 8.18425771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.21, Y:2.87, Z:0.82 [[ 9.99988673e-01 6.25850228e-04 -4.71820951e-03 2.47211397e+02] [-6.26426957e-04 9.99999797e-01 -1.20757925e-04 2.86786981e+00] [ 4.71813297e-03 1.23712171e-04 9.99988862e-01 8.17888581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.24, Y:2.87, Z:0.82 [[ 9.99988759e-01 -4.70259808e-04 -4.71814569e-03 2.47240213e+02] [ 4.69683748e-04 9.99999882e-01 -1.23201857e-04 2.87062874e+00] [ 4.71820307e-03 1.20984435e-04 9.99988862e-01 8.18958590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.27, Y:2.88, Z:0.82 [[ 9.99984434e-01 -2.97848441e-03 -4.71812970e-03 2.47268931e+02] [ 2.97793338e-03 9.99995558e-01 -1.23811252e-04 2.87543128e+00] [ 4.71847751e-03 1.09759048e-04 9.99988862e-01 8.19128211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.30, Y:2.88, Z:0.82 [[ 9.99968558e-01 -6.37361970e-03 -4.71811358e-03 2.47297192e+02] [ 6.37310356e-03 9.99979684e-01 -1.24422618e-04 2.87893187e+00] [ 4.71881075e-03 9.43496796e-05 9.99988862e-01 8.20084512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.33, Y:2.88, Z:0.82 [[ 9.99958440e-01 -7.80115473e-03 -4.71809721e-03 2.47325761e+02] [ 7.80065156e-03 9.99969567e-01 -1.25040096e-04 2.88078868e+00] [ 4.71892908e-03 8.82306664e-05 9.99988862e-01 8.19755160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:247.36, Y:2.88, Z:0.83 [[ 9.99961076e-01 -7.45565411e-03 -4.71808060e-03 2.47358110e+02] [ 7.45514415e-03 9.99972202e-01 -1.25663807e-04 2.88274730e+00] [ 4.71888635e-03 9.04849446e-05 9.99988862e-01 8.34392053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:247.39, Y:2.88, Z:0.83 [[ 9.99938381e-01 -1.00478054e-02 -4.71968379e-03 2.47386850e+02] [ 1.00476088e-02 9.99949519e-01 -6.53509827e-05 2.88442256e+00] [ 4.72010217e-03 1.79254193e-05 9.99988860e-01 8.34669964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:247.42, Y:2.89, Z:0.83 [[ 9.99887302e-01 -1.42516850e-02 -4.71930076e-03 2.47416098e+02] [ 1.42514689e-02 9.99898440e-01 -7.94246823e-05 2.88671320e+00] [ 4.71995340e-03 1.21587634e-05 9.99988861e-01 8.31710112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:247.45, Y:2.89, Z:0.83 [[ 9.99893231e-01 -1.38297531e-02 -4.71863564e-03 2.47448365e+02] [ 1.38294181e-02 9.99904364e-01 -1.03619238e-04 2.88829111e+00] [ 4.71961740e-03 3.83521900e-05 9.99988862e-01 8.34141000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:2.89, Z:0.82 [[ 9.99822723e-01 -1.82276708e-02 -4.71967781e-03 2.47476086e+02] [ 1.82275646e-02 9.99833862e-01 -6.55207276e-05 2.89020654e+00] [ 4.72008798e-03 -2.05191198e-05 9.99988860e-01 8.19364060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.51, Y:2.89, Z:0.82 [[ 9.99815587e-01 -1.86154009e-02 -4.71787824e-03 2.47505339e+02] [ 1.86149921e-02 9.99826717e-01 -1.30553156e-04 2.89191512e+00] [ 4.71949101e-03 4.27058139e-05 9.99988862e-01 8.19332616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.53, Y:2.89, Z:0.82 [[ 9.99818317e-01 -1.84681898e-02 -4.71786086e-03 2.47534214e+02] [ 1.84677764e-02 9.99829447e-01 -1.31178299e-04 2.89404631e+00] [ 4.71947884e-03 4.40260667e-05 9.99988862e-01 8.20304752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:247.56, Y:2.90, Z:0.83 [[ 9.99828374e-01 -1.79154907e-02 -4.71784345e-03 2.47564914e+02] [ 1.79150682e-02 9.99839504e-01 -1.31801493e-04 2.89794191e+00] [ 4.71944754e-03 4.72583857e-05 9.99988862e-01 8.33548749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:247.60, Y:2.90, Z:0.83 [[ 9.99852535e-01 -1.65120072e-02 -4.71828356e-03 2.47595783e+02] [ 1.65116433e-02 9.99863667e-01 -1.16072795e-04 2.90023759e+00] [ 4.71955690e-03 3.81490633e-05 9.99988862e-01 8.32052179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.62, Y:2.90, Z:0.82 [[ 9.99811976e-01 -1.88081278e-02 -4.71887879e-03 2.47624535e+02] [ 1.88078895e-02 9.99823112e-01 -9.48816315e-05 2.90071993e+00] [ 4.71982862e-03 6.11164072e-06 9.99988862e-01 8.18566982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:247.65, Y:2.90, Z:0.83 [[ 9.99826336e-01 -1.80288522e-02 -4.71780312e-03 2.47654726e+02] [ 1.80284252e-02 9.99837466e-01 -1.33029672e-04 2.90160622e+00] [ 4.71943469e-03 4.79520091e-05 9.99988862e-01 8.29895259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:247.69, Y:2.90, Z:0.83 [[ 9.99824372e-01 -1.81373775e-02 -4.71806635e-03 2.47685136e+02] [ 1.81369958e-02 9.99835504e-01 -1.23678218e-04 2.90265858e+00] [ 4.71953345e-03 3.80849471e-05 9.99988862e-01 8.29314941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:247.71, Y:2.90, Z:0.82 [[ 9.99800845e-01 -1.93909174e-02 -4.71823872e-03 2.47714393e+02] [ 1.93905784e-02 9.99811978e-01 -1.17597654e-04 2.90443694e+00] [ 4.71963191e-03 2.60848562e-05 9.99988862e-01 8.20283995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864000000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:247.74, Y:2.91, Z:0.83 [[ 9.99819070e-01 -1.84274511e-02 -4.71776406e-03 2.47744426e+02] [ 1.84270226e-02 9.99830199e-01 -1.34274980e-04 2.90572504e+00] [ 4.71943732e-03 4.73163410e-05 9.99988862e-01 8.32217498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:247.77, Y:2.91, Z:0.83 [[ 9.99825970e-01 -1.80490783e-02 -4.71816977e-03 2.47773795e+02] [ 1.80487128e-02 9.99837102e-01 -1.20051955e-04 2.90821956e+00] [ 4.71956801e-03 3.48741711e-05 9.99988862e-01 8.31189498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.80, Y:2.91, Z:0.83 [[ 9.99833332e-01 -1.76365351e-02 -4.71804164e-03 2.47802544e+02] [ 1.76361438e-02 9.99844463e-01 -1.24530773e-04 2.90977075e+00] [ 4.71950410e-03 4.13019571e-05 9.99988862e-01 8.31759456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:2.91, Z:0.82 [[ 9.99800849e-01 -1.93907513e-02 -4.71813825e-03 2.47831849e+02] [ 1.93903953e-02 9.99811981e-01 -1.21186798e-04 2.91012830e+00] [ 4.71960105e-03 2.96760973e-05 9.99988862e-01 8.19867611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:2.91, Z:0.83 [[ 9.99822584e-01 -1.82357687e-02 -4.71767845e-03 2.47862011e+02] [ 1.82353252e-02 9.99833713e-01 -1.37018065e-04 2.91071837e+00] [ 4.71939259e-03 5.09653548e-05 9.99988862e-01 8.32879397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:247.89, Y:2.91, Z:0.83 [[ 9.99794068e-01 -1.97372467e-02 -4.71834084e-03 2.47890698e+02] [ 1.97369274e-02 9.99805201e-01 -1.14218849e-04 2.91071658e+00] [ 4.71967608e-03 2.10697770e-05 9.99988862e-01 8.31963695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.92, Y:2.91, Z:0.83 [[ 9.99701953e-01 -2.39529214e-02 -4.71832001e-03 2.47919034e+02] [ 2.39526458e-02 9.99713088e-01 -1.14928080e-04 2.91062101e+00] [ 4.71971913e-03 1.87757793e-06 9.99988862e-01 8.32913631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:247.95, Y:2.91, Z:0.83 [[ 9.99672078e-01 -2.51690331e-02 -4.71767806e-03 2.47947670e+02] [ 2.51686682e-02 9.99683210e-01 -1.36714061e-04 2.91172460e+00] [ 4.71962451e-03 1.79315557e-05 9.99988862e-01 8.32818186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:247.98, Y:2.91, Z:0.82 [[ 9.99595372e-01 -2.80506002e-02 -4.71762275e-03 2.47977888e+02] [ 2.80502585e-02 9.99606504e-01 -1.38583575e-04 2.91303687e+00] [ 4.71965374e-03 6.19696268e-06 9.99988862e-01 8.20768933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:2.91, Z:0.82 [[ 9.99559606e-01 -2.92974194e-02 -4.71759024e-03 2.48006926e+02] [ 2.92970864e-02 9.99570738e-01 -1.39681782e-04 2.91298373e+00] [ 4.71965747e-03 1.40861801e-06 9.99988862e-01 8.19860861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:248.04, Y:2.91, Z:0.83 [[ 9.99562080e-01 -2.92129007e-02 -4.71757161e-03 2.48036099e+02] [ 2.92125638e-02 9.99573212e-01 -1.40307983e-04 2.91269853e+00] [ 4.71965701e-03 2.43417719e-06 9.99988862e-01 8.33376868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:2.91, Z:0.82 [[ 9.99559513e-01 -2.93006720e-02 -4.71708412e-03 2.48067459e+02] [ 2.93002588e-02 9.99570643e-01 -1.56686587e-04 2.91365683e+00] [ 4.71964983e-03 1.84057825e-05 9.99988862e-01 8.21039086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:2.92, Z:0.82 [[ 9.99539345e-01 -2.99807132e-02 -4.71757660e-03 2.48095972e+02] [ 2.99803859e-02 9.99550477e-01 -1.40103566e-04 2.91510625e+00] [ 4.71965635e-03 -1.39574031e-06 9.99988862e-01 8.21566032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.13, Y:2.92, Z:0.84 [[ 9.99495801e-01 -3.13988628e-02 -4.71755803e-03 2.48125621e+02] [ 3.13985484e-02 9.99506934e-01 -1.40726122e-04 2.91543321e+00] [ 4.71965061e-03 -7.46930647e-06 9.99988862e-01 8.36091219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:248.16, Y:2.92, Z:0.82 [[ 9.99474414e-01 -3.20724803e-02 -4.71714588e-03 2.48156551e+02] [ 3.20721083e-02 9.99485546e-01 -1.54517859e-04 2.91522367e+00] [ 4.71967490e-03 3.14783263e-06 9.99988862e-01 8.20659470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:248.19, Y:2.91, Z:0.84 [[ 9.99464737e-01 -3.23725678e-02 -4.71756354e-03 2.48185653e+02] [ 3.23722652e-02 9.99475871e-01 -1.40493574e-04 2.91398442e+00] [ 4.71963907e-03 -1.22998455e-05 9.99988862e-01 8.35030553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:248.21, Y:2.91, Z:0.84 [[ 9.99450384e-01 -3.28127655e-02 -4.71731776e-03 2.48214779e+02] [ 3.28124288e-02 9.99461516e-01 -1.48778769e-04 2.91397182e+00] [ 4.71965941e-03 -6.08965566e-06 9.99988862e-01 8.35809512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:248.24, Y:2.91, Z:0.84 [[ 9.99429050e-01 -3.34562787e-02 -4.71719240e-03 2.48244547e+02] [ 3.34559291e-02 9.99440182e-01 -1.53010283e-04 2.91377424e+00] [ 4.71967079e-03 -4.89513333e-06 9.99988862e-01 8.36000000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.28, Y:2.91, Z:0.82 [[ 9.99407802e-01 -3.40850568e-02 -4.71736277e-03 2.48275462e+02] [ 3.40847416e-02 9.99418936e-01 -1.47217174e-04 2.91091400e+00] [ 4.71963959e-03 -1.36600988e-05 9.99988862e-01 8.22279317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:248.30, Y:2.91, Z:0.83 [[ 9.99437238e-01 -3.32107232e-02 -4.71763338e-03 2.48304696e+02] [ 3.32104419e-02 9.99448372e-01 -1.37963756e-04 2.91017619e+00] [ 4.71961288e-03 -1.87885740e-05 9.99988862e-01 8.34497237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:2.91, Z:0.82 [[ 9.99488872e-01 -3.16186709e-02 -4.71736406e-03 2.48335902e+02] [ 3.16183282e-02 9.99500005e-01 -1.47213661e-04 2.90986453e+00] [ 4.71966011e-03 -2.01674952e-06 9.99988862e-01 8.22515694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:248.37, Y:2.91, Z:0.84 [[ 9.99626030e-01 -2.69359092e-02 -4.71767424e-03 2.48366352e+02] [ 2.69355650e-02 9.99637163e-01 -1.36493105e-04 2.90837207e+00] [ 4.71963905e-03 9.36883939e-06 9.99988862e-01 8.35321355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.40, Y:2.91, Z:0.82 [[ 9.99650821e-01 -2.59995188e-02 -4.71809548e-03 2.48395372e+02] [ 2.59992328e-02 9.99661955e-01 -1.21950414e-04 2.90784015e+00] [ 4.71967121e-03 -7.59031342e-07 9.99988862e-01 8.23948573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.43, Y:2.91, Z:0.84 [[ 9.99731947e-01 -2.26666681e-02 -4.71764523e-03 2.48425334e+02] [ 2.26662720e-02 9.99743078e-01 -1.37408932e-04 2.90734364e+00] [ 4.71954776e-03 3.04406692e-05 9.99988862e-01 8.35934590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.45, Y:2.91, Z:0.84 [[ 9.99768611e-01 -2.09872179e-02 -4.71808985e-03 2.48454606e+02] [ 2.09868752e-02 9.99779744e-01 -1.22140371e-04 2.90773697e+00] [ 4.71961405e-03 2.30941463e-05 9.99988862e-01 8.36177928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:2.91, Z:0.83 [[ 9.99754687e-01 -2.16403185e-02 -4.71828647e-03 2.48483134e+02] [ 2.16400148e-02 9.99765821e-01 -1.15407269e-04 2.90816489e+00] [ 4.71967899e-03 1.32751696e-05 9.99988862e-01 8.25014781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:248.51, Y:2.91, Z:0.84 [[ 9.99842548e-01 -1.71062373e-02 -4.71762484e-03 2.48513739e+02] [ 1.71057765e-02 9.99853676e-01 -1.38021905e-04 2.91041286e+00] [ 4.71929557e-03 5.73015377e-05 9.99988862e-01 8.36183097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:248.54, Y:2.91, Z:0.84 [[ 9.99868836e-01 -1.54935098e-02 -4.71834110e-03 2.48543048e+02] [ 1.54931464e-02 9.99879968e-01 -1.13552765e-04 2.91183583e+00] [ 4.71953408e-03 4.04359210e-05 9.99988862e-01 8.36687423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:248.57, Y:2.91, Z:0.84 [[ 9.99874571e-01 -1.51187611e-02 -4.71862951e-03 2.48572163e+02] [ 1.51184396e-02 9.99885704e-01 -1.03807340e-04 2.91327162e+00] [ 4.71965963e-03 3.24560040e-05 9.99988862e-01 8.37251120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:2.92, Z:0.84 [[ 9.99868926e-01 -1.54876172e-02 -4.71861887e-03 2.48600648e+02] [ 1.54872981e-02 9.99880059e-01 -1.04161884e-04 2.91543751e+00] [ 4.71966613e-03 3.10695736e-05 9.99988862e-01 8.37112317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:2.92, Z:0.82 [[ 9.99827960e-01 -1.79383979e-02 -4.71842480e-03 2.48629130e+02] [ 1.79380758e-02 9.99839094e-01 -1.10577657e-04 2.91784760e+00] [ 4.71964916e-03 2.59191714e-05 9.99988862e-01 8.24501796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:248.66, Y:2.92, Z:0.84 [[ 9.99793713e-01 -1.97554354e-02 -4.71741777e-03 2.48658562e+02] [ 1.97549775e-02 9.99804841e-01 -1.43648497e-04 2.91900074e+00] [ 4.71933496e-03 5.04263824e-05 9.99988863e-01 8.37415028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:2.92, Z:0.82 [[ 9.99772031e-01 -2.08238906e-02 -4.71723006e-03 2.48688609e+02] [ 2.08234154e-02 9.99783158e-01 -1.49839636e-04 2.91920824e+00] [ 4.71932741e-03 5.15766363e-05 9.99988863e-01 8.24791366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:2.92, Z:0.82 [[ 9.99769276e-01 -2.09556613e-02 -4.71745931e-03 2.48717913e+02] [ 2.09552234e-02 9.99780405e-01 -1.42236029e-04 2.92005429e+00] [ 4.71940403e-03 4.33477983e-05 9.99988863e-01 8.24929477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:2.92, Z:0.84 [[ 9.99755163e-01 -2.16185237e-02 -4.71744048e-03 2.48747656e+02] [ 2.16180903e-02 9.99766292e-01 -1.42857969e-04 2.92137509e+00] [ 4.71942635e-03 4.08409374e-05 9.99988863e-01 8.38230776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:2.92, Z:0.83 [[ 9.99730280e-01 -2.27400321e-02 -4.71783294e-03 2.48777329e+02] [ 2.27396724e-02 9.99741412e-01 -1.29876255e-04 2.92253084e+00] [ 4.71956636e-03 2.25592497e-05 9.99988863e-01 8.25452757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:2.92, Z:0.83 [[ 9.99735106e-01 -2.25269507e-02 -4.71741818e-03 2.48806246e+02] [ 2.25265243e-02 9.99746235e-01 -1.43510250e-04 2.92309710e+00] [ 4.71945391e-03 3.72052004e-05 9.99988863e-01 8.25747937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.84, Y:2.92, Z:0.84 [[ 9.99754464e-01 -2.16508167e-02 -4.71739896e-03 2.48837850e+02] [ 2.16503776e-02 9.99765593e-01 -1.44139125e-04 2.92349744e+00] [ 4.71941390e-03 4.19702652e-05 9.99988863e-01 8.39252802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:248.87, Y:2.92, Z:0.83 [[ 9.99749464e-01 -2.18803321e-02 -4.71814212e-03 2.48866651e+02] [ 2.18800110e-02 9.99760597e-01 -1.19659902e-04 2.92381776e+00] [ 4.71963078e-03 1.63969214e-05 9.99988862e-01 8.25734084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.90, Y:2.93, Z:0.83 [[ 9.99770162e-01 -2.09133518e-02 -4.71742711e-03 2.48895765e+02] [ 2.09129089e-02 9.99781291e-01 -1.43212449e-04 2.92647915e+00] [ 4.71939041e-03 4.45244101e-05 9.99988863e-01 8.25655112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.93, Y:2.93, Z:0.84 [[ 9.99799757e-01 -1.94471823e-02 -4.71740809e-03 2.48926153e+02] [ 1.94467201e-02 9.99810884e-01 -1.43836072e-04 2.92719190e+00] [ 4.71931316e-03 5.20691547e-05 9.99988863e-01 8.39291455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:248.96, Y:2.93, Z:0.84 [[ 9.99802144e-01 -1.93239020e-02 -4.71805065e-03 2.48955350e+02] [ 1.93235374e-02 9.99813275e-01 -1.22857932e-04 2.92613327e+00] [ 4.71954377e-03 3.16641955e-05 9.99988862e-01 8.40985138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:2.93, Z:0.83 [[ 9.99778876e-01 -2.04924465e-02 -4.71783233e-03 2.48984587e+02] [ 2.04920613e-02 9.99790007e-01 -1.29966666e-04 2.92720188e+00] [ 4.71950495e-03 3.32598183e-05 9.99988863e-01 8.28091941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.02, Y:2.93, Z:0.84 [[ 9.99834035e-01 -1.75968633e-02 -4.71735233e-03 2.49015120e+02] [ 1.75963725e-02 9.99845161e-01 -1.45526098e-04 2.92958458e+00] [ 4.71918271e-03 6.24936570e-05 9.99988863e-01 8.41980704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.04, Y:2.93, Z:0.84 [[ 9.99839449e-01 -1.72862316e-02 -4.71831085e-03 2.49043807e+02] [ 1.72858842e-02 9.99850581e-01 -1.14409347e-04 2.93056929e+00] [ 4.71958356e-03 3.28308033e-05 9.99988862e-01 8.42336244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:249.07, Y:2.93, Z:0.84 [[ 9.99853201e-01 -1.64716752e-02 -4.71804242e-03 2.49072660e+02] [ 1.64712777e-02 9.99864332e-01 -1.23086075e-04 2.93161320e+00] [ 4.71942977e-03 4.53558187e-05 9.99988862e-01 8.42753991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:2.93, Z:0.83 [[ 9.99889827e-01 -1.40739082e-02 -4.71785005e-03 2.49102128e+02] [ 1.40734548e-02 9.99900956e-01 -1.29276397e-04 2.93359251e+00] [ 4.71920220e-03 6.28657042e-05 9.99988863e-01 8.28162890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.13, Y:2.94, Z:0.83 [[ 9.99902972e-01 -1.31070471e-02 -4.71729536e-03 2.49131190e+02] [ 1.31064991e-02 9.99914095e-01 -1.47068408e-04 2.93537652e+00] [ 4.71881776e-03 8.52269111e-05 9.99988863e-01 8.29130008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.16, Y:2.94, Z:0.84 [[ 9.99930280e-01 -1.08251240e-02 -4.71727580e-03 2.49161371e+02] [ 1.08245477e-02 9.99941402e-01 -1.47693104e-04 2.94027556e+00] [ 4.71859818e-03 9.66204297e-05 9.99988863e-01 8.44408973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.19, Y:2.94, Z:0.84 [[ 9.99927309e-01 -1.10959078e-02 -4.71772381e-03 2.49189644e+02] [ 1.10954020e-02 9.99938435e-01 -1.33378630e-04 2.94303737e+00] [ 4.71891332e-03 8.10238924e-05 9.99988863e-01 8.44618757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:2.95, Z:0.83 [[ 9.99934396e-01 -1.04376980e-02 -4.71794915e-03 2.49219005e+02] [ 1.04372185e-02 9.99945523e-01 -1.26245868e-04 2.94591628e+00] [ 4.71900985e-03 7.69953194e-05 9.99988862e-01 8.30360847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:2.95, Z:0.83 [[ 9.99920407e-01 -1.17016287e-02 -4.71720191e-03 2.49248095e+02] [ 1.17010523e-02 9.99931529e-01 -1.49779791e-04 2.95070781e+00] [ 4.71863159e-03 9.45716433e-05 9.99988863e-01 8.29092354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.28, Y:2.95, Z:0.83 [[ 9.99890654e-01 -1.40152851e-02 -4.71718192e-03 2.49277126e+02] [ 1.40147314e-02 9.99901778e-01 -1.50406549e-04 2.95290368e+00] [ 4.71882658e-03 8.42800645e-05 9.99988863e-01 8.29251561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.31, Y:2.95, Z:0.84 [[ 9.99796244e-01 -1.96269802e-02 -4.71716194e-03 2.49306871e+02] [ 1.96264861e-02 9.99807371e-01 -1.51030625e-04 2.95408930e+00] [ 4.71921755e-03 5.84185385e-05 9.99988863e-01 8.41955240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:249.34, Y:2.95, Z:0.85 [[ 9.99754850e-01 -2.16330443e-02 -4.71707322e-03 2.49337899e+02] [ 2.16325593e-02 9.99765977e-01 -1.53802095e-04 2.95439292e+00] [ 4.71929653e-03 5.17220241e-05 9.99988863e-01 8.45119070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.37, Y:2.95, Z:0.84 [[ 9.99650369e-01 -2.60170329e-02 -4.71739668e-03 2.49367864e+02] [ 2.60166447e-02 9.99661499e-01 -1.43646101e-04 2.95476339e+00] [ 4.71953708e-03 2.08650443e-05 9.99988863e-01 8.43021311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:2.96, Z:0.83 [[ 9.99517489e-01 -3.07008135e-02 -4.71691554e-03 2.49398777e+02] [ 3.07004062e-02 9.99528619e-01 -1.58748518e-04 2.95739812e+00] [ 4.71956578e-03 1.38606971e-05 9.99988863e-01 8.28508538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.43, Y:2.96, Z:0.84 [[ 9.99491219e-01 -3.15444357e-02 -4.71721191e-03 2.49428981e+02] [ 3.15440819e-02 9.99502350e-01 -1.49390202e-04 2.95897856e+00] [ 4.71957682e-03 5.14076559e-07 9.99988863e-01 8.42813200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.46, Y:2.96, Z:0.84 [[ 9.99506728e-01 -3.10490858e-02 -4.71749487e-03 2.49459065e+02] [ 3.10487687e-02 9.99517861e-01 -1.40467458e-04 2.96193559e+00] [ 4.71958177e-03 -6.07423710e-06 9.99988863e-01 8.44341923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:2.96, Z:0.83 [[ 9.99495963e-01 -3.13937161e-02 -4.71738153e-03 2.49489022e+02] [ 3.13933860e-02 9.99507096e-01 -1.44033749e-04 2.96459942e+00] [ 4.71957807e-03 -4.13342828e-06 9.99988863e-01 8.29720043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:2.97, Z:0.83 [[ 9.99530021e-01 -3.02900154e-02 -4.71720801e-03 2.49517334e+02] [ 3.02896471e-02 9.99541152e-01 -1.49508486e-04 2.96798042e+00] [ 4.71957214e-03 6.55565386e-06 9.99988863e-01 8.28895493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:249.55, Y:2.97, Z:0.84 [[ 9.99574958e-01 -2.87689401e-02 -4.71718820e-03 2.49547288e+02] [ 2.87685519e-02 9.99586088e-01 -1.50130992e-04 2.97197302e+00] [ 4.71955481e-03 1.43605066e-05 9.99988863e-01 8.42718204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.58, Y:2.97, Z:0.84 [[ 9.99560969e-01 -2.92508550e-02 -4.71771459e-03 2.49576571e+02] [ 2.92505500e-02 9.99572102e-01 -1.33638463e-04 2.97336388e+00] [ 4.71960493e-03 -4.41595520e-06 9.99988863e-01 8.41316096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:2.97, Z:0.84 [[ 9.99483679e-01 -3.17823313e-02 -4.71794511e-03 2.49605036e+02] [ 3.17820887e-02 9.99494814e-01 -1.26420126e-04 2.97454046e+00] [ 4.71957959e-03 -2.35912975e-05 9.99988862e-01 8.42938840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.63, Y:2.98, Z:0.83 [[ 9.99369208e-01 -3.51984327e-02 -4.71766542e-03 2.49634850e+02] [ 3.51981869e-02 9.99380343e-01 -1.35147284e-04 2.97646336e+00] [ 4.71949906e-03 -3.09912351e-05 9.99988863e-01 8.30261824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.67, Y:2.98, Z:0.84 [[ 9.99362025e-01 -3.54018582e-02 -4.71713662e-03 2.49665007e+02] [ 3.54015370e-02 9.99373158e-01 -1.51601240e-04 2.97842071e+00] [ 4.71954668e-03 -1.54893642e-05 9.99988863e-01 8.42909065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:249.69, Y:2.98, Z:0.84 [[ 9.99294113e-01 -3.72696044e-02 -4.71716543e-03 2.49694633e+02] [ 3.72693083e-02 9.99305247e-01 -1.50707067e-04 2.97734307e+00] [ 4.71950495e-03 -2.52048070e-05 9.99988863e-01 8.43773813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.72, Y:2.98, Z:0.83 [[ 9.99124930e-01 -4.15586066e-02 -4.71758215e-03 2.49724953e+02] [ 4.15584191e-02 9.99136066e-01 -1.37800344e-04 2.97613291e+00] [ 4.71923326e-03 -5.83754974e-05 9.99988863e-01 8.30479132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:2.97, Z:0.83 [[ 9.98982964e-01 -4.48417864e-02 -4.71710259e-03 2.49754313e+02] [ 4.48415656e-02 9.98994099e-01 -1.52622345e-04 2.97461222e+00] [ 4.71920151e-03 -5.90551423e-05 9.99988863e-01 8.31143265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:249.78, Y:2.97, Z:0.84 [[ 9.99071655e-01 -4.28202871e-02 -4.71709282e-03 2.49784955e+02] [ 4.28200423e-02 9.99082790e-01 -1.52923694e-04 2.97355585e+00] [ 4.71931449e-03 -4.92043861e-05 9.99988863e-01 8.43443720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.81, Y:2.97, Z:0.84 [[ 9.99103167e-01 -4.20785889e-02 -4.71738779e-03 2.49814421e+02] [ 4.20783790e-02 9.99114302e-01 -1.43784791e-04 2.97084862e+00] [ 4.71925987e-03 -5.48441907e-05 9.99988863e-01 8.43239389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.84, Y:2.97, Z:0.84 [[ 9.99215880e-01 -3.93112156e-02 -4.71740393e-03 2.49843908e+02] [ 3.93109772e-02 9.99227015e-01 -1.43287182e-04 2.96726806e+00] [ 4.71939024e-03 -4.22709304e-05 9.99988863e-01 8.44703709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.87, Y:2.97, Z:0.85 [[ 9.99309845e-01 -3.68453608e-02 -4.71728634e-03 2.49873901e+02] [ 3.68450778e-02 9.99320979e-01 -1.46907626e-04 2.96799491e+00] [ 4.71949606e-03 -2.70025456e-05 9.99988863e-01 8.46585227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.90, Y:2.97, Z:0.84 [[ 9.99392592e-01 -3.45280874e-02 -4.71789120e-03 2.49904038e+02] [ 3.45278667e-02 9.99403727e-01 -1.28244135e-04 2.96689530e+00] [ 4.71950608e-03 -3.47324797e-05 9.99988862e-01 8.44107843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:2.96, Z:0.84 [[ 9.99405659e-01 -3.41478230e-02 -4.71743132e-03 2.49934212e+02] [ 3.41475314e-02 9.99416793e-01 -1.42376750e-04 2.96496391e+00] [ 4.71954193e-03 -1.87965044e-05 9.99988863e-01 8.44661719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:2.96, Z:0.85 [[ 9.99426283e-01 -3.35387772e-02 -4.71759308e-03 2.49963712e+02] [ 3.35385023e-02 9.99437417e-01 -1.37391344e-04 2.96206474e+00] [ 4.71954698e-03 -2.09084866e-05 9.99988863e-01 8.45657411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:2.96, Z:0.83 [[ 9.99390744e-01 -3.45815333e-02 -4.71783219e-03 2.49992911e+02] [ 3.45813048e-02 9.99401879e-01 -1.30029123e-04 2.96241279e+00] [ 4.71950696e-03 -3.31988912e-05 9.99988863e-01 8.32017388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.02, Y:2.96, Z:0.83 [[ 9.99398664e-01 -3.43519930e-02 -4.71708294e-03 2.50021558e+02] [ 3.43516530e-02 9.99409796e-01 -1.53111852e-04 2.96126446e+00] [ 4.71955860e-03 -9.01981632e-06 9.99988863e-01 8.31423222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.05, Y:2.96, Z:0.83 [[ 9.99378158e-01 -3.49434919e-02 -4.71706271e-03 2.50050073e+02] [ 3.49431555e-02 9.99389290e-01 -1.53732777e-04 2.96133308e+00] [ 4.71955391e-03 -1.11918767e-05 9.99988863e-01 8.31840131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.08, Y:2.96, Z:0.84 [[ 9.99488246e-01 -3.16385275e-02 -4.71704234e-03 2.50080972e+02] [ 3.16381514e-02 9.99499376e-01 -1.54355264e-04 2.96272851e+00] [ 4.71956445e-03 5.03777248e-06 9.99988863e-01 8.44821710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.11, Y:2.96, Z:0.83 [[ 9.99514566e-01 -3.07956134e-02 -4.71830026e-03 2.50109416e+02] [ 3.07954099e-02 9.99525702e-01 -1.15793665e-04 2.96493749e+00] [ 4.71962832e-03 -2.95645358e-05 9.99988862e-01 8.32494488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.14, Y:2.97, Z:0.85 [[ 9.99614135e-01 -2.73739196e-02 -4.71704102e-03 2.50140084e+02] [ 2.73734963e-02 9.99625264e-01 -1.54291593e-04 2.96618956e+00] [ 4.71949694e-03 2.51101519e-05 9.99988863e-01 8.45950829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.17, Y:2.97, Z:0.84 [[ 9.99587189e-01 -2.83405922e-02 -4.71825034e-03 2.50169280e+02] [ 2.83403556e-02 9.99598325e-01 -1.17002439e-04 2.96538830e+00] [ 4.71967106e-03 -1.67627540e-05 9.99988862e-01 8.44902778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.20, Y:2.97, Z:0.84 [[ 9.99580701e-01 -2.85686061e-02 -4.71778251e-03 2.50198805e+02] [ 2.85683048e-02 9.99591834e-01 -1.31266453e-04 2.96661836e+00] [ 4.71960697e-03 -3.56763597e-06 9.99988863e-01 8.44968766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:250.23, Y:2.97, Z:0.85 [[ 9.99577656e-01 -2.86748742e-02 -4.71814693e-03 2.50227199e+02] [ 2.86746262e-02 9.99588791e-01 -1.20227839e-04 2.96912712e+00] [ 4.71965430e-03 -1.51140377e-05 9.99988862e-01 8.45294369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:2.97, Z:0.84 [[ 9.99522361e-01 -3.05416147e-02 -4.71796353e-03 2.50256378e+02] [ 3.05413614e-02 9.99533496e-01 -1.25740806e-04 2.97084939e+00] [ 4.71960291e-03 -1.84122818e-05 9.99988862e-01 8.43926065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:2.97, Z:0.83 [[ 9.99474500e-01 -3.20697624e-02 -4.71746546e-03 2.50285469e+02] [ 3.20694562e-02 9.99485633e-01 -1.40560160e-04 2.97038956e+00] [ 4.71954668e-03 -1.08002558e-05 9.99988863e-01 8.31922601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.31, Y:2.97, Z:0.83 [[ 9.99389893e-01 -3.46062473e-02 -4.71682596e-03 2.50314153e+02] [ 3.46058800e-02 9.99401024e-01 -1.59474842e-04 2.96834451e+00] [ 4.71951952e-03 -3.85236739e-06 9.99988863e-01 8.32963329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.34, Y:2.97, Z:0.85 [[ 9.99400602e-01 -3.42956092e-02 -4.71680485e-03 2.50344427e+02] [ 3.42952355e-02 9.99411733e-01 -1.60096698e-04 2.96942849e+00] [ 4.71952072e-03 -1.76319717e-06 9.99988863e-01 8.45383551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:2.97, Z:0.84 [[ 9.99399275e-01 -3.43342263e-02 -4.71707367e-03 2.50373480e+02] [ 3.43338905e-02 9.99410407e-01 -1.52183322e-04 2.96952680e+00] [ 4.71951762e-03 -9.86358944e-06 9.99988863e-01 8.44148489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:2.97, Z:0.83 [[ 9.99412869e-01 -3.39362091e-02 -4.71705926e-03 2.50403407e+02] [ 3.39358668e-02 9.99424001e-01 -1.52605277e-04 2.96966586e+00] [ 4.71952108e-03 -7.56181668e-06 9.99988863e-01 8.31518910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.43, Y:2.97, Z:0.84 [[ 9.99461790e-01 -3.24635619e-02 -4.71678500e-03 2.50433291e+02] [ 3.24631653e-02 9.99472920e-01 -1.60657354e-04 2.96963243e+00] [ 4.71951438e-03 7.44911613e-06 9.99988863e-01 8.44118150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:2.97, Z:0.85 [[ 9.99511583e-01 -3.08924912e-02 -4.71684920e-03 2.50462521e+02] [ 3.08920859e-02 9.99522713e-01 -1.58777776e-04 2.97033427e+00] [ 4.71950295e-03 1.29869161e-05 9.99988863e-01 8.45543870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.49, Y:2.97, Z:0.85 [[ 9.99543902e-01 -2.98284732e-02 -4.71702633e-03 2.50492519e+02] [ 2.98280806e-02 9.99555032e-01 -1.53575467e-04 2.97139053e+00] [ 4.71950833e-03 1.28055797e-05 9.99988863e-01 8.46123905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.52, Y:2.97, Z:0.83 [[ 9.99566400e-01 -2.90647015e-02 -4.71746787e-03 2.50521898e+02] [ 2.90643614e-02 9.99577532e-01 -1.40638729e-04 2.97215628e+00] [ 4.71956252e-03 3.46755725e-06 9.99988863e-01 8.32878412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:2.97, Z:0.83 [[ 9.99595712e-01 -2.80386156e-02 -4.71676612e-03 2.50550556e+02] [ 2.80381672e-02 9.99606840e-01 -1.61175265e-04 2.97340249e+00] [ 4.71943081e-03 2.88606263e-05 9.99988863e-01 8.33428019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.58, Y:2.98, Z:0.83 [[ 9.99586673e-01 -2.83590579e-02 -4.71674461e-03 2.50579683e+02] [ 2.83586101e-02 9.99597801e-01 -1.61802455e-04 2.97571544e+00] [ 4.71943610e-03 2.79752568e-05 9.99988863e-01 8.32196050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:2.98, Z:0.83 [[ 9.99582908e-01 -2.84914316e-02 -4.71672297e-03 2.50608984e+02] [ 2.84909823e-02 9.99594036e-01 -1.62430747e-04 2.97669298e+00] [ 4.71943604e-03 2.79789274e-05 9.99988863e-01 8.32334432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:2.98, Z:0.84 [[ 9.99599554e-01 -2.79013499e-02 -4.71670138e-03 2.50640010e+02] [ 2.79008911e-02 9.99610681e-01 -1.63055366e-04 2.97763279e+00] [ 4.71941454e-03 3.13898996e-05 9.99988863e-01 8.44849279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.67, Y:2.98, Z:0.85 [[ 9.99561057e-01 -2.92478436e-02 -4.71765868e-03 2.50669533e+02] [ 2.92475308e-02 9.99572190e-01 -1.35277941e-04 2.97833079e+00] [ 4.71959700e-03 -2.76130552e-06 9.99988863e-01 8.46526558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.70, Y:2.98, Z:0.85 [[ 9.99512107e-01 -3.08755120e-02 -4.71716961e-03 2.50699614e+02] [ 3.08751511e-02 9.99523238e-01 -1.49331623e-04 2.98011097e+00] [ 4.71953134e-03 3.61544027e-06 9.99988863e-01 8.49681034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.73, Y:2.98, Z:0.85 [[ 9.99539107e-01 -2.99887384e-02 -4.71697172e-03 2.50729737e+02] [ 2.99883408e-02 9.99550237e-01 -1.55015596e-04 2.98282870e+00] [ 4.71949892e-03 1.34899946e-05 9.99988863e-01 8.48112327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.76, Y:2.98, Z:0.85 [[ 9.99509178e-01 -3.09701293e-02 -4.71743872e-03 2.50759357e+02] [ 3.09698059e-02 9.99520310e-01 -1.41603818e-04 2.98370072e+00] [ 4.71956130e-03 -4.56384535e-06 9.99988863e-01 8.49410264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:250.79, Y:2.98, Z:0.85 [[ 9.99494033e-01 -3.14551096e-02 -4.71747062e-03 2.50788818e+02] [ 3.14547959e-02 9.99505166e-01 -1.40695118e-04 2.98413140e+00] [ 4.71956183e-03 -7.76314438e-06 9.99988863e-01 8.48220255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:250.82, Y:2.99, Z:0.85 [[ 9.99445047e-01 -3.29749420e-02 -4.71722006e-03 2.50817930e+02] [ 3.29746117e-02 9.99456179e-01 -1.47808903e-04 2.98679363e+00] [ 4.71952872e-03 -7.82162352e-06 9.99988863e-01 8.47556007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:250.85, Y:2.99, Z:0.85 [[ 9.99381290e-01 -3.48537829e-02 -4.71703105e-03 2.50846860e+02] [ 3.48534482e-02 9.99392422e-01 -1.53150409e-04 2.98782292e+00] [ 4.71950296e-03 -1.13491441e-05 9.99988863e-01 8.47461567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:250.88, Y:2.99, Z:0.85 [[ 9.99328041e-01 -3.63485650e-02 -4.71686268e-03 2.50875377e+02] [ 3.63482246e-02 9.99339172e-01 -1.57892982e-04 2.98757942e+00] [ 4.71948483e-03 -1.36626992e-05 9.99988863e-01 8.48331088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:2.99, Z:0.85 [[ 9.99163380e-01 -4.06238103e-02 -4.71652974e-03 2.50904326e+02] [ 4.06234733e-02 9.99174512e-01 -1.67283513e-04 2.98590168e+00] [ 4.71943199e-03 -2.44582598e-05 9.99988863e-01 8.48874038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:250.93, Y:2.99, Z:0.85 [[ 9.99170981e-01 -4.04364904e-02 -4.71604151e-03 2.50934885e+02] [ 4.04360866e-02 9.99182111e-01 -1.80998784e-04 2.98745350e+00] [ 4.71950327e-03 -9.84953022e-06 9.99988863e-01 8.48544715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.96, Y:2.99, Z:0.84 [[ 9.99011171e-01 -4.42089509e-02 -4.71683511e-03 2.50964624e+02] [ 4.42086949e-02 9.99022305e-01 -1.58567017e-04 2.98727556e+00] [ 4.71923356e-03 -5.01149023e-05 9.99988863e-01 8.35274175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:2.99, Z:0.84 [[ 9.98974998e-01 -4.50189643e-02 -4.71655967e-03 2.50994101e+02] [ 4.50186805e-02 9.98986131e-01 -1.66375206e-04 2.98652375e+00] [ 4.71926774e-03 -4.61286217e-05 9.99988863e-01 8.35683936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.02, Y:2.99, Z:0.84 [[ 9.98996136e-01 -4.45474455e-02 -4.71654894e-03 2.51023493e+02] [ 4.45471550e-02 9.99007269e-01 -1.66679028e-04 2.98514220e+00] [ 4.71929180e-03 -4.35971313e-05 9.99988863e-01 8.37164324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:2.99, Z:0.84 [[ 9.99020823e-01 -4.39903246e-02 -4.71653267e-03 2.51052536e+02] [ 4.39900257e-02 9.99031956e-01 -1.67138076e-04 2.98576225e+00] [ 4.71931932e-03 -4.05059753e-05 9.99988863e-01 8.37910229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:2.99, Z:0.84 [[ 9.99070541e-01 -4.28463423e-02 -4.71651072e-03 2.51081079e+02] [ 4.28460277e-02 9.99081673e-01 -1.67755230e-04 2.98663466e+00] [ 4.71936712e-03 -3.44844404e-05 9.99988863e-01 8.37720269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:2.99, Z:0.85 [[ 9.99223881e-01 -3.91074113e-02 -4.71648883e-03 2.51111059e+02] [ 3.91070523e-02 9.99235012e-01 -1.68368372e-04 2.98686979e+00] [ 4.71946523e-03 -1.62102769e-05 9.99988863e-01 8.49169186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.14, Y:2.99, Z:0.84 [[ 9.99214387e-01 -3.93492386e-02 -4.71654641e-03 2.51140877e+02] [ 3.93488898e-02 9.99225519e-01 -1.66759611e-04 2.98738060e+00] [ 4.71945540e-03 -1.89622623e-05 9.99988863e-01 8.37516717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.17, Y:2.99, Z:0.84 [[ 9.99248625e-01 -3.84699835e-02 -4.71647135e-03 2.51169528e+02] [ 3.84696150e-02 9.99259756e-01 -1.68856171e-04 2.98928114e+00] [ 4.71947591e-03 -1.27115401e-05 9.99988863e-01 8.38679915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:2.99, Z:0.84 [[ 9.99203452e-01 -3.96259540e-02 -4.71644902e-03 2.51198537e+02] [ 3.96255954e-02 9.99214583e-01 -1.69477498e-04 2.99036712e+00] [ 4.71946035e-03 -1.75496003e-05 9.99988863e-01 8.38586066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:251.23, Y:2.99, Z:0.85 [[ 9.99208443e-01 -3.94999070e-02 -4.71642652e-03 2.51228646e+02] [ 3.94995441e-02 9.99219574e-01 -1.70101476e-04 2.99028585e+00] [ 4.71946469e-03 -1.63298661e-05 9.99988863e-01 8.50857883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:251.26, Y:2.99, Z:0.85 [[ 9.99079993e-01 -4.26253348e-02 -4.71683308e-03 2.51257637e+02] [ 4.26250601e-02 9.99091126e-01 -1.58802157e-04 2.98897748e+00] [ 4.71931507e-03 -4.23992361e-05 9.99988863e-01 8.51675318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:251.29, Y:2.99, Z:0.85 [[ 9.99056582e-01 -4.31706068e-02 -4.71642119e-03 2.51286889e+02] [ 4.31702845e-02 9.99067714e-01 -1.70159618e-04 2.99081925e+00] [ 4.71937003e-03 -3.36101581e-05 9.99988863e-01 8.51680978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:2.99, Z:0.84 [[ 9.99075457e-01 -4.27315945e-02 -4.71622498e-03 2.51317177e+02] [ 4.27312418e-02 9.99086588e-01 -1.75576068e-04 2.99430141e+00] [ 4.71941977e-03 -2.61164095e-05 9.99988863e-01 8.37099459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:251.35, Y:3.00, Z:0.85 [[ 9.99195608e-01 -3.98232700e-02 -4.71643301e-03 2.51348139e+02] [ 3.98229122e-02 9.99206739e-01 -1.69797678e-04 2.99570993e+00] [ 4.71945354e-03 -1.81610036e-05 9.99988863e-01 8.53094604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:251.38, Y:3.00, Z:0.85 [[ 9.99204766e-01 -3.95927536e-02 -4.71692394e-03 2.51378543e+02] [ 3.95924576e-02 9.99215899e-01 -1.56145835e-04 2.99697280e+00] [ 4.71940764e-03 -3.07329487e-05 9.99988863e-01 8.50129375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:251.41, Y:3.00, Z:0.85 [[ 9.99159561e-01 -4.07175819e-02 -4.71701556e-03 2.51408161e+02] [ 4.07173105e-02 9.99170695e-01 -1.53604765e-04 2.99901181e+00] [ 4.71935813e-03 -3.85885169e-05 9.99988863e-01 8.51747003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:251.44, Y:3.00, Z:0.85 [[ 9.99077352e-01 -4.26871734e-02 -4.71694462e-03 2.51438083e+02] [ 4.26869147e-02 9.99088486e-01 -1.55562274e-04 3.00000149e+00] [ 4.71928558e-03 -4.59330683e-05 9.99988863e-01 8.49942507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.47, Y:3.00, Z:0.84 [[ 9.98794438e-01 -4.88612902e-02 -4.71636405e-03 2.51468340e+02] [ 4.88610248e-02 9.98805572e-01 -1.71550041e-04 2.99906368e+00] [ 4.71911285e-03 -5.91031545e-05 9.99988863e-01 8.38004218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.50, Y:3.00, Z:0.84 [[ 9.98626225e-01 -5.21863740e-02 -4.71637076e-03 2.51497990e+02] [ 5.21861465e-02 9.98637360e-01 -1.71365279e-04 2.99869742e+00] [ 4.71888698e-03 -7.49993543e-05 9.99988863e-01 8.37506309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:3.00, Z:0.84 [[ 9.98412642e-01 -5.61244289e-02 -4.71635977e-03 2.51528015e+02] [ 5.61242439e-02 9.98423778e-01 -1.71667318e-04 2.99725668e+00] [ 4.71856047e-03 -9.33073056e-05 9.99988863e-01 8.37816445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.56, Y:3.00, Z:0.84 [[ 9.98339511e-01 -5.74105990e-02 -4.71634890e-03 2.51557410e+02] [ 5.74104269e-02 9.98350646e-01 -1.71965430e-04 2.99692444e+00] [ 4.71844261e-03 -9.90877202e-05 9.99988863e-01 8.38457936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:251.59, Y:3.00, Z:0.85 [[ 9.98356367e-01 -5.71167329e-02 -4.71633801e-03 2.51586883e+02] [ 5.71165561e-02 9.98367502e-01 -1.72263596e-04 2.99601927e+00] [ 4.71847773e-03 -9.74005267e-05 9.99988863e-01 8.52106230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:251.62, Y:3.00, Z:0.85 [[ 9.98206261e-01 -5.96826654e-02 -4.71587328e-03 2.51615439e+02] [ 5.96824573e-02 9.98217396e-01 -1.84948906e-04 2.99537014e+00] [ 4.71850499e-03 -9.68377505e-05 9.99988863e-01 8.54704166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.65, Y:2.99, Z:0.84 [[ 9.98241000e-01 -5.90988546e-02 -4.71494183e-03 2.51647276e+02] [ 5.90985203e-02 9.98252133e-01 -2.10320350e-04 2.99358719e+00] [ 4.71913043e-03 -6.86956889e-05 9.99988862e-01 8.39806720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:2.99, Z:0.84 [[ 9.98265326e-01 -5.86864209e-02 -4.71634332e-03 2.51675897e+02] [ 5.86862636e-02 9.98276461e-01 -1.71859405e-04 2.99088300e+00] [ 4.71830033e-03 -1.05223282e-04 9.99988863e-01 8.39308874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:251.71, Y:2.99, Z:0.85 [[ 9.98346541e-01 -5.72882143e-02 -4.71632701e-03 2.51706575e+02] [ 5.72880393e-02 9.98357677e-01 -1.72305837e-04 2.98950557e+00] [ 4.71845237e-03 -9.81681905e-05 9.99988863e-01 8.51533648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:2.99, Z:0.84 [[ 9.98319270e-01 -5.77614595e-02 -4.71693386e-03 2.51736561e+02] [ 5.77613679e-02 9.98330406e-01 -1.55749791e-04 2.98821476e+00] [ 4.71805483e-03 -1.16968535e-04 9.99988863e-01 8.39267450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.77, Y:2.99, Z:0.84 [[ 9.98372279e-01 -5.68379252e-02 -4.71628467e-03 2.51765720e+02] [ 5.68377399e-02 9.98383414e-01 -1.73406264e-04 2.98503412e+00] [ 4.71851645e-03 -9.49389553e-05 9.99988863e-01 8.39820466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:2.98, Z:0.84 [[ 9.98395239e-01 -5.64331808e-02 -4.71626253e-03 2.51794581e+02] [ 5.64329882e-02 9.98406374e-01 -1.74006424e-04 2.98476834e+00] [ 4.71856631e-03 -9.24256026e-05 9.99988863e-01 8.40319463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:251.82, Y:2.99, Z:0.85 [[ 9.98560193e-01 -5.34349915e-02 -4.71624022e-03 2.51824126e+02] [ 5.34347626e-02 9.98571327e-01 -1.74609059e-04 2.98548989e+00] [ 4.71883249e-03 -7.76535208e-05 9.99988863e-01 8.52140441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:251.86, Y:2.99, Z:0.84 [[ 9.98603659e-01 -5.26164913e-02 -4.71570596e-03 2.51855404e+02] [ 5.26161853e-02 9.98614791e-01 -1.89014542e-04 2.98666672e+00] [ 4.71911901e-03 -5.93718452e-05 9.99988863e-01 8.39294782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:251.89, Y:2.99, Z:0.85 [[ 9.98774624e-01 -4.92646677e-02 -4.71624440e-03 2.51885466e+02] [ 4.92643931e-02 9.98785757e-01 -1.74458507e-04 2.98801223e+00] [ 4.71911238e-03 -5.80981888e-05 9.99988863e-01 8.51872283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:2.99, Z:0.85 [[ 9.98957224e-01 -4.54116905e-02 -4.71629180e-03 2.51914508e+02] [ 4.54113789e-02 9.98968356e-01 -1.73180048e-04 2.99039347e+00] [ 4.71929066e-03 -4.11738541e-05 9.99988863e-01 8.53531540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:251.94, Y:2.99, Z:0.85 [[ 9.99009183e-01 -4.42538725e-02 -4.71668140e-03 2.51944746e+02] [ 4.42535976e-02 9.99020316e-01 -1.62672046e-04 2.99220002e+00] [ 4.71925941e-03 -4.62192529e-05 9.99988863e-01 8.51864766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:251.97, Y:2.99, Z:0.85 [[ 9.99107873e-01 -4.19667712e-02 -4.71677248e-03 2.51974674e+02] [ 4.19664824e-02 9.99119006e-01 -1.60228490e-04 2.99371482e+00] [ 4.71934130e-03 -3.78608033e-05 9.99988863e-01 8.51259375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.00, Y:2.99, Z:0.84 [[ 9.99063589e-01 -4.30080949e-02 -4.71680452e-03 2.52004093e+02] [ 4.30078217e-02 9.99074723e-01 -1.59374786e-04 2.99486193e+00] [ 4.71929457e-03 -4.36339423e-05 9.99988863e-01 8.38946306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:3.00, Z:0.84 [[ 9.99102242e-01 -4.21007027e-02 -4.71612380e-03 2.52033083e+02] [ 4.21003340e-02 9.99113372e-01 -1.77464969e-04 2.99656495e+00] [ 4.71941375e-03 -2.12447383e-05 9.99988863e-01 8.39245491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:3.00, Z:0.84 [[ 9.99121432e-01 -4.16427952e-02 -4.71610027e-03 2.52061457e+02] [ 4.16424185e-02 9.99132562e-01 -1.78087934e-04 2.99740796e+00] [ 4.71942543e-03 -1.84583498e-05 9.99988863e-01 8.39629652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.09, Y:3.00, Z:0.85 [[ 9.99142793e-01 -4.11270874e-02 -4.71607651e-03 2.52091856e+02] [ 4.11267020e-02 9.99153923e-01 -1.78715035e-04 2.99794717e+00] [ 4.71943637e-03 -1.53948334e-05 9.99988863e-01 8.52466924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.12, Y:3.00, Z:0.86 [[ 9.99141282e-01 -4.11637185e-02 -4.71656810e-03 2.52121381e+02] [ 4.11633948e-02 9.99152415e-01 -1.65724047e-04 3.00017652e+00] [ 4.71939222e-03 -2.85682177e-05 9.99988863e-01 8.55265323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:252.15, Y:3.00, Z:0.85 [[ 9.99161698e-01 -4.06652010e-02 -4.71626515e-03 2.52151992e+02] [ 4.06648340e-02 9.99172828e-01 -1.73736859e-04 3.00255856e+00] [ 4.71942903e-03 -1.81949246e-05 9.99988863e-01 8.53569853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:252.18, Y:3.00, Z:0.85 [[ 9.99190125e-01 -3.99606215e-02 -4.71625987e-03 2.52182071e+02] [ 3.99602459e-02 9.99201255e-01 -1.73876245e-04 3.00285396e+00] [ 4.71944099e-03 -1.47274771e-05 9.99988863e-01 8.52315936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:252.21, Y:3.00, Z:0.85 [[ 9.99079599e-01 -4.26345626e-02 -4.71684805e-03 2.52210519e+02] [ 4.26342900e-02 9.99090733e-01 -1.58384765e-04 3.00227287e+00] [ 4.71931184e-03 -4.28604805e-05 9.99988863e-01 8.54318649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:252.24, Y:3.00, Z:0.86 [[ 9.99004379e-01 -4.43622577e-02 -4.71608113e-03 2.52240847e+02] [ 4.43619096e-02 9.99015510e-01 -1.78430015e-04 3.00156224e+00] [ 4.71935375e-03 -3.09619985e-05 9.99988863e-01 8.56466060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:3.00, Z:0.84 [[ 9.98743590e-01 -4.98898662e-02 -4.71616143e-03 2.52271012e+02] [ 4.98895896e-02 9.98754724e-01 -1.76338624e-04 2.99897836e+00] [ 4.71908602e-03 -5.91702885e-05 9.99988863e-01 8.40476303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:252.30, Y:3.00, Z:0.84 [[ 9.98664670e-01 -5.14454628e-02 -4.71598902e-03 2.52299473e+02] [ 5.14451823e-02 9.98675804e-01 -1.80834956e-04 2.99815531e+00] [ 4.71904726e-03 -6.20214340e-05 9.99988863e-01 8.40513793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.33, Y:2.99, Z:0.85 [[ 9.98726690e-01 -5.02270724e-02 -4.71596546e-03 2.52330963e+02] [ 5.02267755e-02 9.98737823e-01 -1.81447446e-04 2.99499784e+00] [ 4.71912665e-03 -5.56513308e-05 9.99988863e-01 8.53809333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:2.99, Z:0.84 [[ 9.98628184e-01 -5.21488430e-02 -4.71684509e-03 2.52360163e+02] [ 5.21486758e-02 9.98639320e-01 -1.58506455e-04 2.99380425e+00] [ 4.71869290e-03 -8.76882125e-05 9.99988863e-01 8.41486151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.39, Y:2.99, Z:0.84 [[ 9.98630125e-01 -5.21117298e-02 -4.71599316e-03 2.52388760e+02] [ 5.21114573e-02 9.98641259e-01 -1.80736145e-04 2.99313262e+00] [ 4.71900381e-03 -6.52687162e-05 9.99988863e-01 8.41496894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:252.42, Y:2.99, Z:0.85 [[ 9.98826845e-01 -4.81943379e-02 -4.71596962e-03 2.52418875e+02] [ 4.81940188e-02 9.98837977e-01 -1.81348169e-04 2.99134128e+00] [ 4.71922951e-03 -4.61461093e-05 9.99988863e-01 8.54402533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:2.99, Z:0.84 [[ 9.98869688e-01 -4.72979898e-02 -4.71664492e-03 2.52448221e+02] [ 4.72977433e-02 9.98880822e-01 -1.63846088e-04 2.99029094e+00] [ 4.71911575e-03 -5.94257696e-05 9.99988863e-01 8.41838368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.48, Y:2.99, Z:0.84 [[ 9.98863453e-01 -4.74295605e-02 -4.71592771e-03 2.52477527e+02] [ 4.74292279e-02 9.98874584e-01 -1.82390422e-04 2.99140778e+00] [ 4.71927103e-03 -4.14896835e-05 9.99988863e-01 8.41976331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:2.99, Z:0.84 [[ 9.99041108e-01 -4.35272960e-02 -4.71590362e-03 2.52506189e+02] [ 4.35269170e-02 9.99052238e-01 -1.83011195e-04 2.98959043e+00] [ 4.71940005e-03 -2.24330388e-05 9.99988863e-01 8.43088600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.54, Y:2.99, Z:0.85 [[ 9.99198504e-01 -3.97506059e-02 -4.71587935e-03 2.52537336e+02] [ 3.97501819e-02 9.99209632e-01 -1.83634615e-04 2.99108182e+00] [ 4.71945166e-03 -3.96962904e-06 9.99988863e-01 8.53700402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.57, Y:2.99, Z:0.84 [[ 9.99217759e-01 -3.92634594e-02 -4.71702126e-03 2.52565973e+02] [ 3.92631685e-02 9.99228893e-01 -1.54296718e-04 2.99171903e+00] [ 4.71944216e-03 -3.10291800e-05 9.99988863e-01 8.41670970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.60, Y:2.99, Z:0.85 [[ 9.99366466e-01 -3.52764531e-02 -4.71582701e-03 2.52597562e+02] [ 3.52759739e-02 9.99377592e-01 -1.84776216e-04 2.99066171e+00] [ 4.71941010e-03 1.83037634e-05 9.99988863e-01 8.53780827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:252.63, Y:2.99, Z:0.86 [[ 9.99445448e-01 -3.29627737e-02 -4.71716520e-03 2.52627729e+02] [ 3.29624298e-02 9.99456580e-01 -1.50651786e-04 2.99039915e+00] [ 4.71956770e-03 -4.92098553e-06 9.99988863e-01 8.55673900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.66, Y:2.99, Z:0.86 [[ 9.99476725e-01 -3.20003694e-02 -4.71731867e-03 2.52657620e+02] [ 3.20000330e-02 9.99487857e-01 -1.46789896e-04 2.99185285e+00] [ 4.71960006e-03 -4.24126912e-06 9.99988863e-01 8.57194572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.69, Y:2.99, Z:0.84 [[ 9.99502786e-01 -3.11757906e-02 -4.71701682e-03 2.52686712e+02] [ 3.11754093e-02 9.99513917e-01 -1.54360380e-04 2.99312514e+00] [ 4.71953627e-03 7.22869991e-06 9.99988863e-01 8.41895903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:252.72, Y:3.00, Z:0.86 [[ 9.99684033e-01 -2.46900193e-02 -4.71564148e-03 2.52717950e+02] [ 2.46894037e-02 9.99695152e-01 -1.88725806e-04 2.99532277e+00] [ 4.71886357e-03 7.22397988e-05 9.99988863e-01 8.55302903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:252.75, Y:3.00, Z:0.86 [[ 9.99749265e-01 -2.18895240e-02 -4.71752042e-03 2.52746965e+02] [ 2.18890976e-02 9.99760395e-01 -1.41996431e-04 2.99817697e+00] [ 4.71949831e-03 3.86985630e-05 9.99988862e-01 8.56394080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.78, Y:3.00, Z:0.86 [[ 9.99788345e-01 -2.00251665e-02 -4.71787738e-03 2.52776925e+02] [ 2.00247608e-02 9.99799475e-01 -1.33223303e-04 3.00167285e+00] [ 4.71959915e-03 3.87207394e-05 9.99988862e-01 8.56885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:252.81, Y:3.01, Z:0.86 [[ 9.99864027e-01 -1.58010897e-02 -4.71732415e-03 2.52807517e+02] [ 1.58005731e-02 9.99875152e-01 -1.46760064e-04 3.00654406e+00] [ 4.71905417e-03 7.22036833e-05 9.99988863e-01 8.58935794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:252.84, Y:3.01, Z:0.86 [[ 9.99861150e-01 -1.59818000e-02 -4.71826786e-03 2.52837543e+02] [ 1.59813940e-02 9.99872282e-01 -1.23744861e-04 3.00786748e+00] [ 4.71964292e-03 4.83231818e-05 9.99988861e-01 8.57974541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:3.01, Z:0.84 [[ 9.99827406e-01 -1.79694660e-02 -4.71757423e-03 2.52865119e+02] [ 1.79690037e-02 9.99838535e-01 -1.40350437e-04 3.00734360e+00] [ 4.71933452e-03 5.55561047e-05 9.99988862e-01 8.43691338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.89, Y:3.01, Z:0.84 [[ 9.99803761e-01 -1.92407781e-02 -4.71509372e-03 2.52893961e+02] [ 1.92400530e-02 9.99814873e-01 -1.99095356e-04 3.00817889e+00] [ 4.71805158e-03 1.08337632e-04 9.99988864e-01 8.44476522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.92, Y:3.01, Z:0.84 [[ 9.99797950e-01 -1.95404009e-02 -4.71506793e-03 2.52923298e+02] [ 1.95396763e-02 9.99809062e-01 -1.99704244e-04 3.00911539e+00] [ 4.71806995e-03 1.07532992e-04 9.99988864e-01 8.43855687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:252.95, Y:3.01, Z:0.85 [[ 9.99815329e-01 -1.86299651e-02 -4.71504833e-03 2.52952217e+02] [ 1.86292282e-02 9.99826441e-01 -2.00166143e-04 3.01127590e+00] [ 4.71795907e-03 1.12291467e-04 9.99988864e-01 8.46464105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.98, Y:3.01, Z:0.85 [[ 9.99842691e-01 -1.70985789e-02 -4.71502255e-03 2.52981272e+02] [ 1.70978221e-02 9.99853801e-01 -2.00771578e-04 3.01380643e+00] [ 4.71776612e-03 1.20123378e-04 9.99988864e-01 8.45575940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:253.01, Y:3.02, Z:0.86 [[ 9.99931803e-01 -1.06845205e-02 -4.71499645e-03 2.53014271e+02] [ 1.06836896e-02 9.99942907e-01 -2.01382540e-04 3.01734504e+00] [ 4.71687894e-03 1.50995248e-04 9.99988864e-01 8.61007114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:253.04, Y:3.02, Z:0.86 [[ 9.99944315e-01 -9.43956332e-03 -4.71817637e-03 2.53042847e+02] [ 9.43906950e-03 9.99955443e-01 -1.26920776e-04 3.01925659e+00] [ 4.71916422e-03 8.23785142e-05 9.99988861e-01 8.61375315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:3.02, Z:0.85 [[ 9.99939753e-01 -9.91128949e-03 -4.71774509e-03 2.53069873e+02] [ 9.91075361e-03 9.99950878e-01 -1.36952543e-04 3.02094035e+00] [ 4.71887072e-03 9.01878831e-05 9.99988862e-01 8.46805123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:253.10, Y:3.02, Z:0.86 [[ 9.99955810e-01 -8.13325063e-03 -4.71476739e-03 2.53102813e+02] [ 8.13237281e-03 9.99966911e-01 -2.05327385e-04 3.02429713e+00] [ 4.71628136e-03 1.66976065e-04 9.99988864e-01 8.61435716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:3.03, Z:0.85 [[ 9.99907877e-01 -1.27269996e-02 -4.71806539e-03 2.53130182e+02] [ 1.27265283e-02 9.99919006e-01 -1.29887699e-04 3.02682606e+00] [ 4.71933633e-03 6.98311406e-05 9.99988861e-01 8.48360363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.16, Y:3.03, Z:0.85 [[ 9.99900465e-01 -1.32978367e-02 -4.71462487e-03 2.53158759e+02] [ 1.32970041e-02 9.99911569e-01 -2.07907253e-04 3.02964488e+00] [ 4.71697267e-03 1.45196172e-04 9.99988864e-01 8.48149926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50864 meters Centerline goodness : 0.862549 Centerline is valid? [True, False] Translation: X:253.16, Y:3.04, Z:0.85 [[ 9.99998487e-01 9.37996859e-04 1.46478936e-03 2.53156121e+02] [-9.30230640e-04 9.99985556e-01 -5.29364731e-03 3.03809124e+00] [-1.46973363e-03 5.29227671e-03 9.99984916e-01 8.47512114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53864 meters Centerline goodness : 0.999460 Centerline is valid? [False, True] Translation: X:253.18, Y:3.04, Z:0.85 [[ 9.99991941e-01 -2.77731259e-03 -2.89911797e-03 2.53179099e+02] [ 2.77845137e-03 9.99996064e-01 3.88849228e-04 3.03742602e+00] [ 2.89802661e-03 -3.96901153e-04 9.99995722e-01 8.50079250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:253.21, Y:3.04, Z:0.85 [[ 9.99990985e-01 -3.11696710e-03 -2.88345557e-03 2.53207719e+02] [ 3.11674102e-03 9.99995140e-01 -8.28944933e-05 3.03992534e+00] [ 2.88369993e-03 7.39067618e-05 9.99995839e-01 8.51388779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.24, Y:3.05, Z:0.84 [[ 9.99990856e-01 -3.15811434e-03 -2.88358687e-03 2.53236400e+02] [ 3.15789971e-03 9.99995011e-01 -7.89841689e-05 3.04521194e+00] [ 2.88382192e-03 6.98773685e-05 9.99995839e-01 8.39766381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.27, Y:3.05, Z:0.84 [[ 9.99991752e-01 -2.86081968e-03 -2.88296780e-03 2.53265364e+02] [ 2.86055098e-03 9.99995904e-01 -9.73225806e-05 3.04912249e+00] [ 2.88323442e-03 8.90749016e-05 9.99995840e-01 8.39208303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:253.30, Y:3.05, Z:0.85 [[ 9.99991667e-01 -2.89039070e-03 -2.88295529e-03 2.53296748e+02] [ 2.89012106e-03 9.99995819e-01 -9.76918597e-05 3.05312547e+00] [ 2.88322560e-03 8.93589558e-05 9.99995840e-01 8.52169587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:253.33, Y:3.06, Z:0.84 [[ 9.99988342e-01 -3.87291001e-03 -2.88376706e-03 2.53325323e+02] [ 3.87271375e-03 9.99992498e-01 -7.36395440e-05 3.05848780e+00] [ 2.88403063e-03 6.24706812e-05 9.99995839e-01 8.38347370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:253.36, Y:3.06, Z:0.85 [[ 9.99982629e-01 -5.14100746e-03 -2.88294303e-03 2.53356546e+02] [ 5.14074655e-03 9.99986781e-01 -9.79044548e-05 3.06234293e+00] [ 2.88340825e-03 8.30822747e-05 9.99995840e-01 8.50504375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:253.39, Y:3.07, Z:0.85 [[ 9.99959359e-01 -8.54203713e-03 -2.88351055e-03 2.53386151e+02] [ 8.54183835e-03 9.99963515e-01 -8.12479251e-05 3.06765075e+00] [ 2.88409936e-03 5.66141421e-05 9.99995839e-01 8.51245048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.42, Y:3.07, Z:0.84 [[ 9.99937374e-01 -1.08135517e-02 -2.88343294e-03 2.53415576e+02] [ 1.08133558e-02 9.99941530e-01 -8.35140811e-05 3.06963640e+00] [ 2.88416743e-03 5.23292648e-05 9.99995839e-01 8.40058910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:253.45, Y:3.07, Z:0.86 [[ 9.99904843e-01 -1.34905176e-02 -2.88288174e-03 2.53446012e+02] [ 1.34902869e-02 9.99908997e-01 -9.94867023e-05 3.07142961e+00] [ 2.88396151e-03 6.05863338e-05 9.99995840e-01 8.55164485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:253.48, Y:3.08, Z:0.85 [[ 9.99848642e-01 -1.71575199e-02 -2.88315461e-03 2.53476867e+02] [ 1.71573272e-02 9.99852798e-01 -9.15810318e-05 3.07502862e+00] [ 2.88430150e-03 4.20999434e-05 9.99995840e-01 8.54949564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:253.51, Y:3.08, Z:0.84 [[ 9.99776821e-01 -2.09283067e-02 -2.88359789e-03 2.53506252e+02] [ 2.09281668e-02 9.99780979e-01 -7.87077273e-05 3.07773674e+00] [ 2.88461354e-03 1.83417439e-05 9.99995839e-01 8.40802441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:253.54, Y:3.08, Z:0.85 [[ 9.99747697e-01 -2.22762439e-02 -2.88287531e-03 2.53536945e+02] [ 2.22760493e-02 9.99751853e-01 -9.96185958e-05 3.07813872e+00] [ 2.88437906e-03 3.53743894e-05 9.99995840e-01 8.52424496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:253.57, Y:3.08, Z:0.85 [[ 9.99723528e-01 -2.33357041e-02 -2.88327266e-03 2.53567068e+02] [ 2.33355468e-02 9.99727685e-01 -8.81665680e-05 3.07845047e+00] [ 2.88454493e-03 2.08594481e-05 9.99995839e-01 8.51837291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:253.60, Y:3.08, Z:0.84 [[ 9.99663682e-01 -2.57722740e-02 -2.88329619e-03 2.53596432e+02] [ 2.57721288e-02 9.99667840e-01 -8.74935268e-05 3.07871467e+00] [ 2.88459338e-03 1.31554205e-05 9.99995839e-01 8.41248221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:253.63, Y:3.08, Z:0.85 [[ 9.99677723e-01 -2.52217898e-02 -2.88281357e-03 2.53626859e+02] [ 2.52216028e-02 9.99681880e-01 -1.01236423e-04 3.07976947e+00] [ 2.88444986e-03 2.84946184e-05 9.99995840e-01 8.53405457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:253.66, Y:3.08, Z:0.85 [[ 9.99672456e-01 -2.54296579e-02 -2.88330330e-03 2.53655822e+02] [ 2.54295121e-02 9.99676614e-01 -8.72533580e-05 3.07879363e+00] [ 2.88458970e-03 1.39037827e-05 9.99995839e-01 8.54089435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:253.68, Y:3.08, Z:0.85 [[ 9.99641429e-01 -2.66214255e-02 -2.88317995e-03 2.53684566e+02] [ 2.66212745e-02 9.99645587e-01 -9.07591452e-05 3.07891330e+00] [ 2.88457425e-03 1.39726768e-05 9.99995840e-01 8.54300910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:253.71, Y:3.08, Z:0.85 [[ 9.99632574e-01 -2.69519028e-02 -2.88311796e-03 2.53714543e+02] [ 2.69517481e-02 9.99636731e-01 -9.25115112e-05 3.07984103e+00] [ 2.88456397e-03 1.47724512e-05 9.99995840e-01 8.54844375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:253.74, Y:3.08, Z:0.85 [[ 9.99615751e-01 -2.75687910e-02 -2.88322552e-03 2.53743142e+02] [ 2.75686476e-02 9.99619909e-01 -8.94692017e-05 3.08042708e+00] [ 2.88459619e-03 9.94819483e-06 9.99995839e-01 8.53251345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:253.77, Y:3.08, Z:0.85 [[ 9.99579649e-01 -2.88481149e-02 -2.88311392e-03 2.53773072e+02] [ 2.88479678e-02 9.99583806e-01 -9.26102857e-05 3.07973732e+00] [ 2.88458561e-03 9.39937942e-06 9.99995840e-01 8.53909342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:3.08, Z:0.84 [[ 9.99483528e-01 -3.20057070e-02 -2.88318917e-03 2.53803178e+02] [ 3.20055791e-02 9.99487686e-01 -9.05103881e-05 3.07612035e+00] [ 2.88460892e-03 -1.81449689e-06 9.99995840e-01 8.39925297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:253.83, Y:3.08, Z:0.85 [[ 9.99463943e-01 -3.26115970e-02 -2.88273151e-03 2.53833263e+02] [ 3.26114347e-02 9.99468100e-01 -1.03283937e-04 3.07501369e+00] [ 2.88456644e-03 9.21856064e-06 9.99995840e-01 8.52899895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:253.86, Y:3.07, Z:0.85 [[ 9.99465044e-01 -3.25778379e-02 -2.88292115e-03 2.53862928e+02] [ 3.25776909e-02 9.99469201e-01 -9.79763373e-05 3.07468920e+00] [ 2.88458276e-03 4.00501008e-06 9.99995840e-01 8.53150000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.89, Y:3.07, Z:0.85 [[ 9.99493782e-01 -3.16838787e-02 -2.88312069e-03 2.53892166e+02] [ 3.16837440e-02 9.99497940e-01 -9.23862444e-05 3.07229496e+00] [ 2.88460035e-03 9.91418710e-07 9.99995840e-01 8.53685007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:253.92, Y:3.07, Z:0.85 [[ 9.99500293e-01 -3.14778067e-02 -2.88306446e-03 2.53922372e+02] [ 3.14776666e-02 9.99504451e-01 -9.39511053e-05 3.06797681e+00] [ 2.88459313e-03 3.15201533e-06 9.99995840e-01 8.53693319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.95, Y:3.07, Z:0.85 [[ 9.99483753e-01 -3.19986551e-02 -2.88315347e-03 2.53951746e+02] [ 3.19985244e-02 9.99487912e-01 -9.14677632e-05 3.06612332e+00] [ 2.88460389e-03 -8.36113400e-07 9.99995840e-01 8.54334484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:253.98, Y:3.07, Z:0.86 [[ 9.99496754e-01 -3.15899702e-02 -2.88313295e-03 2.53981370e+02] [ 3.15898361e-02 9.99500912e-01 -9.20366253e-05 3.06551191e+00] [ 2.88460144e-03 9.12611001e-07 9.99995840e-01 8.57298536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.01, Y:3.06, Z:0.86 [[ 9.99552621e-01 -2.97698901e-02 -2.88294978e-03 2.54011317e+02] [ 2.97697338e-02 9.99556779e-01 -9.71172128e-05 3.06410742e+00] [ 2.88456317e-03 1.12491170e-05 9.99995840e-01 8.55732656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.04, Y:3.06, Z:0.86 [[ 9.99620346e-01 -2.74016851e-02 -2.88291474e-03 2.54040567e+02] [ 2.74015162e-02 9.99624503e-01 -9.80877032e-05 3.06378185e+00] [ 2.88451998e-03 1.90542291e-05 9.99995840e-01 8.56120712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.07, Y:3.06, Z:0.86 [[ 9.99729727e-01 -2.30685783e-02 -2.88317283e-03 2.54069887e+02] [ 2.30684119e-02 9.99733885e-01 -9.09596216e-05 3.06329838e+00] [ 2.88450389e-03 2.44248192e-05 9.99995840e-01 8.55131619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:3.06, Z:0.84 [[ 9.99766100e-01 -2.14344078e-02 -2.88310256e-03 2.54099360e+02] [ 2.14342291e-02 9.99770256e-01 -9.28868709e-05 3.06407928e+00] [ 2.88443116e-03 3.10680639e-05 9.99995840e-01 8.42520035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.13, Y:3.07, Z:0.86 [[ 9.99797713e-01 -1.99053512e-02 -2.88265422e-03 2.54130548e+02] [ 1.99051307e-02 9.99801868e-01 -1.05174926e-04 3.06553272e+00] [ 2.88417662e-03 4.77740415e-05 9.99995840e-01 8.56188840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:3.07, Z:0.84 [[ 9.99817418e-01 -1.88896528e-02 -2.88308129e-03 2.54160367e+02] [ 1.88894618e-02 9.99821574e-01 -9.34695638e-05 3.06505141e+00] [ 2.88433248e-03 3.89926439e-05 9.99995840e-01 8.44479890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:254.19, Y:3.07, Z:0.86 [[ 9.99812659e-01 -1.91399640e-02 -2.88264939e-03 2.54191268e+02] [ 1.91397399e-02 9.99816813e-01 -1.05293930e-04 3.06608928e+00] [ 2.88413665e-03 5.01010446e-05 9.99995840e-01 8.58574132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.22, Y:3.07, Z:0.86 [[ 9.99812047e-01 -1.91718128e-02 -2.88312890e-03 2.54220717e+02] [ 1.91716269e-02 9.99816203e-01 -9.21081087e-05 3.06690846e+00] [ 2.88436487e-03 3.68165251e-05 9.99995840e-01 8.57942590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:3.07, Z:0.85 [[ 9.99772203e-01 -2.11477778e-02 -2.88334430e-03 2.54249944e+02] [ 2.11476172e-02 9.99776360e-01 -8.62032015e-05 3.06756837e+00] [ 2.88452248e-03 2.52077032e-05 9.99995839e-01 8.46159342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.28, Y:3.07, Z:0.86 [[ 9.99781911e-01 -2.06838373e-02 -2.88263352e-03 2.54280751e+02] [ 2.06836188e-02 9.99786065e-01 -1.05605142e-04 3.06855810e+00] [ 2.88420114e-03 4.59588184e-05 9.99995840e-01 8.58283561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.31, Y:3.07, Z:0.85 [[ 9.99750924e-01 -2.21309084e-02 -2.88333201e-03 2.54309675e+02] [ 2.21307507e-02 9.99755081e-01 -8.66027024e-05 3.07077745e+00] [ 2.88454242e-03 2.27708297e-05 9.99995839e-01 8.45151681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.34, Y:3.07, Z:0.85 [[ 9.99747976e-01 -2.22637727e-02 -2.88259923e-03 2.54338982e+02] [ 2.22635583e-02 9.99752131e-01 -1.06446660e-04 3.07184627e+00] [ 2.88425462e-03 4.22429168e-05 9.99995840e-01 8.45236031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.37, Y:3.07, Z:0.86 [[ 9.99807393e-01 -1.94130895e-02 -2.88258504e-03 2.54369691e+02] [ 1.94128622e-02 9.99811547e-01 -1.06829585e-04 3.07484541e+00] [ 2.88411570e-03 5.08497829e-05 9.99995840e-01 8.56236467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:3.08, Z:0.85 [[ 9.99812515e-01 -1.91473413e-02 -2.88326448e-03 2.54398971e+02] [ 1.91471656e-02 9.99816672e-01 -8.85170648e-05 3.07558466e+00] [ 2.88443076e-03 3.32941268e-05 9.99995839e-01 8.45024519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:3.08, Z:0.86 [[ 9.99825638e-01 -1.84495113e-02 -2.88255861e-03 2.54429518e+02] [ 1.84492781e-02 9.99829792e-01 -1.07452807e-04 3.07694393e+00] [ 2.88405043e-03 5.42529454e-05 9.99995840e-01 8.56968447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:3.08, Z:0.84 [[ 9.99831653e-01 -1.81205673e-02 -2.88293458e-03 2.54458707e+02] [ 1.81203619e-02 9.99835808e-01 -9.73844489e-05 3.07938374e+00] [ 2.88422589e-03 4.51282367e-05 9.99995840e-01 8.44979937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.49, Y:3.08, Z:0.86 [[ 9.99823008e-01 -1.85915132e-02 -2.88253885e-03 2.54489974e+02] [ 1.85912793e-02 9.99827161e-01 -1.07951405e-04 3.08168376e+00] [ 2.88404762e-03 5.43422135e-05 9.99995840e-01 8.58811397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:3.08, Z:0.86 [[ 9.99786600e-01 -2.04558452e-02 -2.88308864e-03 2.54518662e+02] [ 2.04556614e-02 9.99790757e-01 -9.32049214e-05 3.08351092e+00] [ 2.88439195e-03 3.42095465e-05 9.99995840e-01 8.57724851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:3.08, Z:0.85 [[ 9.99769415e-01 -2.12792277e-02 -2.88288499e-03 2.54548284e+02] [ 2.12790317e-02 9.99773571e-01 -9.86590589e-05 3.08481451e+00] [ 2.88433161e-03 3.72913086e-05 9.99995840e-01 8.45198108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.58, Y:3.09, Z:0.86 [[ 9.99740842e-01 -2.25818419e-02 -2.88253559e-03 2.54578276e+02] [ 2.25816244e-02 9.99744997e-01 -1.07985844e-04 3.08698278e+00] [ 2.88423905e-03 4.28655232e-05 9.99995840e-01 8.56672013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:3.09, Z:0.86 [[ 9.99740221e-01 -2.26092721e-02 -2.88288842e-03 2.54607668e+02] [ 2.26090818e-02 9.99744377e-01 -9.85803345e-05 3.09026043e+00] [ 2.88438032e-03 3.33752653e-05 9.99995840e-01 8.56937703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.64, Y:3.09, Z:0.84 [[ 9.99725797e-01 -2.32383050e-02 -2.88306320e-03 2.54636851e+02] [ 2.32381308e-02 9.99729954e-01 -9.39196967e-05 3.09209123e+00] [ 2.88446718e-03 2.68969439e-05 9.99995840e-01 8.44135165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:3.09, Z:0.84 [[ 9.99739710e-01 -2.26319029e-02 -2.88253126e-03 2.54665874e+02] [ 2.26316853e-02 9.99743865e-01 -1.08103713e-04 3.09408370e+00] [ 2.88423953e-03 4.28390340e-05 9.99995840e-01 8.44455218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:3.10, Z:0.84 [[ 9.99744962e-01 -2.23987072e-02 -2.88251673e-03 2.54694843e+02] [ 2.23984874e-02 9.99749117e-01 -1.08489639e-04 3.09742707e+00] [ 2.88422358e-03 4.38979554e-05 9.99995840e-01 8.44677433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:3.10, Z:0.84 [[ 9.99737017e-01 -2.27505539e-02 -2.88250229e-03 2.54723265e+02] [ 2.27503345e-02 9.99741172e-01 -1.08871955e-04 3.10100468e+00] [ 2.88423312e-03 4.32654322e-05 9.99995840e-01 8.43988975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:3.10, Z:0.84 [[ 9.99716591e-01 -2.36311035e-02 -2.88248769e-03 2.54751700e+02] [ 2.36308867e-02 9.99720746e-01 -1.09257197e-04 3.10310760e+00] [ 2.88426461e-03 4.11104923e-05 9.99995840e-01 8.44759685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:3.10, Z:0.85 [[ 9.99688673e-01 -2.47840444e-02 -2.88247309e-03 2.54780860e+02] [ 2.47838312e-02 9.99692828e-01 -1.09641154e-04 3.10472952e+00] [ 2.88430502e-03 3.81682932e-05 9.99995840e-01 8.45135023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:3.11, Z:0.84 [[ 9.99644509e-01 -2.65055968e-02 -2.88245839e-03 2.54809539e+02] [ 2.65053897e-02 9.99648664e-01 -1.10026089e-04 3.10589006e+00] [ 2.88436199e-03 3.35862923e-05 9.99995840e-01 8.44885548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:254.84, Y:3.11, Z:0.86 [[ 9.99622720e-01 -2.73150046e-02 -2.88244364e-03 2.54839329e+02] [ 2.73147998e-02 9.99626875e-01 -1.10411324e-04 3.10789199e+00] [ 2.88438401e-03 3.16362975e-05 9.99995840e-01 8.62696201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.87, Y:3.11, Z:0.86 [[ 9.99640013e-01 -2.66745922e-02 -2.88267657e-03 2.54871188e+02] [ 2.66744022e-02 9.99644169e-01 -1.04320651e-04 3.11094761e+00] [ 2.88443354e-03 2.73894227e-05 9.99995840e-01 8.56122450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:254.90, Y:3.11, Z:0.86 [[ 9.99603067e-01 -2.80249097e-02 -2.88332074e-03 2.54899600e+02] [ 2.80247740e-02 9.99607225e-01 -8.74873624e-05 3.11147830e+00] [ 2.88464007e-03 6.64822372e-06 9.99995839e-01 8.55891785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:254.93, Y:3.11, Z:0.86 [[ 9.99591411e-01 -2.84376533e-02 -2.88293512e-03 2.54929507e+02] [ 2.84374904e-02 9.99595568e-01 -9.74765650e-05 3.11228313e+00] [ 2.88454117e-03 1.54532974e-05 9.99995840e-01 8.57336555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:3.11, Z:0.85 [[ 9.99518477e-01 -3.08950089e-02 -2.88316173e-03 2.54958990e+02] [ 3.08948731e-02 9.99522635e-01 -9.16351182e-05 3.11283821e+00] [ 2.88461647e-03 2.51607811e-06 9.99995839e-01 8.45214656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:254.99, Y:3.11, Z:0.86 [[ 9.99438388e-01 -3.33856450e-02 -2.88236199e-03 2.54989779e+02] [ 3.33854603e-02 9.99442544e-01 -1.12183137e-04 3.11359885e+00] [ 2.88450050e-03 1.58911518e-05 9.99995840e-01 8.57035868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:3.11, Z:0.84 [[ 9.99347175e-01 -3.60126633e-02 -2.88291669e-03 2.55018742e+02] [ 3.60125307e-02 9.99351334e-01 -9.78827499e-05 3.11409449e+00] [ 2.88457166e-03 -6.00227642e-06 9.99995840e-01 8.43601574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:3.11, Z:0.86 [[ 9.99307119e-01 -3.71076114e-02 -2.88237449e-03 2.55049594e+02] [ 3.71074431e-02 9.99311275e-01 -1.11854697e-04 3.11356355e+00] [ 2.88453999e-03 4.81964749e-06 9.99995840e-01 8.56449819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.08, Y:3.11, Z:0.86 [[ 9.99111766e-01 -4.20400618e-02 -2.88300107e-03 2.55079128e+02] [ 4.20399606e-02 9.99115925e-01 -9.57203283e-05 3.10839442e+00] [ 2.88447637e-03 -2.55659453e-05 9.99995840e-01 8.57671444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:3.11, Z:0.85 [[ 9.98983941e-01 -4.49752690e-02 -2.88275427e-03 2.55108792e+02] [ 4.49751617e-02 9.98988100e-01 -1.02071959e-04 3.10630553e+00] [ 2.88442792e-03 -2.76840914e-05 9.99995840e-01 8.45267788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.14, Y:3.10, Z:0.86 [[ 9.98946634e-01 -4.57964548e-02 -2.88235617e-03 2.55138939e+02] [ 4.57963215e-02 9.98950792e-01 -1.12290559e-04 3.10303819e+00] [ 2.88447449e-03 -1.98290335e-05 9.99995840e-01 8.59855528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.17, Y:3.10, Z:0.86 [[ 9.98912777e-01 -4.65290740e-02 -2.88261991e-03 2.55168211e+02] [ 4.65289632e-02 9.98916936e-01 -1.05512534e-04 3.10131553e+00] [ 2.88440725e-03 -2.87274979e-05 9.99995840e-01 8.59423899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:3.10, Z:0.86 [[ 9.99002733e-01 -4.45559285e-02 -2.88244615e-03 2.55197936e+02] [ 4.45557966e-02 9.99006891e-01 -1.09974402e-04 3.09941392e+00] [ 2.88448358e-03 -1.85649561e-05 9.99995840e-01 8.59500618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.23, Y:3.09, Z:0.85 [[ 9.99139601e-01 -4.13732897e-02 -2.88258223e-03 2.55228334e+02] [ 4.13731547e-02 9.99143759e-01 -1.06469396e-04 3.09446333e+00] [ 2.88451904e-03 -1.28837308e-05 9.99995840e-01 8.46845832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.26, Y:3.09, Z:0.86 [[ 9.99256620e-01 -3.84434529e-02 -2.88238663e-03 2.55259928e+02] [ 3.84432911e-02 9.99260777e-01 -1.11524727e-04 3.09337375e+00] [ 2.88454330e-03 6.33392916e-07 9.99995840e-01 8.60185679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:255.29, Y:3.09, Z:0.86 [[ 9.99374345e-01 -3.52506414e-02 -2.88300554e-03 2.55289862e+02] [ 3.52505127e-02 9.99378503e-01 -9.54535926e-05 3.08922956e+00] [ 2.88457856e-03 -6.23355185e-06 9.99995840e-01 8.59434433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.32, Y:3.09, Z:0.86 [[ 9.99411937e-01 -3.41682338e-02 -2.88314978e-03 2.55318888e+02] [ 3.41681115e-02 9.99416095e-01 -9.17095118e-05 3.08788162e+00] [ 2.88459985e-03 -6.85620228e-06 9.99995840e-01 8.60255395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:3.09, Z:0.85 [[ 9.99415547e-01 -3.40624758e-02 -2.88311427e-03 2.55348349e+02] [ 3.40623503e-02 9.99419705e-01 -9.26212757e-05 3.08747507e+00] [ 2.88459613e-03 -5.63850550e-06 9.99995840e-01 8.47953012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:255.38, Y:3.09, Z:0.86 [[ 9.99557710e-01 -2.95985977e-02 -2.88232784e-03 2.55380175e+02] [ 2.95983957e-02 9.99561865e-01 -1.12729296e-04 3.08749699e+00] [ 2.88440162e-03 2.73671573e-05 9.99995840e-01 8.61098417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:255.41, Y:3.09, Z:0.86 [[ 9.99553165e-01 -2.97515565e-02 -2.88347904e-03 2.55409038e+02] [ 2.97514394e-02 9.99557324e-01 -8.34945737e-05 3.08764285e+00] [ 2.88468669e-03 -2.33038652e-06 9.99995839e-01 8.61390430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.44, Y:3.09, Z:0.86 [[ 9.99624712e-01 -2.72419301e-02 -2.88309109e-03 2.55438650e+02] [ 2.72417745e-02 9.99628870e-01 -9.32386690e-05 3.08651635e+00] [ 2.88456109e-03 1.46631603e-05 9.99995840e-01 8.61078069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.47, Y:3.09, Z:0.85 [[ 9.99626056e-01 -2.71925597e-02 -2.88326278e-03 2.55466976e+02] [ 2.71924163e-02 9.99630214e-01 -8.89382405e-05 3.08709473e+00] [ 2.88461505e-03 1.05021009e-05 9.99995839e-01 8.48242157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:255.50, Y:3.09, Z:0.86 [[ 9.99779007e-01 -2.08237776e-02 -2.88217293e-03 2.55499560e+02] [ 2.08235297e-02 9.99783160e-01 -1.16013772e-04 3.09133549e+00] [ 2.88396381e-03 5.59711198e-05 9.99995840e-01 8.62938862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.53, Y:3.09, Z:0.85 [[ 9.99793903e-01 -2.00956384e-02 -2.88373043e-03 2.55527194e+02] [ 2.00954976e-02 9.99798062e-01 -7.77908561e-05 3.09349261e+00] [ 2.88471136e-03 1.98248256e-05 9.99995839e-01 8.49458670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:3.10, Z:0.85 [[ 9.99836436e-01 -1.78548381e-02 -2.88207858e-03 2.55556037e+02] [ 1.78545718e-02 9.99840587e-01 -1.18101732e-04 3.09648488e+00] [ 2.88372783e-03 6.66241359e-05 9.99995840e-01 8.49681363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.59, Y:3.10, Z:0.86 [[ 9.99908611e-01 -1.32084471e-02 -2.88206332e-03 2.55587631e+02] [ 1.32081604e-02 9.99912761e-01 -1.18472994e-04 3.10355598e+00] [ 2.88337673e-03 8.03954119e-05 9.99995840e-01 8.64967073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:3.11, Z:0.85 [[ 9.99903109e-01 -1.36183273e-02 -2.88343011e-03 2.55616079e+02] [ 1.36181383e-02 9.99907265e-01 -8.51878204e-05 3.10787362e+00] [ 2.88432284e-03 4.59126165e-05 9.99995839e-01 8.50977949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.65, Y:3.12, Z:0.87 [[ 9.99907418e-01 -1.32984564e-02 -2.88200682e-03 2.55647749e+02] [ 1.32981672e-02 9.99911568e-01 -1.19510688e-04 3.11718302e+00] [ 2.88334127e-03 8.11742152e-05 9.99995840e-01 8.65373950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.68, Y:3.12, Z:0.85 [[ 9.99899052e-01 -1.39130931e-02 -2.88315087e-03 2.55676296e+02] [ 1.39128858e-02 9.99903207e-01 -9.19504819e-05 3.12196751e+00] [ 2.88415111e-03 5.18282509e-05 9.99995839e-01 8.51687286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:3.13, Z:0.85 [[ 9.99875191e-01 -1.55337583e-02 -2.88197173e-03 2.55705416e+02] [ 1.55334763e-02 9.99879341e-01 -1.20217876e-04 3.12675602e+00] [ 2.88349143e-03 7.54358319e-05 9.99995840e-01 8.51882484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:3.14, Z:0.85 [[ 9.99806431e-01 -1.94626672e-02 -2.88195623e-03 2.55733447e+02] [ 1.94624004e-02 9.99810582e-01 -1.20588212e-04 3.13681718e+00] [ 2.88375731e-03 6.44750840e-05 9.99995840e-01 8.52353583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.76, Y:3.14, Z:0.87 [[ 9.99766215e-01 -2.14291608e-02 -2.88194047e-03 2.55764200e+02] [ 2.14289011e-02 9.99770367e-01 -1.20963793e-04 3.14183411e+00] [ 2.88387083e-03 5.91786968e-05 9.99995840e-01 8.65050445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:255.79, Y:3.15, Z:0.87 [[ 9.99631866e-01 -2.69781978e-02 -2.88262698e-03 2.55793051e+02] [ 2.69780082e-02 9.99636022e-01 -1.04633550e-04 3.14891061e+00] [ 2.88440059e-03 2.68274966e-05 9.99995840e-01 8.65668552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.82, Y:3.15, Z:0.87 [[ 9.99544865e-01 -3.00292344e-02 -2.88227470e-03 2.55821571e+02] [ 3.00290335e-02 9.99549021e-01 -1.12959539e-04 3.15377956e+00] [ 2.88436694e-03 2.63562041e-05 9.99995840e-01 8.65893889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:3.16, Z:0.85 [[ 9.99458108e-01 -3.27900292e-02 -2.88179016e-03 2.55851980e+02] [ 3.27898069e-02 9.99462262e-01 -1.24382616e-04 3.16098371e+00] [ 2.88431902e-03 2.98218712e-05 9.99995840e-01 8.51994341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:255.88, Y:3.16, Z:0.85 [[ 9.99394955e-01 -3.46614810e-02 -2.88191112e-03 2.55881613e+02] [ 3.46612747e-02 9.99399110e-01 -1.21513728e-04 3.16447432e+00] [ 2.88439125e-03 2.15494936e-05 9.99995840e-01 8.51187012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:255.91, Y:3.17, Z:0.87 [[ 9.99279669e-01 -3.78396281e-02 -2.88190302e-03 2.55910612e+02] [ 3.78394344e-02 9.99283825e-01 -1.21705466e-04 3.17159240e+00] [ 2.88444436e-03 1.25682176e-05 9.99995840e-01 8.65256304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:255.94, Y:3.18, Z:0.86 [[ 9.99254995e-01 -3.84857275e-02 -2.88148433e-03 2.55940291e+02] [ 3.84855079e-02 9.99259150e-01 -1.31618709e-04 3.17582477e+00] [ 2.88441502e-03 2.06252641e-05 9.99995840e-01 8.64588670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:255.97, Y:3.18, Z:0.85 [[ 9.99234420e-01 -3.90163066e-02 -2.88129469e-03 2.55971322e+02] [ 3.90160762e-02 9.99238574e-01 -1.36141668e-04 3.17887720e+00] [ 2.88441254e-03 2.36206273e-05 9.99995840e-01 8.51130694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:256.00, Y:3.18, Z:0.87 [[ 9.99060041e-01 -4.32519193e-02 -2.88195916e-03 2.56001229e+02] [ 4.32517525e-02 9.99064198e-01 -1.20211459e-04 3.18175949e+00] [ 2.88446159e-03 -4.55131884e-06 9.99995840e-01 8.66528821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:256.03, Y:3.18, Z:0.87 [[ 9.99007293e-01 -4.44536351e-02 -2.88153836e-03 2.56031577e+02] [ 4.44534441e-02 9.99011449e-01 -1.30323085e-04 3.18413180e+00] [ 2.88448314e-03 2.09940808e-06 9.99995840e-01 8.66488575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:256.06, Y:3.19, Z:0.87 [[ 9.98921199e-01 -4.63479879e-02 -2.88142522e-03 2.56062233e+02] [ 4.63477969e-02 9.98925355e-01 -1.33056790e-04 3.18820005e+00] [ 2.88449563e-03 -6.34463178e-07 9.99995840e-01 8.65747934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:256.09, Y:3.19, Z:0.87 [[ 9.98906133e-01 -4.66715662e-02 -2.88132230e-03 2.56092553e+02] [ 4.66713693e-02 9.98910289e-01 -1.35559217e-04 3.19075006e+00] [ 2.88450925e-03 9.35675910e-07 9.99995840e-01 8.66829907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:256.12, Y:3.19, Z:0.87 [[ 9.98884844e-01 -4.71250199e-02 -2.88125261e-03 2.56123417e+02] [ 4.71248200e-02 9.98888999e-01 -1.37270081e-04 3.19354075e+00] [ 2.88452040e-03 1.33849266e-06 9.99995840e-01 8.65981299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:3.20, Z:0.85 [[ 9.98794274e-01 -4.90071014e-02 -2.88138923e-03 2.56154727e+02] [ 4.90069191e-02 9.98798430e-01 -1.33887753e-04 3.19529966e+00] [ 2.88448849e-03 -7.48168809e-06 9.99995840e-01 8.51699454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:256.18, Y:3.20, Z:0.87 [[ 9.98648851e-01 -5.18860909e-02 -2.88211204e-03 2.56183784e+02] [ 5.18859724e-02 9.98653009e-01 -1.15916051e-04 3.19537769e+00] [ 2.88424429e-03 -3.37817543e-05 9.99995840e-01 8.66220053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:256.21, Y:3.20, Z:0.87 [[ 9.98664198e-01 -5.15899012e-02 -2.88119752e-03 2.56214594e+02] [ 5.15897154e-02 9.98668354e-01 -1.38844653e-04 3.19672555e+00] [ 2.88452376e-03 -9.98097556e-06 9.99995840e-01 8.66309865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.25, Y:3.20, Z:0.85 [[ 9.98564819e-01 -5.34789761e-02 -2.88120813e-03 2.56246823e+02] [ 5.34787988e-02 9.98568976e-01 -1.38577157e-04 3.19573331e+00] [ 2.88449601e-03 -1.57052760e-05 9.99995840e-01 8.51361526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:256.28, Y:3.20, Z:0.87 [[ 9.98325946e-01 -5.77667661e-02 -2.88219681e-03 2.56275314e+02] [ 5.77666792e-02 9.98330105e-01 -1.13462611e-04 3.19648248e+00] [ 2.88393821e-03 -5.32222701e-05 9.99995840e-01 8.67832099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:3.20, Z:0.85 [[ 9.98326053e-01 -5.77649831e-02 -2.88074099e-03 2.56308687e+02] [ 5.77647883e-02 9.98330209e-01 -1.50854823e-04 3.19571871e+00] [ 2.88464488e-03 -1.58030935e-05 9.99995839e-01 8.52690033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.34, Y:3.19, Z:0.85 [[ 9.98262003e-01 -5.88614153e-02 -2.88228262e-03 2.56339690e+02] [ 5.88613408e-02 9.98266162e-01 -1.10724799e-04 3.19428821e+00] [ 2.88380262e-03 -5.91226599e-05 9.99995840e-01 8.51239635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:256.37, Y:3.19, Z:0.87 [[ 9.98100490e-01 -6.15394580e-02 -2.88228262e-03 2.56368077e+02] [ 6.15393947e-02 9.98104649e-01 -1.10724799e-04 3.19325087e+00] [ 2.88363362e-03 -6.68594514e-05 9.99995840e-01 8.66534541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:256.40, Y:3.19, Z:0.87 [[ 9.98163453e-01 -6.05096750e-02 -2.88111497e-03 2.56398511e+02] [ 6.05095195e-02 9.98167610e-01 -1.41209205e-04 3.19159726e+00] [ 2.88438017e-03 -3.33850152e-05 9.99995840e-01 8.66915608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:256.43, Y:3.19, Z:0.86 [[ 9.98220283e-01 -5.95647911e-02 -2.88139964e-03 2.56429790e+02] [ 5.95646533e-02 9.98224441e-01 -1.33710167e-04 3.19033573e+00] [ 2.88424796e-03 -3.81573693e-05 9.99995840e-01 8.64738535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:256.46, Y:3.19, Z:0.85 [[ 9.98428383e-01 -5.59683990e-02 -2.88141349e-03 2.56462099e+02] [ 5.59682472e-02 9.98432540e-01 -1.33342200e-04 3.18533829e+00] [ 2.88435993e-03 -2.81350253e-05 9.99995840e-01 8.51382985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:256.49, Y:3.19, Z:0.86 [[ 9.98495167e-01 -5.47639872e-02 -2.88237274e-03 2.56491607e+02] [ 5.47639045e-02 9.98499326e-01 -1.07660206e-04 3.18514193e+00] [ 2.88394314e-03 -5.03517907e-05 9.99995840e-01 8.64538599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:256.52, Y:3.19, Z:0.86 [[ 9.98621595e-01 -5.24080596e-02 -2.88192287e-03 2.56521391e+02] [ 5.24079322e-02 9.98625753e-01 -1.19738664e-04 3.18557481e+00] [ 2.88423767e-03 -3.14620027e-05 9.99995840e-01 8.64847878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864000000003 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:256.55, Y:3.18, Z:0.86 [[ 9.98763419e-01 -4.96319111e-02 -2.88212471e-03 2.56551564e+02] [ 4.96317880e-02 9.98767577e-01 -1.14291479e-04 3.18246971e+00] [ 2.88424522e-03 -2.88948547e-05 9.99995840e-01 8.64508799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:256.58, Y:3.18, Z:0.86 [[ 9.98845273e-01 -4.79563750e-02 -2.88203886e-03 2.56581051e+02] [ 4.79562381e-02 9.98849431e-01 -1.16616889e-04 3.18065011e+00] [ 2.88431540e-03 -2.17295135e-05 9.99995840e-01 8.64152901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:256.61, Y:3.18, Z:0.87 [[ 9.98915092e-01 -4.64793702e-02 -2.88209840e-03 2.56610822e+02] [ 4.64792318e-02 9.98919250e-01 -1.15005884e-04 3.17953822e+00] [ 2.88432898e-03 -1.90766067e-05 9.99995840e-01 8.65079126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:3.18, Z:0.85 [[ 9.99076213e-01 -4.28767275e-02 -2.88200923e-03 2.56641630e+02] [ 4.28765671e-02 9.99080370e-01 -1.17428071e-04 3.17882853e+00] [ 2.88439378e-03 -6.25106978e-06 9.99995840e-01 8.51244280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:256.67, Y:3.18, Z:0.86 [[ 9.99133541e-01 -4.15193797e-02 -2.88245775e-03 2.56670680e+02] [ 4.15192492e-02 9.99137699e-01 -1.05130543e-04 3.17986434e+00] [ 2.88433716e-03 -1.46380301e-05 9.99995840e-01 8.64133366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:256.70, Y:3.18, Z:0.86 [[ 9.99350077e-01 -3.59321227e-02 -2.88207488e-03 2.56699986e+02] [ 3.59319387e-02 9.99354233e-01 -1.15624160e-04 3.18235102e+00] [ 2.88436836e-03 1.19904749e-05 9.99995840e-01 8.63366248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:256.73, Y:3.18, Z:0.86 [[ 9.99358839e-01 -3.56875352e-02 -2.88280470e-03 2.56728590e+02] [ 3.56874078e-02 9.99362997e-01 -9.56384357e-05 3.18438380e+00] [ 2.88438144e-03 -7.30271092e-06 9.99995840e-01 8.63431467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:256.76, Y:3.19, Z:0.86 [[ 9.99442710e-01 -3.32560097e-02 -2.88231129e-03 2.56758124e+02] [ 3.32558332e-02 9.99446866e-01 -1.09152359e-04 3.18706064e+00] [ 2.88434695e-03 1.32378659e-05 9.99995840e-01 8.64902946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:256.79, Y:3.19, Z:0.87 [[ 9.99574002e-01 -2.90431908e-02 -2.88236397e-03 2.56787519e+02] [ 2.90430009e-02 9.99578157e-01 -1.07713778e-04 3.19366232e+00] [ 2.88427642e-03 2.39553931e-05 9.99995840e-01 8.66265751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:256.82, Y:3.20, Z:0.87 [[ 9.99638504e-01 -2.67310953e-02 -2.88261318e-03 2.56816651e+02] [ 2.67309154e-02 9.99642660e-01 -1.00906156e-04 3.19824469e+00] [ 2.88428044e-03 2.38147900e-05 9.99995840e-01 8.65278746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:3.21, Z:0.85 [[ 9.99658615e-01 -2.59681230e-02 -2.88266128e-03 2.56846668e+02] [ 2.59679438e-02 9.99662771e-01 -9.95969701e-05 3.20667786e+00] [ 2.88427551e-03 2.47061830e-05 9.99995840e-01 8.54131654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:256.88, Y:3.21, Z:0.87 [[ 9.99644664e-01 -2.64997635e-02 -2.88244848e-03 2.56876447e+02] [ 2.64995697e-02 9.99648819e-01 -1.05415793e-04 3.21209027e+00] [ 2.88422971e-03 2.89946909e-05 9.99995840e-01 8.65651129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:256.91, Y:3.22, Z:0.87 [[ 9.99592470e-01 -2.84003998e-02 -2.88281715e-03 2.56906260e+02] [ 2.84002428e-02 9.99596627e-01 -9.53669267e-05 3.21646744e+00] [ 2.88436276e-03 1.34553547e-05 9.99995840e-01 8.65021481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:256.94, Y:3.22, Z:0.86 [[ 9.99477243e-01 -3.22013937e-02 -2.88272429e-03 2.56935777e+02] [ 3.22012453e-02 9.99481401e-01 -9.78906046e-05 3.22250037e+00] [ 2.88438153e-03 5.01211961e-06 9.99995840e-01 8.64264055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:256.97, Y:3.23, Z:0.86 [[ 9.99345939e-01 -3.60469761e-02 -2.88267291e-03 2.56965559e+02] [ 3.60468397e-02 9.99350097e-01 -9.92814569e-05 3.22834770e+00] [ 2.88437825e-03 -4.69472753e-06 9.99995840e-01 8.64155998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.00, Y:3.23, Z:0.86 [[ 9.99301392e-01 -3.72614826e-02 -2.88253047e-03 2.56995286e+02] [ 3.72613401e-02 9.99305550e-01 -1.03138167e-04 3.23092924e+00] [ 2.88437178e-03 -4.34083426e-06 9.99995840e-01 8.63740756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:257.03, Y:3.23, Z:0.87 [[ 9.99199251e-01 -3.99067119e-02 -2.88275776e-03 2.57025630e+02] [ 3.99065982e-02 9.99203410e-01 -9.69864829e-05 3.23239285e+00] [ 2.88433179e-03 -1.81322343e-05 9.99995840e-01 8.65099037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:257.06, Y:3.23, Z:0.87 [[ 9.99024465e-01 -4.40659378e-02 -2.88292181e-03 2.57055971e+02] [ 4.40658542e-02 9.99028624e-01 -9.25341453e-05 3.23398502e+00] [ 2.88419901e-03 -3.45945369e-05 9.99995840e-01 8.65757992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:257.09, Y:3.24, Z:0.87 [[ 9.98940462e-01 -4.59308621e-02 -2.88268340e-03 2.57086613e+02] [ 4.59307676e-02 9.98944620e-01 -9.90236435e-05 3.23533756e+00] [ 2.88418932e-03 -3.34851371e-05 9.99995840e-01 8.66283692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.12, Y:3.23, Z:0.85 [[ 9.98677531e-01 -5.13310575e-02 -2.88288593e-03 2.57117187e+02] [ 5.13310014e-02 9.98681691e-01 -9.35040841e-05 3.23414116e+00] [ 2.88388506e-03 -5.46009941e-05 9.99995840e-01 8.50726987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.15, Y:3.23, Z:0.85 [[ 9.98630108e-01 -5.22455559e-02 -2.88244585e-03 2.57147601e+02] [ 5.22454689e-02 9.98634267e-01 -1.05525137e-04 3.23331584e+00] [ 2.88402242e-03 -4.52141563e-05 9.99995840e-01 8.52069317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.18, Y:3.23, Z:0.85 [[ 9.98552021e-01 -5.37173337e-02 -2.88244585e-03 2.57178140e+02] [ 5.37172528e-02 9.98556180e-01 -1.05525137e-04 3.23321555e+00] [ 2.88395264e-03 -4.94647339e-05 9.99995840e-01 8.50281478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.21, Y:3.23, Z:0.85 [[ 9.98527312e-01 -5.41746986e-02 -2.88244585e-03 2.57208195e+02] [ 5.41746196e-02 9.98531471e-01 -1.05525137e-04 3.23422125e+00] [ 2.88392969e-03 -5.07856764e-05 9.99995840e-01 8.51207123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:3.23, Z:0.85 [[ 9.98526170e-01 -5.41957547e-02 -2.88244585e-03 2.57238227e+02] [ 5.41956759e-02 9.98530329e-01 -1.05525137e-04 3.23462140e+00] [ 2.88392861e-03 -5.08464904e-05 9.99995840e-01 8.51658136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:257.27, Y:3.23, Z:0.87 [[ 9.98643978e-01 -5.19797696e-02 -2.88244585e-03 2.57269339e+02] [ 5.19796815e-02 9.98648137e-01 -1.05525137e-04 3.23299166e+00] [ 2.88403435e-03 -4.44465748e-05 9.99995840e-01 8.65279841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.30, Y:3.23, Z:0.85 [[ 9.98558352e-01 -5.35994962e-02 -2.88315356e-03 2.57298994e+02] [ 5.35994709e-02 9.98562511e-01 -8.60901110e-05 3.23375004e+00] [ 2.88362345e-03 -6.85695060e-05 9.99995840e-01 8.53030608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.33, Y:3.24, Z:0.85 [[ 9.98547431e-01 -5.38026026e-02 -2.88245332e-03 2.57329435e+02] [ 5.38025229e-02 9.98551590e-01 -1.05264738e-04 3.23530084e+00] [ 2.88394186e-03 -4.99714267e-05 9.99995840e-01 8.53509890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.36, Y:3.24, Z:0.85 [[ 9.98495784e-01 -5.47527203e-02 -2.88245332e-03 2.57360031e+02] [ 5.47526445e-02 9.98499943e-01 -1.05264738e-04 3.23527045e+00] [ 2.88389301e-03 -5.27155444e-05 9.99995840e-01 8.53093427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.39, Y:3.23, Z:0.85 [[ 9.98466390e-01 -5.52861641e-02 -2.88245332e-03 2.57390961e+02] [ 5.52860905e-02 9.98470549e-01 -1.05264738e-04 3.23455137e+00] [ 2.88386443e-03 -5.42562720e-05 9.99995840e-01 8.52700032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:3.23, Z:0.85 [[ 9.98338781e-01 -5.75445103e-02 -2.88245332e-03 2.57421247e+02] [ 5.75444461e-02 9.98342940e-01 -1.05264738e-04 3.23238383e+00] [ 2.88373433e-03 -6.07793093e-05 9.99995840e-01 8.53285141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:257.45, Y:3.23, Z:0.87 [[ 9.98349915e-01 -5.73510214e-02 -2.88245332e-03 2.57450999e+02] [ 5.73509564e-02 9.98354074e-01 -1.05264738e-04 3.23201822e+00] [ 2.88374605e-03 -6.02204122e-05 9.99995840e-01 8.65833583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.48, Y:3.23, Z:0.85 [[ 9.98225290e-01 -5.94807746e-02 -2.88226885e-03 2.57481791e+02] [ 5.94807038e-02 9.98229449e-01 -1.10346071e-04 3.22848949e+00] [ 2.88372911e-03 -6.12891405e-05 9.99995840e-01 8.53749397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.51, Y:3.23, Z:0.85 [[ 9.98148103e-01 -6.07622846e-02 -2.88249129e-03 2.57511715e+02] [ 6.07622369e-02 9.98152263e-01 -1.04192003e-04 3.22666951e+00] [ 2.88349615e-03 -7.11475683e-05 9.99995840e-01 8.53944095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.54, Y:3.23, Z:0.85 [[ 9.98132116e-01 -6.10243371e-02 -2.88248476e-03 2.57541812e+02] [ 6.10242900e-02 9.98136276e-01 -1.04372489e-04 3.22585209e+00] [ 2.88348186e-03 -7.17240527e-05 9.99995840e-01 8.54185309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:3.22, Z:0.85 [[ 9.98246653e-01 -5.91211558e-02 -2.88247825e-03 2.57571942e+02] [ 5.91211003e-02 9.98250812e-01 -1.04551819e-04 3.22441528e+00] [ 2.88361748e-03 -6.60467824e-05 9.99995840e-01 8.54555331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.60, Y:3.22, Z:0.85 [[ 9.98346445e-01 -5.74113768e-02 -2.88247171e-03 2.57602043e+02] [ 5.74113136e-02 9.98350605e-01 -1.04731873e-04 3.22382361e+00] [ 2.88373018e-03 -6.09277945e-05 9.99995840e-01 8.54256232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:3.22, Z:0.85 [[ 9.98577284e-01 -5.32456479e-02 -2.88246510e-03 2.57631368e+02] [ 5.32455668e-02 9.98581443e-01 -1.04913526e-04 3.22206963e+00] [ 2.88396235e-03 -4.87142239e-05 9.99995840e-01 8.54065387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.66, Y:3.22, Z:0.85 [[ 9.98685677e-01 -5.11723637e-02 -2.88245840e-03 2.57661105e+02] [ 5.11722735e-02 9.98689835e-01 -1.05097221e-04 3.22266701e+00] [ 2.88405998e-03 -4.25428604e-05 9.99995840e-01 8.53825326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.69, Y:3.22, Z:0.85 [[ 9.98734987e-01 -5.02007651e-02 -2.88245165e-03 2.57690829e+02] [ 5.02006703e-02 9.98739146e-01 -1.05282127e-04 3.22334434e+00] [ 2.88410254e-03 -3.95520612e-05 9.99995840e-01 8.54996613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:3.22, Z:0.85 [[ 9.98922871e-01 -4.63118687e-02 -2.88244482e-03 2.57720244e+02] [ 4.63117572e-02 9.98927029e-01 -1.05468720e-04 3.22183907e+00] [ 2.88423650e-03 -2.81359678e-05 9.99995840e-01 8.54205100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:3.22, Z:0.86 [[ 9.98960740e-01 -4.54877094e-02 -2.88243794e-03 2.57750276e+02] [ 4.54875938e-02 9.98964898e-01 -1.05656528e-04 3.22130473e+00] [ 2.88426039e-03 -2.55684423e-05 9.99995840e-01 8.55288757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.78, Y:3.22, Z:0.86 [[ 9.99004596e-01 -4.45141343e-02 -2.88243450e-03 2.57779805e+02] [ 4.45140145e-02 9.99008754e-01 -1.05750154e-04 3.22123336e+00] [ 2.88428468e-03 -2.26638415e-05 9.99995840e-01 8.56004398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.81, Y:3.22, Z:0.85 [[ 9.98988457e-01 -4.48748792e-02 -2.88242752e-03 2.57809024e+02] [ 4.48747603e-02 9.98992615e-01 -1.05940180e-04 3.22156340e+00] [ 2.88427786e-03 -2.35152266e-05 9.99995840e-01 8.54226204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:3.22, Z:0.85 [[ 9.99004767e-01 -4.45103028e-02 -2.88242055e-03 2.57838495e+02] [ 4.45101819e-02 9.99008925e-01 -1.06129400e-04 3.22178856e+00] [ 2.88428771e-03 -2.22732860e-05 9.99995840e-01 8.54259887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.87, Y:3.22, Z:0.86 [[ 9.99158478e-01 -4.09148890e-02 -2.88241361e-03 2.57868518e+02] [ 4.09147525e-02 9.99162635e-01 -1.06317676e-04 3.22232729e+00] [ 2.88434995e-03 -1.17050324e-05 9.99995840e-01 8.55225873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:3.22, Z:0.85 [[ 9.99232206e-01 -3.90728848e-02 -2.88240662e-03 2.57897523e+02] [ 3.90727402e-02 9.99236363e-01 -1.06506713e-04 3.22314124e+00] [ 2.88436703e-03 -6.19858704e-06 9.99995840e-01 8.54860620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:257.93, Y:3.22, Z:0.87 [[ 9.99374244e-01 -3.52535415e-02 -2.88239242e-03 2.57926444e+02] [ 3.52533799e-02 9.99378401e-01 -1.06889685e-04 3.22388123e+00] [ 2.88436897e-03 5.20872352e-06 9.99995840e-01 8.67557553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.96, Y:3.23, Z:0.86 [[ 9.99487141e-01 -3.18927508e-02 -2.88222428e-03 2.57956683e+02] [ 3.18925621e-02 9.99491297e-01 -1.11392502e-04 3.22540847e+00] [ 2.88431070e-03 1.94138566e-05 9.99995840e-01 8.56774103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:257.99, Y:3.23, Z:0.87 [[ 9.99539241e-01 -3.02158385e-02 -2.88238531e-03 2.57986063e+02] [ 3.02156554e-02 9.99543397e-01 -1.07057062e-04 3.22702094e+00] [ 2.88430402e-03 1.99145735e-05 9.99995840e-01 8.68134209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:258.02, Y:3.23, Z:0.87 [[ 9.99625072e-01 -2.72287790e-02 -2.88254850e-03 2.58015347e+02] [ 2.72285961e-02 9.99629228e-01 -1.02671536e-04 3.22780050e+00] [ 2.88427535e-03 2.41452926e-05 9.99995840e-01 8.68180008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864000000003 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:258.04, Y:3.23, Z:0.86 [[ 9.99628552e-01 -2.71006930e-02 -2.88285873e-03 2.58044652e+02] [ 2.71005336e-02 9.99632709e-01 -9.43765776e-05 3.22824192e+00] [ 2.88435755e-03 1.62145118e-05 9.99995840e-01 8.55885996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:258.07, Y:3.23, Z:0.86 [[ 9.99656647e-01 -2.60438282e-02 -2.88235715e-03 2.58073117e+02] [ 2.60436256e-02 9.99660801e-01 -1.07789193e-04 3.22927373e+00] [ 2.88418670e-03 3.26851523e-05 9.99995840e-01 8.57508252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864000000003 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:258.10, Y:3.23, Z:0.86 [[ 9.99670440e-01 -2.55089046e-02 -2.88234267e-03 2.58101602e+02] [ 2.55086987e-02 9.99674594e-01 -1.08175096e-04 3.23061857e+00] [ 2.88416416e-03 3.46146351e-05 9.99995840e-01 8.56212120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:258.13, Y:3.23, Z:0.86 [[ 9.99667010e-01 -2.56429577e-02 -2.88232803e-03 2.58130907e+02] [ 2.56427512e-02 9.99671165e-01 -1.08563597e-04 3.23169282e+00] [ 2.88416411e-03 3.46166262e-05 9.99995840e-01 8.56296703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:258.16, Y:3.23, Z:0.86 [[ 9.99685556e-01 -2.49094722e-02 -2.88231342e-03 2.58159910e+02] [ 2.49092616e-02 9.99689710e-01 -1.08950107e-04 3.23293181e+00] [ 2.88413296e-03 3.71195489e-05 9.99995840e-01 8.56552459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:258.19, Y:3.23, Z:0.86 [[ 9.99726951e-01 -2.31887076e-02 -2.88229878e-03 2.58188266e+02] [ 2.31884888e-02 9.99731105e-01 -1.09336004e-04 3.23401426e+00] [ 2.88405911e-03 4.24699972e-05 9.99995840e-01 8.56563638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:258.22, Y:3.24, Z:0.87 [[ 9.99786266e-01 -2.04722693e-02 -2.88228418e-03 2.58219593e+02] [ 2.04720381e-02 9.99790420e-01 -1.09719635e-04 3.23551829e+00] [ 2.88392632e-03 5.06899529e-05 9.99995840e-01 8.68814105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:258.25, Y:3.24, Z:0.86 [[ 9.99813495e-01 -1.90961143e-02 -2.88330624e-03 2.58248656e+02] [ 1.90959547e-02 9.99817652e-01 -8.28643170e-05 3.23701875e+00] [ 2.88436286e-03 2.77893769e-05 9.99995840e-01 8.57866018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:258.28, Y:3.24, Z:0.87 [[ 9.99881288e-01 -1.51361672e-02 -2.88224675e-03 2.58279509e+02] [ 1.51359115e-02 9.99885439e-01 -1.10499738e-04 3.24043609e+00] [ 2.88358910e-03 6.68611886e-05 9.99995840e-01 8.72486212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:258.31, Y:3.24, Z:0.86 [[ 9.99908509e-01 -1.32160234e-02 -2.88273801e-03 2.58309278e+02] [ 1.32157967e-02 9.99912663e-01 -9.76796833e-05 3.24249937e+00] [ 2.88377718e-03 5.95730671e-05 9.99995840e-01 8.58675387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:258.34, Y:3.25, Z:0.86 [[ 9.99944106e-01 -1.01724418e-02 -2.88223759e-03 2.58338295e+02] [ 1.01721649e-02 9.99948256e-01 -1.10707871e-04 3.24572729e+00] [ 2.88321463e-03 8.13830867e-05 9.99995840e-01 8.59205463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:258.37, Y:3.25, Z:0.86 [[ 9.99948263e-01 -9.75526053e-03 -2.88222325e-03 2.58367142e+02] [ 9.75498084e-03 9.99952413e-01 -1.11080137e-04 3.24705927e+00] [ 2.88316971e-03 8.29583573e-05 9.99995840e-01 8.59686721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:258.40, Y:3.25, Z:0.86 [[ 9.99948453e-01 -9.73570175e-03 -2.88220884e-03 2.58395755e+02] [ 9.73542091e-03 9.99952603e-01 -1.11452616e-04 3.24838175e+00] [ 2.88315731e-03 8.33873550e-05 9.99995840e-01 8.59562672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:258.42, Y:3.25, Z:0.86 [[ 9.99933819e-01 -1.11378281e-02 -2.88219442e-03 2.58424403e+02] [ 1.11375520e-02 9.99937969e-01 -1.11824245e-04 3.25097321e+00] [ 2.88326112e-03 7.97162538e-05 9.99995840e-01 8.58618336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:258.45, Y:3.25, Z:0.86 [[ 9.99914904e-01 -1.27231072e-02 -2.88217999e-03 2.58453500e+02] [ 1.27228366e-02 9.99919055e-01 -1.12194959e-04 3.25236931e+00] [ 2.88337416e-03 7.55159063e-05 9.99995840e-01 8.57822789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:258.48, Y:3.25, Z:0.86 [[ 9.99900309e-01 -1.38226646e-02 -2.88216554e-03 2.58482628e+02] [ 1.38223975e-02 9.99904460e-01 -1.12565042e-04 3.25379617e+00] [ 2.88344613e-03 7.27153825e-05 9.99995840e-01 8.57692404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:258.51, Y:3.26, Z:0.87 [[ 9.99880435e-01 -1.51924028e-02 -2.88215098e-03 2.58513874e+02] [ 1.51921403e-02 9.99884586e-01 -1.12936597e-04 3.25714807e+00] [ 2.88353412e-03 6.91370514e-05 9.99995840e-01 8.70998188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:258.54, Y:3.26, Z:0.87 [[ 9.99882687e-01 -1.50432865e-02 -2.88293198e-03 2.58543570e+02] [ 1.50430808e-02 9.99886842e-01 -9.30031042e-05 3.26035584e+00] [ 2.88400483e-03 4.96240149e-05 9.99995840e-01 8.69605516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:258.57, Y:3.26, Z:0.87 [[ 9.99885372e-01 -1.48637323e-02 -2.88325537e-03 2.58572433e+02] [ 1.48635495e-02 9.99889528e-01 -8.48081194e-05 3.26471805e+00] [ 2.88419742e-03 4.19429889e-05 9.99995840e-01 8.69525129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:258.60, Y:3.27, Z:0.86 [[ 9.99909276e-01 -1.31579139e-02 -2.88259000e-03 2.58601226e+02] [ 1.31576760e-02 9.99913429e-01 -1.01473005e-04 3.26811869e+00] [ 2.88367562e-03 6.35356132e-05 9.99995840e-01 8.59336070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:258.63, Y:3.27, Z:0.86 [[ 9.99925745e-01 -1.18405186e-02 -2.88204682e-03 2.58630380e+02] [ 1.18402361e-02 9.99929895e-01 -1.15076695e-04 3.27142220e+00] [ 2.88320734e-03 8.09440354e-05 9.99995840e-01 8.59351077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:258.66, Y:3.27, Z:0.87 [[ 9.99922178e-01 -1.21380654e-02 -2.88203185e-03 2.58660075e+02] [ 1.21377831e-02 9.99926328e-01 -1.15450428e-04 3.27435347e+00] [ 2.88322087e-03 8.04599657e-05 9.99995840e-01 8.68618430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:258.69, Y:3.28, Z:0.87 [[ 9.99922767e-01 -1.20894111e-02 -2.88205270e-03 2.58692549e+02] [ 1.20891300e-02 9.99926917e-01 -1.14931349e-04 3.27709261e+00] [ 2.88323153e-03 8.00809626e-05 9.99995840e-01 8.69252890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:258.72, Y:3.28, Z:0.86 [[ 9.99879968e-01 -1.52228593e-02 -2.88347533e-03 2.58720712e+02] [ 1.52226935e-02 9.99884125e-01 -7.94453148e-05 3.27887991e+00] [ 2.88435059e-03 3.55415175e-05 9.99995840e-01 8.58458306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:258.75, Y:3.28, Z:0.87 [[ 9.99794496e-01 -2.00663926e-02 -2.88197811e-03 2.58752191e+02] [ 2.00661402e-02 9.99798648e-01 -1.16487616e-04 3.28263973e+00] [ 2.88373530e-03 5.86335008e-05 9.99995840e-01 8.71419921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17864000000003 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:258.78, Y:3.29, Z:0.87 [[ 9.99774656e-01 -2.10315497e-02 -2.88286753e-03 2.58783412e+02] [ 2.10313650e-02 9.99778812e-01 -9.43713749e-05 3.28504684e+00] [ 2.88421466e-03 3.37194696e-05 9.99995840e-01 8.69350008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20864 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:258.81, Y:3.29, Z:0.87 [[ 9.99733763e-01 -2.28930277e-02 -2.88304382e-03 2.58812545e+02] [ 2.28928634e-02 9.99737920e-01 -8.99974089e-05 3.28710472e+00] [ 2.88434855e-03 2.39723199e-05 9.99995840e-01 8.72476695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23864000000003 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:258.84, Y:3.29, Z:0.86 [[ 9.99736113e-01 -2.27902224e-02 -2.88285621e-03 2.58841558e+02] [ 2.27900443e-02 9.99740269e-01 -9.46343001e-05 3.29255280e+00] [ 2.88426417e-03 2.89089067e-05 9.99995840e-01 8.60133215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26864 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:258.87, Y:3.30, Z:0.87 [[ 9.99779272e-01 -2.08110796e-02 -2.88195958e-03 2.58873330e+02] [ 2.08108295e-02 9.99783424e-01 -1.16764642e-04 3.29673806e+00] [ 2.88376542e-03 5.67628991e-05 9.99995840e-01 8.71010313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29864 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:258.90, Y:3.30, Z:0.87 [[ 9.99812414e-01 -1.91526097e-02 -2.88334254e-03 2.58902554e+02] [ 1.91524510e-02 9.99816572e-01 -8.26715662e-05 3.30423768e+00] [ 2.88439703e-03 2.74329816e-05 9.99995840e-01 8.71825496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:258.93, Y:3.31, Z:0.87 [[ 9.99814524e-01 -1.90421965e-02 -2.88305461e-03 2.58932338e+02] [ 1.90420169e-02 9.99818680e-01 -8.97205089e-05 3.30788539e+00] [ 2.88424033e-03 3.48046931e-05 9.99995840e-01 8.70972637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35864 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:258.96, Y:3.31, Z:0.87 [[ 9.99801778e-01 -1.97000876e-02 -2.88308250e-03 2.58961803e+02] [ 1.96999127e-02 9.99805934e-01 -8.90432571e-05 3.31126539e+00] [ 2.88427715e-03 3.22291332e-05 9.99995840e-01 8.70459509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:258.99, Y:3.32, Z:0.86 [[ 9.99771459e-01 -2.11830059e-02 -2.88285491e-03 2.58991542e+02] [ 2.11828213e-02 9.99775614e-01 -9.45476149e-05 3.31761462e+00] [ 2.88421084e-03 3.34590066e-05 9.99995840e-01 8.61293214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41864 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:259.02, Y:3.32, Z:0.87 [[ 9.99741808e-01 -2.25391459e-02 -2.88184560e-03 2.59022679e+02] [ 2.25388965e-02 9.99745960e-01 -1.18991951e-04 3.32046259e+00] [ 2.88379547e-03 5.40076085e-05 9.99995840e-01 8.72602836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44864 meters Centerline goodness : 0.961925 Centerline is valid? [True, True] Translation: X:259.10, Y:3.35, Z:0.86 [[ 9.99271253e-01 3.80611574e-02 -2.88275123e-03 2.59102935e+02] [-3.80615942e-02 9.99275390e-01 -9.67959067e-05 3.35414603e+00] [ 2.87697819e-03 2.06447474e-04 9.99995840e-01 8.58197607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:259.07, Y:3.32, Z:0.86 [[ 9.99507884e-01 -3.12333375e-02 -2.91000057e-03 2.59069684e+02] [ 3.12354628e-02 9.99511817e-01 6.87761243e-04 3.31904688e+00] [ 2.88709888e-03 -7.78317999e-04 9.99995529e-01 8.60293076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50864 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:259.10, Y:3.32, Z:0.87 [[ 9.99476153e-01 -3.22361357e-02 -2.87242674e-03 2.59101059e+02] [ 3.22358903e-02 9.99480280e-01 -1.31708219e-04 3.32201681e+00] [ 2.87517964e-03 3.90439910e-05 9.99995866e-01 8.71716909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:259.13, Y:3.33, Z:0.86 [[ 9.99432661e-01 -3.35574305e-02 -2.87330741e-03 2.59131394e+02] [ 3.35572458e-02 9.99436791e-01 -1.12491309e-04 3.32562764e+00] [ 2.87546406e-03 1.60072054e-05 9.99995866e-01 8.60339970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:259.16, Y:3.33, Z:0.86 [[ 9.99399202e-01 -3.45396003e-02 -2.87242266e-03 2.59161910e+02] [ 3.45393642e-02 9.99403329e-01 -1.31776745e-04 3.32757681e+00] [ 2.87526029e-03 3.24859211e-05 9.99995866e-01 8.60816230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59864 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:259.19, Y:3.33, Z:0.87 [[ 9.99369060e-01 -3.54009942e-02 -2.87242266e-03 2.59192436e+02] [ 3.54007616e-02 9.99373188e-01 -1.31776745e-04 3.32911448e+00] [ 2.87528722e-03 3.00076517e-05 9.99995866e-01 8.72278657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:259.22, Y:3.33, Z:0.86 [[ 9.99316358e-01 -3.68586887e-02 -2.87282937e-03 2.59222791e+02] [ 3.68584876e-02 9.99320488e-01 -1.22918169e-04 3.33078964e+00] [ 2.87540785e-03 1.69459910e-05 9.99995866e-01 8.59988618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:259.25, Y:3.33, Z:0.86 [[ 9.99268402e-01 -3.81367387e-02 -2.87241323e-03 2.59253352e+02] [ 3.81365169e-02 9.99272530e-01 -1.31975300e-04 3.33139718e+00] [ 2.87535674e-03 2.23349110e-05 9.99995866e-01 8.60856629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:259.28, Y:3.33, Z:0.86 [[ 9.99136781e-01 -4.14420370e-02 -2.87241323e-03 2.59283790e+02] [ 4.14418288e-02 9.99140910e-01 -1.31975300e-04 3.33028795e+00] [ 2.87541489e-03 1.28233188e-05 9.99995866e-01 8.60475004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:259.31, Y:3.33, Z:0.86 [[ 9.99115633e-01 -4.19487990e-02 -2.87241323e-03 2.59314501e+02] [ 4.19485929e-02 9.99119762e-01 -1.31975300e-04 3.33157007e+00] [ 2.87542103e-03 1.13648917e-05 9.99995866e-01 8.61101258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:259.34, Y:3.33, Z:0.86 [[ 9.99145747e-01 -4.12252988e-02 -2.87241323e-03 2.59344734e+02] [ 4.12250897e-02 9.99149876e-01 -1.31975300e-04 3.33300861e+00] [ 2.87541204e-03 1.34470663e-05 9.99995866e-01 8.62066033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:259.37, Y:3.33, Z:0.86 [[ 9.99199403e-01 -3.99036675e-02 -2.87241323e-03 2.59374860e+02] [ 3.99034530e-02 9.99203531e-01 -1.31975300e-04 3.33391111e+00] [ 2.87539174e-03 1.72504345e-05 9.99995866e-01 8.62296010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:259.41, Y:3.33, Z:0.87 [[ 9.99197936e-01 -3.99403889e-02 -2.87241323e-03 2.59405465e+02] [ 3.99401745e-02 9.99202064e-01 -1.31975300e-04 3.33451414e+00] [ 2.87539237e-03 1.71447614e-05 9.99995866e-01 8.73106028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:259.44, Y:3.34, Z:0.86 [[ 9.99309680e-01 -3.70393261e-02 -2.87245084e-03 2.59435985e+02] [ 3.70391021e-02 9.99313808e-01 -1.31157746e-04 3.33663464e+00] [ 2.87533778e-03 2.46742057e-05 9.99995866e-01 8.60504492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86864 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:259.47, Y:3.34, Z:0.87 [[ 9.99299107e-01 -3.73234936e-02 -2.87241188e-03 2.59465957e+02] [ 3.73232683e-02 9.99303235e-01 -1.32005529e-04 3.33875347e+00] [ 2.87533739e-03 2.47052078e-05 9.99995866e-01 8.73735294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.50, Y:3.34, Z:0.86 [[ 9.99341430e-01 -3.61725876e-02 -2.87232306e-03 2.59497107e+02] [ 3.61723520e-02 9.99345557e-01 -1.33939654e-04 3.34081232e+00] [ 2.87528824e-03 2.99527640e-05 9.99995866e-01 8.60769650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:259.53, Y:3.34, Z:0.86 [[ 9.99378200e-01 -3.51420449e-02 -2.87241408e-03 2.59527330e+02] [ 3.51418108e-02 9.99382327e-01 -1.31958438e-04 3.34187572e+00] [ 2.87527716e-03 3.09345540e-05 9.99995866e-01 8.61239374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:259.56, Y:3.34, Z:0.86 [[ 9.99406202e-01 -3.43364742e-02 -2.87241408e-03 2.59557891e+02] [ 3.43362367e-02 9.99410329e-01 -1.31958438e-04 3.34323127e+00] [ 2.87525129e-03 3.32521915e-05 9.99995866e-01 8.60967041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864000000003 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:259.59, Y:3.35, Z:0.87 [[ 9.99448920e-01 -3.30696941e-02 -2.87241408e-03 2.59588088e+02] [ 3.30694514e-02 9.99453047e-01 -1.31958438e-04 3.34689893e+00] [ 2.87520683e-03 3.68965607e-05 9.99995866e-01 8.73136716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:259.62, Y:3.35, Z:0.86 [[ 9.99460654e-01 -3.27131085e-02 -2.87296784e-03 2.59618578e+02] [ 3.27128990e-02 9.99464783e-01 -1.19899532e-04 3.35033892e+00] [ 2.87535247e-03 2.58517573e-05 9.99995866e-01 8.62647258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:259.65, Y:3.35, Z:0.87 [[ 9.99523100e-01 -3.07460837e-02 -2.87242187e-03 2.59648653e+02] [ 3.07458319e-02 9.99527226e-01 -1.31798600e-04 3.35328667e+00] [ 2.87511615e-03 4.34207456e-05 9.99995866e-01 8.74388301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07864 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:259.68, Y:3.36, Z:0.87 [[ 9.99530607e-01 -3.05010016e-02 -2.87306512e-03 2.59679138e+02] [ 3.05007892e-02 9.99534736e-01 -1.17724211e-04 3.35606875e+00] [ 2.87531909e-03 3.00381990e-05 9.99995866e-01 8.72685821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:259.71, Y:3.36, Z:0.86 [[ 9.99547318e-01 -2.99483975e-02 -2.87285761e-03 2.59709369e+02] [ 2.99481697e-02 9.99551445e-01 -1.22266377e-04 3.36080591e+00] [ 2.87523066e-03 3.61742013e-05 9.99995866e-01 8.63507882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:259.74, Y:3.36, Z:0.86 [[ 9.99519079e-01 -3.08765098e-02 -2.87244488e-03 2.59739451e+02] [ 3.08762599e-02 9.99523206e-01 -1.31295935e-04 3.36391735e+00] [ 2.87512928e-03 4.25424372e-05 9.99995866e-01 8.63531906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:259.77, Y:3.37, Z:0.86 [[ 9.99490604e-01 -3.17849407e-02 -2.87244054e-03 2.59769943e+02] [ 3.17846944e-02 9.99494730e-01 -1.31390977e-04 3.36717459e+00] [ 2.87516543e-03 4.00244022e-05 9.99995866e-01 8.62559599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:259.80, Y:3.37, Z:0.86 [[ 9.99463122e-01 -3.26376448e-02 -2.87244054e-03 2.59800864e+02] [ 3.26374020e-02 9.99467249e-01 -1.31390977e-04 3.36859294e+00] [ 2.87519853e-03 3.75714396e-05 9.99995866e-01 8.62853228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:259.83, Y:3.37, Z:0.87 [[ 9.99430277e-01 -3.36284132e-02 -2.87244054e-03 2.59832485e+02] [ 3.36281745e-02 9.99434404e-01 -1.31390977e-04 3.37032836e+00] [ 2.87523437e-03 3.47211889e-05 9.99995866e-01 8.73458446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25864 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:259.86, Y:3.37, Z:0.88 [[ 9.99356824e-01 -3.57447010e-02 -2.87316361e-03 2.59862591e+02] [ 3.57445165e-02 9.99360954e-01 -1.15548976e-04 3.37334076e+00] [ 2.87545779e-03 1.27748131e-05 9.99995866e-01 8.75853822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:259.89, Y:3.37, Z:0.88 [[ 9.99278417e-01 -3.78733288e-02 -2.87325754e-03 2.59893326e+02] [ 3.78731590e-02 9.99282548e-01 -1.13489573e-04 3.37463163e+00] [ 2.87549434e-03 4.58834098e-06 9.99995866e-01 8.76005942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:259.92, Y:3.37, Z:0.88 [[ 9.99195148e-01 -4.00100251e-02 -2.87289117e-03 2.59924664e+02] [ 4.00098410e-02 9.99199278e-01 -1.21561442e-04 3.37316685e+00] [ 2.87545446e-03 6.51968392e-06 9.99995866e-01 8.75369316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:259.96, Y:3.37, Z:0.88 [[ 9.99195856e-01 -3.99923381e-02 -2.87296415e-03 2.59955807e+02] [ 3.99921586e-02 9.99199986e-01 -1.19946852e-04 3.37312837e+00] [ 2.87546270e-03 4.95435976e-06 9.99995866e-01 8.76337285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:259.99, Y:3.37, Z:0.86 [[ 9.99179709e-01 -4.03937432e-02 -2.87304453e-03 2.59987029e+02] [ 4.03935705e-02 9.99183840e-01 -1.18157690e-04 3.37417666e+00] [ 2.87547250e-03 2.00823942e-06 9.99995866e-01 8.64022240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:260.02, Y:3.38, Z:0.86 [[ 9.99182333e-01 -4.03288257e-02 -2.87256301e-03 2.60018825e+02] [ 4.03286218e-02 9.99186462e-01 -1.28889494e-04 3.37562893e+00] [ 2.87542403e-03 1.29375980e-05 9.99995866e-01 8.64114496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:260.05, Y:3.37, Z:0.88 [[ 9.99139681e-01 -4.13720351e-02 -2.87257137e-03 2.60049685e+02] [ 4.13718361e-02 9.99143811e-01 -1.28702771e-04 3.37492703e+00] [ 2.87543660e-03 9.74849382e-06 9.99995866e-01 8.76913374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:260.08, Y:3.38, Z:0.88 [[ 9.99127962e-01 -4.16540870e-02 -2.87274466e-03 2.60080919e+02] [ 4.16539003e-02 9.99132092e-01 -1.24812128e-04 3.37503718e+00] [ 2.87545032e-03 5.04226767e-06 9.99995866e-01 8.77986846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:260.11, Y:3.38, Z:0.88 [[ 9.99185709e-01 -4.02450696e-02 -2.87272671e-03 2.60112243e+02] [ 4.02448760e-02 9.99189839e-01 -1.25215767e-04 3.37569796e+00] [ 2.87543865e-03 9.50127511e-06 9.99995866e-01 8.77145441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:260.14, Y:3.38, Z:0.87 [[ 9.99205192e-01 -3.97583825e-02 -2.87323153e-03 2.60142476e+02] [ 3.97582196e-02 9.99209323e-01 -1.13791256e-04 3.37657140e+00] [ 2.87548389e-03 -5.33756260e-07 9.99995866e-01 8.65739047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:260.17, Y:3.38, Z:0.88 [[ 9.99210115e-01 -3.96344948e-02 -2.87266324e-03 2.60172554e+02] [ 3.96342944e-02 9.99214245e-01 -1.26678353e-04 3.37723994e+00] [ 2.87542686e-03 1.27223117e-05 9.99995866e-01 8.76292956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:260.20, Y:3.38, Z:0.88 [[ 9.99248508e-01 -3.86544412e-02 -2.87295752e-03 2.60203029e+02] [ 3.86542560e-02 9.99252638e-01 -1.19989298e-04 3.37756538e+00] [ 2.87544850e-03 8.84709138e-06 9.99995866e-01 8.76759390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:260.23, Y:3.38, Z:0.88 [[ 9.99282225e-01 -3.77727302e-02 -2.87321619e-03 2.60233405e+02] [ 3.77725583e-02 9.99286356e-01 -1.14103607e-04 3.37914302e+00] [ 2.87547574e-03 5.49298010e-06 9.99995866e-01 8.78503022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:260.26, Y:3.38, Z:0.88 [[ 9.99278126e-01 -3.78810173e-02 -2.87335454e-03 2.60263593e+02] [ 3.78808549e-02 9.99282257e-01 -1.10950067e-04 3.37959697e+00] [ 2.87549511e-03 2.02484828e-06 9.99995866e-01 8.77676929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67864000000003 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:260.29, Y:3.38, Z:0.88 [[ 9.99322179e-01 -3.67005135e-02 -2.87311968e-03 2.60294549e+02] [ 3.67003308e-02 9.99326309e-01 -1.16306570e-04 3.38047417e+00] [ 2.87545259e-03 1.07832921e-05 9.99995866e-01 8.78657304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:260.32, Y:3.38, Z:0.88 [[ 9.99439372e-01 -3.33569300e-02 -2.87360730e-03 2.60324932e+02] [ 3.33567654e-02 9.99443503e-01 -1.05173536e-04 3.38309289e+00] [ 2.87551641e-03 9.26032790e-06 9.99995866e-01 8.78726866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73864000000003 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:260.35, Y:3.39, Z:0.88 [[ 9.99513674e-01 -3.10508911e-02 -2.87351078e-03 2.60355000e+02] [ 3.10507107e-02 9.99517805e-01 -1.07366940e-04 3.38631525e+00] [ 2.87545902e-03 1.80901732e-05 9.99995866e-01 8.82136315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76864 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:260.39, Y:3.39, Z:0.88 [[ 9.99639582e-01 -2.66917890e-02 -2.87323235e-03 2.60386572e+02] [ 2.66915724e-02 9.99643710e-01 -1.13699370e-04 3.38939382e+00] [ 2.87524349e-03 3.69673014e-05 9.99995866e-01 8.80880945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:260.42, Y:3.39, Z:0.88 [[ 9.99746024e-01 -2.23523562e-02 -2.87384778e-03 2.60416820e+02] [ 2.23521620e-02 9.99750154e-01 -9.96666710e-05 3.39214379e+00] [ 2.87535754e-03 3.54046469e-05 9.99995866e-01 8.79349235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:260.45, Y:3.40, Z:0.87 [[ 9.99767255e-01 -2.13816661e-02 -2.87401245e-03 2.60446319e+02] [ 2.13814786e-02 9.99771385e-01 -9.59432062e-05 3.39531683e+00] [ 2.87540684e-03 3.44702400e-05 9.99995865e-01 8.69799772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:260.48, Y:3.40, Z:0.87 [[ 9.99798344e-01 -1.98751100e-02 -2.87262661e-03 2.60475754e+02] [ 1.98748264e-02 9.99802468e-01 -1.27232523e-04 3.40007536e+00] [ 2.87458793e-03 7.01139107e-05 9.99995866e-01 8.69816987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:260.51, Y:3.40, Z:0.88 [[ 9.99817398e-01 -1.88922939e-02 -2.87261821e-03 2.60507523e+02] [ 1.88920057e-02 9.99821522e-01 -1.27421903e-04 3.40199439e+00] [ 2.87451280e-03 7.31291158e-05 9.99995866e-01 8.78581393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:260.54, Y:3.40, Z:0.87 [[ 9.99789465e-01 -2.03165924e-02 -2.87424649e-03 2.60536571e+02] [ 2.03164153e-02 9.99793596e-01 -9.08105986e-05 3.40397367e+00] [ 2.87549820e-03 3.23970944e-05 9.99995865e-01 8.69352354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:260.57, Y:3.41, Z:0.87 [[ 9.99784518e-01 -2.05588571e-02 -2.87256520e-03 2.60566302e+02] [ 2.05585730e-02 9.99788642e-01 -1.28418933e-04 3.40646083e+00] [ 2.87459821e-03 6.93354194e-05 9.99995866e-01 8.70261437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:260.60, Y:3.41, Z:0.87 [[ 9.99774458e-01 -2.10423534e-02 -2.87255677e-03 2.60595699e+02] [ 2.10420707e-02 9.99778583e-01 -1.28607214e-04 3.41016425e+00] [ 2.87462694e-03 6.81336648e-05 9.99995866e-01 8.70829755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00864 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:260.63, Y:3.41, Z:0.88 [[ 9.99774224e-01 -2.10534866e-02 -2.87254829e-03 2.60627296e+02] [ 2.10532034e-02 9.99778348e-01 -1.28796442e-04 3.41130683e+00] [ 2.87462320e-03 6.82910195e-05 9.99995866e-01 8.83656229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03864 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:260.66, Y:3.41, Z:0.88 [[ 9.99750041e-01 -2.21719473e-02 -2.87396021e-03 2.60657769e+02] [ 2.21717595e-02 9.99754172e-01 -9.72264336e-05 3.41177183e+00] [ 2.87540941e-03 3.34813766e-05 9.99995865e-01 8.81148718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06864 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:260.69, Y:3.41, Z:0.88 [[ 9.99761501e-01 -2.16490676e-02 -2.87368993e-03 2.60687615e+02] [ 2.16488602e-02 9.99765631e-01 -1.03252132e-04 3.41402721e+00] [ 2.87525174e-03 4.10153948e-05 9.99995866e-01 8.81978621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09864 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:260.72, Y:3.42, Z:0.88 [[ 9.99775700e-01 -2.09831202e-02 -2.87360437e-03 2.60716721e+02] [ 2.09829047e-02 9.99779829e-01 -1.05151714e-04 3.41760289e+00] [ 2.87517809e-03 4.48315623e-05 9.99995866e-01 8.82931209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:260.75, Y:3.42, Z:0.87 [[ 9.99850259e-01 -1.70647944e-02 -2.87276058e-03 2.60746874e+02] [ 1.70645092e-02 9.99854383e-01 -1.23760978e-04 3.42328987e+00] [ 2.87445421e-03 7.47201962e-05 9.99995866e-01 8.70693891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:260.78, Y:3.43, Z:0.87 [[ 9.99866749e-01 -1.60696441e-02 -2.87249778e-03 2.60776857e+02] [ 1.60693381e-02 9.99870871e-01 -1.29586357e-04 3.42573058e+00] [ 2.87420926e-03 8.34099517e-05 9.99995866e-01 8.71076101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:260.81, Y:3.43, Z:0.87 [[ 9.99880347e-01 -1.52000368e-02 -2.87248936e-03 2.60806143e+02] [ 1.51997267e-02 9.99884469e-01 -1.29772590e-04 3.43098688e+00] [ 2.87413005e-03 8.60960093e-05 9.99995866e-01 8.71120050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:260.84, Y:3.43, Z:0.87 [[ 9.99866351e-01 -1.60943763e-02 -2.87248092e-03 2.60835801e+02] [ 1.60940693e-02 9.99870474e-01 -1.29959285e-04 3.43434034e+00] [ 2.87420047e-03 8.37120093e-05 9.99995866e-01 8.70674365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24864 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:260.87, Y:3.44, Z:0.88 [[ 9.99838008e-01 -1.77681284e-02 -2.87247236e-03 2.60866205e+02] [ 1.77678278e-02 9.99842131e-01 -1.30148180e-04 3.43674018e+00] [ 2.87433137e-03 7.90895025e-05 9.99995866e-01 8.84502233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27864 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:260.90, Y:3.44, Z:0.88 [[ 9.99791225e-01 -2.02299671e-02 -2.87314694e-03 2.60897105e+02] [ 2.02297195e-02 9.99795352e-01 -1.15214147e-04 3.43794601e+00] [ 2.87488974e-03 5.70671368e-05 9.99995866e-01 8.80854887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30864 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:260.93, Y:3.44, Z:0.88 [[ 9.99721233e-01 -2.34350128e-02 -2.87333528e-03 2.60926913e+02] [ 2.34347904e-02 9.99725361e-01 -1.11062833e-04 3.43986508e+00] [ 2.87514891e-03 4.36958626e-05 9.99995866e-01 8.79753091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33864 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:260.96, Y:3.44, Z:0.88 [[ 9.99697491e-01 -2.44268757e-02 -2.87299606e-03 2.60957936e+02] [ 2.44266360e-02 9.99701618e-01 -1.18498541e-04 3.44319057e+00] [ 2.87503336e-03 4.82850654e-05 9.99995866e-01 8.78850720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:260.99, Y:3.45, Z:0.88 [[ 9.99623380e-01 -2.72917889e-02 -2.87340750e-03 2.60988075e+02] [ 2.72915868e-02 9.99627509e-01 -1.09515877e-04 3.44845964e+00] [ 2.87532606e-03 3.10547808e-05 9.99995866e-01 8.77092225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39864 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:261.02, Y:3.45, Z:0.88 [[ 9.99587218e-01 -2.85856204e-02 -2.87329167e-03 2.61018680e+02] [ 2.85854165e-02 9.99591347e-01 -1.12035286e-04 3.45027056e+00] [ 2.87532009e-03 2.98548005e-05 9.99995866e-01 8.79077479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864000000003 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:261.05, Y:3.45, Z:0.87 [[ 9.99568885e-01 -2.92196870e-02 -2.87307232e-03 2.61048381e+02] [ 2.92194719e-02 9.99573013e-01 -1.16809225e-04 3.45235597e+00] [ 2.87525869e-03 3.28092109e-05 9.99995866e-01 8.66638972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:261.08, Y:3.46, Z:0.87 [[ 9.99584388e-01 -2.86845130e-02 -2.87239171e-03 2.61079944e+02] [ 2.86842531e-02 9.99588513e-01 -1.31658148e-04 3.45636277e+00] [ 2.87498631e-03 4.92110189e-05 9.99995866e-01 8.67399580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864000000003 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:261.11, Y:3.46, Z:0.88 [[ 9.99573863e-01 -2.90489443e-02 -2.87240040e-03 2.61111085e+02] [ 2.90486864e-02 9.99577989e-01 -1.31468430e-04 3.46043004e+00] [ 2.87500723e-03 4.79729480e-05 9.99995866e-01 8.80587726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:261.14, Y:3.46, Z:0.88 [[ 9.99562313e-01 -2.94436523e-02 -2.87297211e-03 2.61142514e+02] [ 2.94434319e-02 9.99566441e-01 -1.18996552e-04 3.46478825e+00] [ 2.87523020e-03 3.43543105e-05 9.99995866e-01 8.79360851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:261.17, Y:3.47, Z:0.87 [[ 9.99536055e-01 -3.03219656e-02 -2.87294290e-03 2.61173454e+02] [ 3.03217470e-02 9.99540183e-01 -1.19632862e-04 3.46662381e+00] [ 2.87524938e-03 3.24647112e-05 9.99995866e-01 8.66303705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:261.20, Y:3.47, Z:0.88 [[ 9.99426388e-01 -3.37437984e-02 -2.87239506e-03 2.61203699e+02] [ 3.37435595e-02 9.99430515e-01 -1.31591302e-04 3.47140541e+00] [ 2.87519967e-03 3.45909863e-05 9.99995866e-01 8.81056709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:261.24, Y:3.47, Z:0.88 [[ 9.99396922e-01 -3.46055401e-02 -2.87222536e-03 2.61235396e+02] [ 3.46052941e-02 9.99401048e-01 -1.35312205e-04 3.47455084e+00] [ 2.87518759e-03 3.58363977e-05 9.99995866e-01 8.80409983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:261.27, Y:3.48, Z:0.88 [[ 9.99337985e-01 -3.62676147e-02 -2.87257077e-03 2.61267677e+02] [ 3.62673974e-02 9.99342113e-01 -1.27708473e-04 3.47680996e+00] [ 2.87531263e-03 2.34432618e-05 9.99995866e-01 8.80324170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:261.30, Y:3.48, Z:0.88 [[ 9.99177071e-01 -4.04589929e-02 -2.87224740e-03 2.61299925e+02] [ 4.04587723e-02 9.99181200e-01 -1.34910127e-04 3.47827256e+00] [ 2.87535393e-03 1.85915021e-05 9.99995866e-01 8.80764974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:261.33, Y:3.48, Z:0.88 [[ 9.99088051e-01 -4.26006760e-02 -2.87215085e-03 2.61332061e+02] [ 4.26004580e-02 9.99092179e-01 -1.37076329e-04 3.48025431e+00] [ 2.87538300e-03 1.45963807e-05 9.99995866e-01 8.81611663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:261.36, Y:3.48, Z:0.88 [[ 9.98916863e-01 -4.64419238e-02 -2.87197792e-03 2.61364434e+02] [ 4.64417103e-02 9.98920992e-01 -1.41006639e-04 3.48014814e+00] [ 2.87542765e-03 7.47434300e-06 9.99995866e-01 8.80726154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:261.40, Y:3.48, Z:0.87 [[ 9.98905103e-01 -4.66941816e-02 -2.87194803e-03 2.61396989e+02] [ 4.66939672e-02 9.98909232e-01 -1.41691942e-04 3.48004402e+00] [ 2.87543159e-03 7.43415645e-06 9.99995866e-01 8.65256956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:261.43, Y:3.48, Z:0.87 [[ 9.98844730e-01 -4.79682449e-02 -2.87269480e-03 2.61429815e+02] [ 4.79680853e-02 9.98848861e-01 -1.24454857e-04 3.48014986e+00] [ 2.87535781e-03 -1.34865915e-05 9.99995866e-01 8.65753392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:261.46, Y:3.48, Z:0.87 [[ 9.98826043e-01 -4.83557945e-02 -2.87275798e-03 2.61461935e+02] [ 4.83556408e-02 9.98830174e-01 -1.22978968e-04 3.48079500e+00] [ 2.87534410e-03 -1.60794568e-05 9.99995866e-01 8.65784773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:261.49, Y:3.48, Z:0.87 [[ 9.98853299e-01 -4.77894732e-02 -2.87281253e-03 2.61494766e+02] [ 4.77893208e-02 9.98857430e-01 -1.21691129e-04 3.48150006e+00] [ 2.87534570e-03 -1.57381742e-05 9.99995866e-01 8.65843229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:261.53, Y:3.48, Z:0.88 [[ 9.98927888e-01 -4.62041321e-02 -2.87287411e-03 2.61525498e+02] [ 4.62039774e-02 9.98932019e-01 -1.20219450e-04 3.47939304e+00] [ 2.87536057e-03 -1.26476493e-05 9.99995866e-01 8.76792624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:261.56, Y:3.48, Z:0.87 [[ 9.98976287e-01 -4.51456187e-02 -2.87264604e-03 2.61557754e+02] [ 4.51454439e-02 9.98980417e-01 -1.25704597e-04 3.47948828e+00] [ 2.87539215e-03 -4.11096932e-06 9.99995866e-01 8.66152425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:261.59, Y:3.48, Z:0.88 [[ 9.98969583e-01 -4.52936829e-02 -2.87292743e-03 2.61587969e+02] [ 4.52935282e-02 9.98973714e-01 -1.18905819e-04 3.47935383e+00] [ 2.87536467e-03 -1.13417236e-05 9.99995866e-01 8.78531362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:261.62, Y:3.48, Z:0.87 [[ 9.98965646e-01 -4.53804635e-02 -2.87241895e-03 2.61620292e+02] [ 4.53802737e-02 9.98969776e-01 -1.31256126e-04 3.47649030e+00] [ 2.87541618e-03 7.69202900e-07 9.99995866e-01 8.66217942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:261.65, Y:3.47, Z:0.88 [[ 9.98813551e-01 -4.86131195e-02 -2.87298969e-03 2.61650154e+02] [ 4.86129833e-02 9.98817683e-01 -1.17274000e-04 3.47259136e+00] [ 2.87529396e-03 -2.25297390e-05 9.99995866e-01 8.82665045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:261.68, Y:3.47, Z:0.88 [[ 9.98787787e-01 -4.91396499e-02 -2.87249051e-03 2.61682109e+02] [ 4.91394805e-02 9.98791918e-01 -1.29539070e-04 3.47241262e+00] [ 2.87538581e-03 -1.17706503e-05 9.99995866e-01 8.81758971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:261.71, Y:3.47, Z:0.88 [[ 9.98822028e-01 -4.84386741e-02 -2.87237467e-03 2.61714111e+02] [ 4.84384936e-02 9.98826158e-01 -1.32416057e-04 3.47223518e+00] [ 2.87541701e-03 -6.87342778e-06 9.99995866e-01 8.79236945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:261.75, Y:3.47, Z:0.87 [[ 9.98838412e-01 -4.80996131e-02 -2.87298617e-03 2.61745816e+02] [ 4.80994753e-02 9.98842544e-01 -1.17095136e-04 3.47115351e+00] [ 2.87529305e-03 -2.12300072e-05 9.99995866e-01 8.67626684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:261.78, Y:3.47, Z:0.87 [[ 9.98933511e-01 -4.60823728e-02 -2.87309684e-03 2.61778103e+02] [ 4.60822346e-02 9.98937643e-01 -1.14313841e-04 3.46866640e+00] [ 2.87531243e-03 -1.82067955e-05 9.99995866e-01 8.68612125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:261.81, Y:3.47, Z:0.88 [[ 9.98884182e-01 -4.71395448e-02 -2.87314728e-03 2.61806609e+02] [ 4.71394147e-02 9.98888313e-01 -1.13031606e-04 3.46721183e+00] [ 2.87528150e-03 -2.25329978e-05 9.99995866e-01 8.81887577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:261.84, Y:3.47, Z:0.87 [[ 9.99040588e-01 -4.36996032e-02 -2.87201371e-03 2.61839747e+02] [ 4.36993757e-02 9.99044716e-01 -1.41931657e-04 3.46759287e+00] [ 2.87547248e-03 1.62902802e-05 9.99995866e-01 8.68928018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:261.87, Y:3.47, Z:0.88 [[ 9.98985534e-01 -4.49404944e-02 -2.87320421e-03 2.61869573e+02] [ 4.49403605e-02 9.98989665e-01 -1.11160385e-04 3.46669140e+00] [ 2.87529692e-03 -1.80752165e-05 9.99995866e-01 8.82169097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:261.90, Y:3.46, Z:0.88 [[ 9.98969241e-01 -4.53012757e-02 -2.87229699e-03 2.61901271e+02] [ 4.53010753e-02 9.98973370e-01 -1.34848020e-04 3.46312272e+00] [ 2.87545699e-03 4.59088178e-06 9.99995866e-01 8.83723362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26864 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:261.93, Y:3.46, Z:0.89 [[ 9.99001582e-01 -4.45823848e-02 -2.87232778e-03 2.61932248e+02] [ 4.45821837e-02 9.99005711e-01 -1.34037873e-04 3.46221558e+00] [ 2.87544759e-03 5.84940262e-06 9.99995866e-01 8.85476386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:261.96, Y:3.46, Z:0.88 [[ 9.98973393e-01 -4.52095939e-02 -2.87259840e-03 2.61963304e+02] [ 4.52094160e-02 9.98977524e-01 -1.26843845e-04 3.46096614e+00] [ 2.87539580e-03 -3.15486971e-06 9.99995866e-01 8.82876596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:261.99, Y:3.46, Z:0.88 [[ 9.98986725e-01 -4.49140667e-02 -2.87242742e-03 2.61994132e+02] [ 4.49138746e-02 9.98990854e-01 -1.31394994e-04 3.46222328e+00] [ 2.87543020e-03 2.25000952e-06 9.99995866e-01 8.82965600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:262.02, Y:3.46, Z:0.88 [[ 9.99002159e-01 -4.45694433e-02 -2.87245819e-03 2.62024929e+02] [ 4.45692521e-02 9.99006289e-01 -1.30569525e-04 3.45887904e+00] [ 2.87542321e-03 2.41592437e-06 9.99995866e-01 8.80925033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:262.06, Y:3.46, Z:0.88 [[ 9.99012845e-01 -4.43292584e-02 -2.87279797e-03 2.62056008e+02] [ 4.43290926e-02 9.99016975e-01 -1.21384156e-04 3.45826939e+00] [ 2.87535480e-03 -6.08419568e-06 9.99995866e-01 8.82124843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:262.09, Y:3.45, Z:0.88 [[ 9.98968648e-01 -4.53143066e-02 -2.87282476e-03 2.62086538e+02] [ 4.53141470e-02 9.98972779e-01 -1.20654688e-04 3.45466275e+00] [ 2.87534111e-03 -9.64935244e-06 9.99995866e-01 8.83460299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:262.12, Y:3.45, Z:0.88 [[ 9.99038970e-01 -4.37365329e-02 -2.87248969e-03 2.62117047e+02] [ 4.37363406e-02 9.99043100e-01 -1.29773116e-04 3.45294471e+00] [ 2.87541683e-03 4.01621237e-06 9.99995866e-01 8.82555881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:262.15, Y:3.45, Z:0.88 [[ 9.99068412e-01 -4.30587427e-02 -2.87280950e-03 2.62147868e+02] [ 4.30585728e-02 9.99072542e-01 -1.20991577e-04 3.45138249e+00] [ 2.87535483e-03 -2.82021472e-06 9.99995866e-01 8.83636553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:262.18, Y:3.45, Z:0.88 [[ 9.99241190e-01 -3.88431912e-02 -2.87257157e-03 2.62179003e+02] [ 3.88429850e-02 9.99245318e-01 -1.27556484e-04 3.44830881e+00] [ 2.87535839e-03 1.58804388e-05 9.99995866e-01 8.82098449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:262.21, Y:3.45, Z:0.88 [[ 9.99342829e-01 -3.61338909e-02 -2.87280320e-03 2.62210064e+02] [ 3.61336921e-02 9.99346958e-01 -1.21106146e-04 3.44793622e+00] [ 2.87530317e-03 1.72215724e-05 9.99995866e-01 8.81750360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.24, Y:3.45, Z:0.87 [[ 9.99550463e-01 -2.98432099e-02 -2.87309086e-03 2.62241428e+02] [ 2.98430082e-02 9.99554592e-01 -1.13057934e-04 3.44782192e+00] [ 2.87518517e-03 2.72654362e-05 9.99995866e-01 8.70617671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:262.27, Y:3.45, Z:0.88 [[ 9.99593664e-01 -2.83592976e-02 -2.87346488e-03 2.62270075e+02] [ 2.83591199e-02 9.99597794e-01 -1.02580842e-04 3.44859351e+00] [ 2.87521828e-03 2.10502248e-05 9.99995866e-01 8.83383654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:262.30, Y:3.45, Z:0.88 [[ 9.99662282e-01 -2.58276628e-02 -2.87311099e-03 2.62299510e+02] [ 2.58274462e-02 9.99666410e-01 -1.12479122e-04 3.44972493e+00] [ 2.87505762e-03 3.82360168e-05 9.99995866e-01 8.83470567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.33, Y:3.45, Z:0.87 [[ 9.99750338e-01 -2.21586288e-02 -2.87353849e-03 2.62329540e+02] [ 2.21584313e-02 9.99754467e-01 -1.00554492e-04 3.45003128e+00] [ 2.87506109e-03 3.68562820e-05 9.99995866e-01 8.72641376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:262.36, Y:3.45, Z:0.88 [[ 9.99758954e-01 -2.17664248e-02 -2.87345632e-03 2.62358991e+02] [ 2.17662191e-02 9.99763082e-01 -1.02849994e-04 3.45054277e+00] [ 2.87501423e-03 4.02809225e-05 9.99995866e-01 8.83355181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:262.39, Y:3.45, Z:0.88 [[ 9.99777931e-01 -2.08765835e-02 -2.87337712e-03 2.62388201e+02] [ 2.08763677e-02 9.99782059e-01 -1.05064183e-04 3.45090451e+00] [ 2.87494428e-03 4.50551739e-05 9.99995866e-01 8.84462796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:262.42, Y:3.45, Z:0.88 [[ 9.99796366e-01 -1.99742011e-02 -2.87350132e-03 2.62418488e+02] [ 1.99739916e-02 9.99800495e-01 -1.01577194e-04 3.45294795e+00] [ 2.87495696e-03 4.41612182e-05 9.99995866e-01 8.83182315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:262.45, Y:3.45, Z:0.88 [[ 9.99794186e-01 -2.00830288e-02 -2.87354736e-03 2.62448016e+02] [ 2.00828235e-02 9.99798315e-01 -1.00288733e-04 3.45460284e+00] [ 2.87498191e-03 4.25591482e-05 9.99995866e-01 8.84292042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:3.46, Z:0.87 [[ 9.99847125e-01 -1.72473073e-02 -2.87346887e-03 2.62477945e+02] [ 1.72470840e-02 9.99851253e-01 -1.02483827e-04 3.45688798e+00] [ 2.87480902e-03 5.29092004e-05 9.99995866e-01 8.72343082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83864 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:262.51, Y:3.46, Z:0.89 [[ 9.99845766e-01 -1.73258985e-02 -2.87345564e-03 2.62508463e+02] [ 1.73256744e-02 9.99849894e-01 -1.02853610e-04 3.45891279e+00] [ 2.87480635e-03 5.30531900e-05 9.99995866e-01 8.87253471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:262.54, Y:3.46, Z:0.87 [[ 9.99865139e-01 -1.61692687e-02 -2.87374250e-03 2.62538792e+02] [ 1.61690630e-02 9.99869268e-01 -9.48204769e-05 3.46181511e+00] [ 2.87489999e-03 4.83419659e-05 9.99995866e-01 8.73750576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:262.57, Y:3.47, Z:0.89 [[ 9.99838799e-01 -1.77233836e-02 -2.87345659e-03 2.62568399e+02] [ 1.77231613e-02 9.99842927e-01 -1.02811320e-04 3.46622259e+00] [ 2.87482742e-03 5.18680122e-05 9.99995866e-01 8.85201269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:262.60, Y:3.47, Z:0.87 [[ 9.99827498e-01 -1.83498503e-02 -2.87367530e-03 2.62598146e+02] [ 1.83496482e-02 9.99831626e-01 -9.66902233e-05 3.46779479e+00] [ 2.87496570e-03 4.39426133e-05 9.99995866e-01 8.72737380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:262.63, Y:3.47, Z:0.88 [[ 9.99737278e-01 -2.27402277e-02 -2.87347833e-03 2.62627677e+02] [ 2.27400277e-02 9.99741407e-01 -1.02226666e-04 3.46778525e+00] [ 2.87505993e-03 3.68568321e-05 9.99995866e-01 8.83401805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:262.66, Y:3.47, Z:0.88 [[ 9.99700316e-01 -2.43109344e-02 -2.87342857e-03 2.62657233e+02] [ 2.43107370e-02 9.99704445e-01 -1.03625247e-04 3.46839746e+00] [ 2.87509854e-03 3.37390265e-05 9.99995866e-01 8.82849523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:262.69, Y:3.47, Z:0.88 [[ 9.99592715e-01 -2.83927179e-02 -2.87372662e-03 2.62686362e+02] [ 2.83925613e-02 9.99596845e-01 -9.52731185e-05 3.46845403e+00] [ 2.87527312e-03 1.36418561e-05 9.99995866e-01 8.84230901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:262.72, Y:3.47, Z:0.88 [[ 9.99523473e-01 -3.07338420e-02 -2.87361323e-03 2.62716312e+02] [ 3.07336860e-02 9.99527604e-01 -9.84439913e-05 3.46857913e+00] [ 2.87528131e-03 1.00803535e-05 9.99995866e-01 8.84094582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:262.75, Y:3.47, Z:0.88 [[ 9.99452665e-01 -3.29562316e-02 -2.87348489e-03 2.62745728e+02] [ 3.29560744e-02 9.99456796e-01 -1.02037425e-04 3.46787327e+00] [ 2.87528677e-03 7.28279468e-06 9.99995866e-01 8.84070828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:3.46, Z:0.87 [[ 9.99317855e-01 -3.68180542e-02 -2.87336357e-03 2.62776113e+02] [ 3.68179032e-02 9.99321986e-01 -1.05442305e-04 3.46451674e+00] [ 2.87529757e-03 -4.20843299e-07 9.99995866e-01 8.70769334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:262.81, Y:3.46, Z:0.88 [[ 9.99168129e-01 -4.06791367e-02 -2.87349201e-03 2.62805568e+02] [ 4.06790121e-02 9.99172261e-01 -1.01817530e-04 3.46241430e+00] [ 2.87525535e-03 -1.51579848e-05 9.99995866e-01 8.83708223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:262.84, Y:3.46, Z:0.87 [[ 9.99107192e-01 -4.21493254e-02 -2.87283698e-03 2.62836719e+02] [ 4.21491538e-02 9.99111322e-01 -1.20287224e-04 3.45737618e+00] [ 2.87535398e-03 -9.07817663e-07 9.99995866e-01 8.71710064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:262.87, Y:3.46, Z:0.89 [[ 9.99063040e-01 -4.31831619e-02 -2.87350762e-03 2.62866261e+02] [ 4.31830492e-02 9.99067172e-01 -1.01255448e-04 3.45513221e+00] [ 2.87519966e-03 -2.29262457e-05 9.99995866e-01 8.85980685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:262.90, Y:3.45, Z:0.89 [[ 9.99112443e-01 -4.20246668e-02 -2.87304699e-03 2.62895929e+02] [ 4.20245117e-02 9.99116573e-01 -1.14376766e-04 3.45081248e+00] [ 2.87531551e-03 -6.46314692e-06 9.99995866e-01 8.86550237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:3.45, Z:0.87 [[ 9.99180126e-01 -4.03834210e-02 -2.87330784e-03 2.62926871e+02] [ 4.03832805e-02 9.99184257e-01 -1.06923719e-04 3.45021516e+00] [ 2.87528190e-03 -9.19754163e-06 9.99995866e-01 8.72469911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:262.96, Y:3.45, Z:0.87 [[ 9.99238267e-01 -3.89182388e-02 -2.87354586e-03 2.62956947e+02] [ 3.89181119e-02 9.99242398e-01 -1.00090071e-04 3.44943402e+00] [ 2.87526419e-03 -1.18191506e-05 9.99995866e-01 8.73459032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.99, Y:3.45, Z:0.87 [[ 9.99338471e-01 -3.62541512e-02 -2.87353928e-03 2.62985535e+02] [ 3.62540127e-02 9.99342602e-01 -1.00278854e-04 3.44604185e+00] [ 2.87528574e-03 -3.96481293e-06 9.99995866e-01 8.74260426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:263.01, Y:3.45, Z:0.87 [[ 9.99377722e-01 -3.51555430e-02 -2.87352590e-03 2.63013932e+02] [ 3.51553988e-02 9.99381853e-01 -1.00660648e-04 3.44546325e+00] [ 2.87528842e-03 -4.21940162e-07 9.99995866e-01 8.74392298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:263.04, Y:3.44, Z:0.87 [[ 9.99413986e-01 -3.41090514e-02 -2.87351245e-03 2.63043100e+02] [ 3.41089018e-02 9.99418117e-01 -1.01043039e-04 3.44318179e+00] [ 2.87528689e-03 2.97147200e-06 9.99995866e-01 8.73879703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:263.07, Y:3.44, Z:0.89 [[ 9.99428161e-01 -3.36911470e-02 -2.87349892e-03 2.63071918e+02] [ 3.36909947e-02 9.99432292e-01 -1.01426402e-04 3.44291334e+00] [ 2.87528479e-03 4.55736598e-06 9.99995866e-01 8.89333984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:263.10, Y:3.44, Z:0.89 [[ 9.99504661e-01 -3.13397089e-02 -2.87305166e-03 2.63101853e+02] [ 3.13395102e-02 9.99508790e-01 -1.14183946e-04 3.44288087e+00] [ 2.87521888e-03 2.40873551e-05 9.99995866e-01 8.88924027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:263.13, Y:3.44, Z:0.87 [[ 9.99647768e-01 -2.63834357e-02 -2.87314465e-03 2.63133080e+02] [ 2.63832241e-02 9.99651896e-01 -1.11532178e-04 3.44309668e+00] [ 2.87508710e-03 3.56900734e-05 9.99995866e-01 8.74721207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:263.16, Y:3.44, Z:0.87 [[ 9.99720523e-01 -2.34652467e-02 -2.87352718e-03 2.63162045e+02] [ 2.34650544e-02 9.99724653e-01 -1.00606360e-04 3.44490894e+00] [ 2.87509671e-03 3.31507713e-05 9.99995866e-01 8.74143769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:263.19, Y:3.45, Z:0.88 [[ 9.99843825e-01 -1.74375424e-02 -2.87351369e-03 2.63190500e+02] [ 1.74373242e-02 9.99847953e-01 -1.00990027e-04 3.44875963e+00] [ 2.87483780e-03 5.08678653e-05 9.99995866e-01 8.75517082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:263.22, Y:3.45, Z:0.87 [[ 9.99887911e-01 -1.46938247e-02 -2.87350026e-03 2.63218974e+02] [ 1.46935940e-02 9.99892038e-01 -1.01370851e-04 3.45214193e+00] [ 2.87467955e-03 5.91374425e-05 9.99995866e-01 8.74954870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:263.25, Y:3.46, Z:0.88 [[ 9.99919067e-01 -1.23936267e-02 -2.87348690e-03 2.63247508e+02] [ 1.23933855e-02 9.99923194e-01 -1.01748148e-04 3.45551871e+00] [ 2.87452722e-03 6.61276825e-05 9.99995866e-01 8.75420099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:263.28, Y:3.46, Z:0.88 [[ 9.99945221e-01 -1.00646608e-02 -2.87347346e-03 2.63276419e+02] [ 1.00644088e-02 9.99949347e-01 -1.02126099e-04 3.46099364e+00] [ 2.87435578e-03 7.32006926e-05 9.99995866e-01 8.75172644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64864 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:263.31, Y:3.46, Z:0.89 [[ 9.99938223e-01 -1.07374860e-02 -2.87346010e-03 2.63306796e+02] [ 1.07372357e-02 9.99942349e-01 -1.02500862e-04 3.46456431e+00] [ 2.87439504e-03 7.16415117e-05 9.99995866e-01 8.90035842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67864000000003 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:263.34, Y:3.47, Z:0.88 [[ 9.99937863e-01 -1.07708821e-02 -2.87359476e-03 2.63336654e+02] [ 1.07706429e-02 9.99941990e-01 -9.87072645e-05 3.46887820e+00] [ 2.87449122e-03 6.77506683e-05 9.99995866e-01 8.75329004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70864 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:263.37, Y:3.47, Z:0.89 [[ 9.99898961e-01 -1.39216148e-02 -2.87346881e-03 2.63365723e+02] [ 1.39213784e-02 9.99903088e-01 -1.02246842e-04 3.47207239e+00] [ 2.87461377e-03 6.22338649e-05 9.99995866e-01 8.88820795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:263.40, Y:3.48, Z:0.88 [[ 9.99925122e-01 -1.18952267e-02 -2.87287929e-03 2.63397006e+02] [ 1.18949345e-02 9.99929246e-01 -1.18763012e-04 3.47604944e+00] [ 2.87408873e-03 8.45814086e-05 9.99995866e-01 8.75111197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:263.43, Y:3.48, Z:0.87 [[ 9.99924547e-01 -1.19433078e-02 -2.87347686e-03 2.63425699e+02] [ 1.19430642e-02 9.99928674e-01 -1.01914351e-04 3.48079715e+00] [ 2.87448910e-03 6.75885423e-05 9.99995866e-01 8.73560723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:263.45, Y:3.48, Z:0.87 [[ 9.99925831e-01 -1.18353681e-02 -2.87346344e-03 2.63454201e+02] [ 1.18351230e-02 9.99929957e-01 -1.02291282e-04 3.48326786e+00] [ 2.87447283e-03 6.82759019e-05 9.99995866e-01 8.74826864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82864 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:263.48, Y:3.49, Z:0.89 [[ 9.99913497e-01 -1.28351453e-02 -2.87345004e-03 2.63483896e+02] [ 1.28349032e-02 9.99917624e-01 -1.02666402e-04 3.48688948e+00] [ 2.87453108e-03 6.57770682e-05 9.99995866e-01 8.88339659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85864 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:263.51, Y:3.49, Z:0.89 [[ 9.99908981e-01 -1.31822440e-02 -2.87362589e-03 2.63513917e+02] [ 1.31820175e-02 9.99913109e-01 -9.77287498e-05 3.48875927e+00] [ 2.87466448e-03 5.98396677e-05 9.99995866e-01 8.88345523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88864 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:263.54, Y:3.49, Z:0.89 [[ 9.99907095e-01 -1.33245473e-02 -2.87354151e-03 2.63542859e+02] [ 1.33243147e-02 9.99911222e-01 -1.00097258e-04 3.49187090e+00] [ 2.87462016e-03 6.17999871e-05 9.99995866e-01 8.89861483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91864 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:263.57, Y:3.50, Z:0.89 [[ 9.99923741e-01 -1.20106705e-02 -2.87347270e-03 2.63572384e+02] [ 1.20104269e-02 9.99927867e-01 -1.02026518e-04 3.49854022e+00] [ 2.87449084e-03 6.75071042e-05 9.99995866e-01 8.90548932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94864 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:263.60, Y:3.50, Z:0.89 [[ 9.99906203e-01 -1.33913257e-02 -2.87371429e-03 2.63601153e+02] [ 1.33911073e-02 9.99910331e-01 -9.52546025e-05 3.50126281e+00] [ 2.87473219e-03 5.67634516e-05 9.99995866e-01 8.90304854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97864 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:263.63, Y:3.50, Z:0.89 [[ 9.99882738e-01 -1.50417368e-02 -2.87342692e-03 2.63630916e+02] [ 1.50415022e-02 9.99886865e-01 -1.03257475e-04 3.50284279e+00] [ 2.87465500e-03 6.00247092e-05 9.99995866e-01 8.93928370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00864 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:263.66, Y:3.51, Z:0.89 [[ 9.99897453e-01 -1.40295759e-02 -2.87302539e-03 2.63663621e+02] [ 1.40293049e-02 9.99901578e-01 -1.14453041e-04 3.50510289e+00] [ 2.87434835e-03 7.41347549e-05 9.99995866e-01 8.90730324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03864 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:263.69, Y:3.51, Z:0.89 [[ 9.99863825e-01 -1.62502384e-02 -2.87413286e-03 2.63692574e+02] [ 1.62500663e-02 9.99867955e-01 -8.32031390e-05 3.50801749e+00] [ 2.87510541e-03 3.64869593e-05 9.99995866e-01 8.90552604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06864 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:263.72, Y:3.51, Z:0.89 [[ 9.99811169e-01 -1.92189658e-02 -2.87377459e-03 2.63721594e+02] [ 1.92187772e-02 9.99815298e-01 -9.32329540e-05 3.51368400e+00] [ 2.87503564e-03 3.79849150e-05 9.99995866e-01 8.93198983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09864 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:263.75, Y:3.52, Z:0.89 [[ 9.99797379e-01 -1.99234507e-02 -2.87360320e-03 2.63751357e+02] [ 1.99232512e-02 9.99801508e-01 -9.80330511e-05 3.51523363e+00] [ 2.87498597e-03 4.07616692e-05 9.99995866e-01 8.92100741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12864 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:263.78, Y:3.52, Z:0.89 [[ 9.99767508e-01 -2.13698721e-02 -2.87372206e-03 2.63780656e+02] [ 2.13696882e-02 9.99771638e-01 -9.46983839e-05 3.51909274e+00] [ 2.87508950e-03 3.32658230e-05 9.99995866e-01 8.93135125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15864 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:263.81, Y:3.52, Z:0.89 [[ 9.99766574e-01 -2.14135467e-02 -2.87343966e-03 2.63810438e+02] [ 2.14133403e-02 9.99770703e-01 -1.02583233e-04 3.52270915e+00] [ 2.87497746e-03 4.10293465e-05 9.99995866e-01 8.93426447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18864 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:263.84, Y:3.53, Z:0.89 [[ 9.99765719e-01 -2.14534543e-02 -2.87341861e-03 2.63840144e+02] [ 2.14532463e-02 9.99769847e-01 -1.03170014e-04 3.52528707e+00] [ 2.87497064e-03 4.15016863e-05 9.99995866e-01 8.92427708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21864 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:263.87, Y:3.53, Z:0.89 [[ 9.99765585e-01 -2.14596868e-02 -2.87334178e-03 2.63870119e+02] [ 2.14594727e-02 9.99769713e-01 -1.05316045e-04 3.52634929e+00] [ 2.87494014e-03 4.36309578e-05 9.99995866e-01 8.92514071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24864 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:263.90, Y:3.53, Z:0.89 [[ 9.99773745e-01 -2.10760988e-02 -2.87334125e-03 2.63900145e+02] [ 2.10758831e-02 9.99777873e-01 -1.05330735e-04 3.52855598e+00] [ 2.87492297e-03 4.47486985e-05 9.99995866e-01 8.93798506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:263.93, Y:3.53, Z:0.88 [[ 9.99789082e-01 -2.03355476e-02 -2.87350760e-03 2.63930247e+02] [ 2.03353422e-02 9.99793210e-01 -1.00690942e-04 3.53100960e+00] [ 2.87496100e-03 4.22359440e-05 9.99995866e-01 8.82129129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30864 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:263.96, Y:3.54, Z:0.89 [[ 9.99783641e-01 -2.06013121e-02 -2.87342709e-03 2.63959862e+02] [ 2.06011013e-02 9.99787769e-01 -1.02938490e-04 3.53735553e+00] [ 2.87493793e-03 4.37204561e-05 9.99995866e-01 8.94240579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:263.99, Y:3.54, Z:0.88 [[ 9.99804353e-01 -1.95703813e-02 -2.87339806e-03 2.63989626e+02] [ 1.95701639e-02 9.99808481e-01 -1.03749518e-04 3.54017355e+00] [ 2.87487817e-03 4.74963483e-05 9.99995866e-01 8.83283248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36864 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:264.02, Y:3.54, Z:0.89 [[ 9.99804285e-01 -1.95738183e-02 -2.87342613e-03 2.64019910e+02] [ 1.95736032e-02 9.99808413e-01 -1.02966299e-04 3.54270061e+00] [ 2.87489106e-03 4.67028437e-05 9.99995866e-01 8.94801417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39864 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:264.05, Y:3.55, Z:0.90 [[ 9.99812229e-01 -1.91637430e-02 -2.87359637e-03 2.64049181e+02] [ 1.91635399e-02 9.99816358e-01 -9.82148056e-05 3.54968625e+00] [ 2.87495082e-03 4.31280852e-05 9.99995866e-01 8.97547060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864000000003 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:264.08, Y:3.56, Z:0.90 [[ 9.99857182e-01 -1.66541568e-02 -2.87316930e-03 2.64080355e+02] [ 1.66539089e-02 9.99861308e-01 -1.10166953e-04 3.55718826e+00] [ 2.87460555e-03 6.23017196e-05 9.99995866e-01 8.96130381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45864 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:264.11, Y:3.56, Z:0.90 [[ 9.99866260e-01 -1.60998236e-02 -2.87367749e-03 2.64110591e+02] [ 1.60996146e-02 9.99870388e-01 -9.58371766e-05 3.56007003e+00] [ 2.87484799e-03 4.95592592e-05 9.99995866e-01 8.98343650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:264.14, Y:3.56, Z:0.90 [[ 9.99887661e-01 -1.47107852e-02 -2.87366116e-03 2.64140175e+02] [ 1.47105692e-02 9.99891789e-01 -9.62965002e-05 3.56390782e+00] [ 2.87476680e-03 5.40124910e-05 9.99995866e-01 8.96560407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51864 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:264.17, Y:3.57, Z:0.89 [[ 9.99930514e-01 -1.14329585e-02 -2.87318700e-03 2.64170710e+02] [ 1.14326905e-02 9.99934639e-01 -1.09684294e-04 3.57489035e+00] [ 2.87425322e-03 7.68284146e-05 9.99995866e-01 8.88525324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:264.20, Y:3.58, Z:0.90 [[ 9.99915162e-01 -1.27047722e-02 -2.87347732e-03 2.64200620e+02] [ 1.27045331e-02 9.99919289e-01 -1.01462283e-04 3.58013433e+00] [ 2.87453446e-03 6.49474870e-05 9.99995866e-01 8.98711412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57864 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:264.23, Y:3.59, Z:0.89 [[ 9.99904415e-01 -1.35241095e-02 -2.87382708e-03 2.64230643e+02] [ 1.35239021e-02 9.99908544e-01 -9.15724583e-05 3.58671262e+00] [ 2.87480269e-03 5.26983492e-05 9.99995866e-01 8.89645398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:264.26, Y:3.59, Z:0.90 [[ 9.99883166e-01 -1.50132756e-02 -2.87346715e-03 2.64261473e+02] [ 1.50130452e-02 9.99887293e-01 -1.01738231e-04 3.59124117e+00] [ 2.87467072e-03 5.85868521e-05 9.99995866e-01 8.99740291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63864 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:264.29, Y:3.60, Z:0.89 [[ 9.99847106e-01 -1.72483075e-02 -2.87411376e-03 2.64290407e+02] [ 1.72481386e-02 9.99851236e-01 -8.35649448e-05 3.59685667e+00] [ 2.87512755e-03 3.39790558e-05 9.99995866e-01 8.90530567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:264.32, Y:3.61, Z:0.90 [[ 9.99805617e-01 -1.95056608e-02 -2.87343185e-03 2.64321430e+02] [ 1.95054463e-02 9.99809745e-01 -1.02652959e-04 3.60516783e+00] [ 2.87488748e-03 4.65854343e-05 9.99995866e-01 9.00889115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69864 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:264.35, Y:3.61, Z:0.89 [[ 9.99733705e-01 -2.28966941e-02 -2.87418704e-03 2.64351328e+02] [ 2.28965548e-02 9.99737836e-01 -8.13519088e-05 3.60807423e+00] [ 2.87529622e-03 1.55212639e-05 9.99995866e-01 8.91057285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters Centerline goodness : 0.990992 Centerline is valid? [True, True] Translation: X:264.38, Y:3.61, Z:0.90 [[ 9.99616072e-01 -2.75581450e-02 -2.87345009e-03 2.64382122e+02] [ 2.75579654e-02 9.99620202e-01 -1.02093664e-04 3.61448319e+00] [ 2.87517227e-03 2.28680289e-05 9.99995866e-01 9.02323060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75864 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:264.41, Y:3.62, Z:0.89 [[ 9.99512604e-01 -3.10852776e-02 -2.87407633e-03 2.64412376e+02] [ 3.10851633e-02 9.99516736e-01 -8.44292902e-05 3.61774537e+00] [ 2.87531190e-03 -4.95299239e-06 9.99995866e-01 8.91307229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:264.44, Y:3.62, Z:0.89 [[ 9.99422383e-01 -3.38621096e-02 -2.87348357e-03 2.64444390e+02] [ 3.38619584e-02 9.99426514e-01 -1.01251495e-04 3.61943459e+00] [ 2.87526426e-03 3.89122940e-06 9.99995866e-01 8.91445973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81864 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:264.48, Y:3.62, Z:0.89 [[ 9.99269506e-01 -3.81076991e-02 -2.87352999e-03 2.64476556e+02] [ 3.81075694e-02 9.99273638e-01 -9.99165322e-05 3.62027337e+00] [ 2.87525036e-03 -9.65969973e-06 9.99995866e-01 8.91947813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:264.51, Y:3.62, Z:0.89 [[ 9.99183200e-01 -4.03072528e-02 -2.87357473e-03 2.64509371e+02] [ 4.03071359e-02 9.99187332e-01 -9.86129340e-05 3.62243247e+00] [ 2.87521428e-03 -1.72931800e-05 9.99995866e-01 8.92645255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87864 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:264.54, Y:3.62, Z:0.89 [[ 9.99097113e-01 -4.23875174e-02 -2.87362490e-03 2.64542826e+02] [ 4.23874133e-02 9.99101245e-01 -9.71286531e-05 3.62459339e+00] [ 2.87515925e-03 -2.47645693e-05 9.99995866e-01 8.92378383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:264.57, Y:3.63, Z:0.90 [[ 9.99079406e-01 -4.28028234e-02 -2.87367420e-03 2.64574464e+02] [ 4.28027253e-02 9.99083539e-01 -9.56473329e-05 3.62521063e+00] [ 2.87513457e-03 -2.74418069e-05 9.99995866e-01 9.03203738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93864 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:264.61, Y:3.63, Z:0.90 [[ 9.99064665e-01 -4.31455067e-02 -2.87392777e-03 2.64606459e+02] [ 4.31454321e-02 9.99068798e-01 -8.79997886e-05 3.62595072e+00] [ 2.87504836e-03 -3.60793759e-05 9.99995866e-01 9.00869155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:264.64, Y:3.63, Z:0.90 [[ 9.98982349e-01 -4.50111902e-02 -2.87401340e-03 2.64638822e+02] [ 4.50111307e-02 9.98986482e-01 -8.53957883e-05 3.62678808e+00] [ 2.87494430e-03 -4.40537077e-05 9.99995866e-01 9.01485752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99864 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:264.67, Y:3.63, Z:0.90 [[ 9.98939502e-01 -4.59522889e-02 -2.87386991e-03 2.64672413e+02] [ 4.59522207e-02 9.98943635e-01 -8.97904394e-05 3.62644054e+00] [ 2.87496013e-03 -4.23654878e-05 9.99995866e-01 9.01778701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:264.70, Y:3.62, Z:0.89 [[ 9.98707778e-01 -5.07396629e-02 -2.87412173e-03 2.64704513e+02] [ 5.07396369e-02 9.98711912e-01 -8.20362986e-05 3.62070189e+00] [ 2.87458211e-03 -6.39016036e-05 9.99995866e-01 8.91990149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05864 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:264.74, Y:3.62, Z:0.90 [[ 9.98739590e-01 -5.01096015e-02 -2.87376699e-03 2.64737535e+02] [ 5.01095413e-02 9.98743723e-01 -9.29982674e-05 3.61797768e+00] [ 2.87481685e-03 -5.11220942e-05 9.99995866e-01 9.01398489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:264.77, Y:3.62, Z:0.89 [[ 9.98556627e-01 -5.36320754e-02 -2.87446307e-03 2.64767579e+02] [ 5.36320920e-02 9.98560761e-01 -7.13748291e-05 3.61621538e+00] [ 2.87415401e-03 -8.28916591e-05 9.99995866e-01 8.92042921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11864 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:264.80, Y:3.61, Z:0.90 [[ 9.98614448e-01 -5.25445200e-02 -2.87378119e-03 2.64800473e+02] [ 5.25444712e-02 9.98618581e-01 -9.25482288e-05 3.61044196e+00] [ 2.87467420e-03 -5.85813147e-05 9.99995866e-01 9.00065141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:264.83, Y:3.61, Z:0.89 [[ 9.98586962e-01 -5.30642843e-02 -2.87425920e-03 2.64832046e+02] [ 5.30642805e-02 9.98591096e-01 -7.76149869e-05 3.60762245e+00] [ 2.87432822e-03 -7.50151823e-05 9.99995866e-01 8.92888362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17864000000003 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:264.86, Y:3.60, Z:0.89 [[ 9.98868996e-01 -4.74601884e-02 -2.87382149e-03 2.64864826e+02] [ 4.74601219e-02 9.98873129e-01 -9.13804525e-05 3.60113021e+00] [ 2.87492000e-03 -4.51148173e-05 9.99995866e-01 8.93357246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:264.90, Y:3.60, Z:0.89 [[ 9.99058853e-01 -4.32798852e-02 -2.87386092e-03 2.64897544e+02] [ 4.32798050e-02 9.99062986e-01 -9.01229069e-05 3.60057423e+00] [ 2.87506859e-03 -3.43420523e-05 9.99995866e-01 8.94711827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23864 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:264.93, Y:3.60, Z:0.90 [[ 9.99340551e-01 -3.61967339e-02 -2.87390601e-03 2.64929574e+02] [ 3.61966286e-02 9.99344683e-01 -8.86614239e-05 3.60022438e+00] [ 2.87523195e-03 -1.54227525e-05 9.99995866e-01 9.04531359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:264.96, Y:3.60, Z:0.89 [[ 9.99462599e-01 -3.26534754e-02 -2.87473591e-03 2.64959615e+02] [ 3.26534336e-02 9.99466733e-01 -6.14916463e-05 3.59518978e+00] [ 2.87521083e-03 -3.24113976e-05 9.99995866e-01 8.92220699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:264.99, Y:3.59, Z:0.89 [[ 9.99572644e-01 -2.90907100e-02 -2.87391077e-03 2.64990598e+02] [ 2.90905763e-02 9.99576776e-01 -8.83365134e-05 3.59388003e+00] [ 2.87526424e-03 4.69504163e-06 9.99995866e-01 8.92257469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:265.02, Y:3.59, Z:0.89 [[ 9.99637991e-01 -2.67512301e-02 -2.87391650e-03 2.65020837e+02] [ 2.67510872e-02 9.99642122e-01 -8.81498462e-05 3.59454123e+00] [ 2.87524610e-03 1.12375443e-05 9.99995866e-01 8.92947577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:265.05, Y:3.60, Z:0.89 [[ 9.99763517e-01 -2.15557579e-02 -2.87391650e-03 2.65050835e+02] [ 2.15555935e-02 9.99767647e-01 -8.81498462e-05 3.59852979e+00] [ 2.87514887e-03 2.61800244e-05 9.99995866e-01 8.94200996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38864 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:265.08, Y:3.60, Z:0.90 [[ 9.99801034e-01 -1.97391326e-02 -2.87391650e-03 2.65080870e+02] [ 1.97389607e-02 9.99805164e-01 -8.81498462e-05 3.60028389e+00] [ 2.87509656e-03 3.14041824e-05 9.99995866e-01 9.02011247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:265.11, Y:3.60, Z:0.89 [[ 9.99867323e-01 -1.60335536e-02 -2.87432362e-03 2.65110146e+02] [ 1.60334048e-02 9.99871454e-01 -7.48002309e-05 3.60377041e+00] [ 2.87515345e-03 2.87051124e-05 9.99995866e-01 8.93717236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:265.14, Y:3.61, Z:0.89 [[ 9.99891041e-01 -1.44791838e-02 -2.87393330e-03 2.65139954e+02] [ 1.44789918e-02 9.99895170e-01 -8.76051533e-05 3.60659534e+00] [ 2.87490047e-03 4.59839514e-05 9.99995866e-01 8.94178571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:265.17, Y:3.61, Z:0.89 [[ 9.99905557e-01 -1.34394037e-02 -2.87392755e-03 2.65169551e+02] [ 1.34392069e-02 9.99909686e-01 -8.77931636e-05 3.60991934e+00] [ 2.87484788e-03 4.91615653e-05 9.99995866e-01 8.93360412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:265.20, Y:3.62, Z:0.89 [[ 9.99931498e-01 -1.13463971e-02 -2.87392177e-03 2.65198632e+02] [ 1.13461911e-02 9.99935626e-01 -8.79821180e-05 3.61610412e+00] [ 2.87473504e-03 5.53680254e-05 9.99995866e-01 8.93714763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53864 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:265.23, Y:3.62, Z:0.90 [[ 9.99945457e-01 -1.00410930e-02 -2.87391599e-03 2.65230087e+02] [ 1.00408810e-02 9.99949585e-01 -8.81704531e-05 3.62011958e+00] [ 2.87465643e-03 5.93089955e-05 9.99995866e-01 9.04251936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:265.26, Y:3.63, Z:0.89 [[ 9.99949882e-01 -9.59006281e-03 -2.87471358e-03 2.65259285e+02] [ 9.58992387e-03 9.99954014e-01 -6.21102957e-05 3.62846819e+00] [ 2.87517702e-03 3.45388985e-05 9.99995866e-01 8.94169992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59864 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:265.29, Y:3.63, Z:0.90 [[ 9.99956102e-01 -8.91823100e-03 -2.87393347e-03 2.65289815e+02] [ 8.91801582e-03 9.99960230e-01 -8.76803282e-05 3.63259661e+00] [ 2.87460112e-03 6.20466951e-05 9.99995866e-01 9.03231606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:265.32, Y:3.64, Z:0.89 [[ 9.99952821e-01 -9.27856110e-03 -2.87464958e-03 2.65319443e+02] [ 9.27841504e-03 9.99956953e-01 -6.41425924e-05 3.63742719e+00] [ 2.87512099e-03 3.74673743e-05 9.99995866e-01 8.92691976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65864 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:265.35, Y:3.64, Z:0.90 [[ 9.99923205e-01 -1.20550807e-02 -2.87394247e-03 2.65349902e+02] [ 1.20548793e-02 9.99927333e-01 -8.73955616e-05 3.64349980e+00] [ 2.87478719e-03 5.27438205e-05 9.99995866e-01 9.01833588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68864 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:265.38, Y:3.65, Z:0.90 [[ 9.99900812e-01 -1.37878317e-02 -2.87441445e-03 2.65379199e+02] [ 1.37876821e-02 9.99904943e-01 -7.18664736e-05 3.64730834e+00] [ 2.87513210e-03 3.22278327e-05 9.99995866e-01 9.01541688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:265.41, Y:3.65, Z:0.89 [[ 9.99806007e-01 -1.94855417e-02 -2.87437000e-03 2.65408746e+02] [ 1.94854115e-02 9.99810139e-01 -7.33164695e-05 3.65409819e+00] [ 2.87525288e-03 1.72939645e-05 9.99995866e-01 8.91216545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:265.44, Y:3.66, Z:0.89 [[ 9.99753191e-01 -2.20294942e-02 -2.87392429e-03 2.65439200e+02] [ 2.20293326e-02 9.99757321e-01 -8.78905686e-05 3.65689400e+00] [ 2.87516304e-03 2.45582423e-05 9.99995866e-01 8.90739402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77864 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:265.47, Y:3.66, Z:0.90 [[ 9.99688533e-01 -2.47906575e-02 -2.87392429e-03 2.65470496e+02] [ 2.47905073e-02 9.99692664e-01 -8.78905686e-05 3.65850271e+00] [ 2.87521990e-03 1.66171526e-05 9.99995866e-01 9.01196940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:265.50, Y:3.66, Z:0.89 [[ 9.99541769e-01 -3.01328862e-02 -2.87415112e-03 2.65502059e+02] [ 3.01327794e-02 9.99545901e-01 -8.04620383e-05 3.65939300e+00] [ 2.87527053e-03 -6.18099361e-06 9.99995866e-01 8.87901664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.53, Y:3.66, Z:0.89 [[ 9.99477045e-01 -3.22083207e-02 -2.87395654e-03 2.65534326e+02] [ 3.22082040e-02 9.99481177e-01 -8.68973348e-05 3.66020587e+00] [ 2.87526429e-03 -5.71308709e-06 9.99995866e-01 8.87905034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:265.57, Y:3.66, Z:0.89 [[ 9.99333264e-01 -3.63973548e-02 -2.87399533e-03 2.65566731e+02] [ 3.63972592e-02 9.99337397e-01 -8.55951682e-05 3.66112818e+00] [ 2.87520644e-03 -1.90674539e-05 9.99995866e-01 8.87971763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:265.60, Y:3.66, Z:0.89 [[ 9.99272262e-01 -3.80353195e-02 -2.87403358e-03 2.65599554e+02] [ 3.80352344e-02 9.99276395e-01 -8.42908272e-05 3.66103760e+00] [ 2.87515994e-03 -2.50850553e-05 9.99995866e-01 8.88122041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864000000003 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:265.63, Y:3.66, Z:0.90 [[ 9.99207580e-01 -3.96982487e-02 -2.87407590e-03 2.65631751e+02] [ 3.96981747e-02 9.99211713e-01 -8.28221253e-05 3.65764820e+00] [ 2.87509820e-03 -3.13390718e-05 9.99995866e-01 8.99137404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:265.66, Y:3.66, Z:0.89 [[ 9.99191053e-01 -4.01120834e-02 -2.87418460e-03 2.65662895e+02] [ 4.01120221e-02 9.99195186e-01 -7.90096883e-05 3.65799950e+00] [ 2.87504066e-03 -3.63435827e-05 9.99995866e-01 8.87419502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:265.70, Y:3.66, Z:0.89 [[ 9.99253829e-01 -3.85165554e-02 -2.87411532e-03 2.65696297e+02] [ 3.85164805e-02 9.99257962e-01 -8.14542096e-05 3.65906365e+00] [ 2.87511996e-03 -2.93073760e-05 9.99995866e-01 8.87479314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:265.73, Y:3.66, Z:0.89 [[ 9.99352598e-01 -3.58625751e-02 -2.87415594e-03 2.65728908e+02] [ 3.58624934e-02 9.99356731e-01 -7.99948486e-05 3.65932573e+00] [ 2.87517591e-03 -2.31313387e-05 9.99995866e-01 8.86554885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:265.76, Y:3.66, Z:0.89 [[ 9.99429858e-01 -3.36407352e-02 -2.87416859e-03 2.65760842e+02] [ 3.36406456e-02 9.99433990e-01 -7.95378531e-05 3.65970107e+00] [ 2.87521749e-03 -1.71963817e-05 9.99995866e-01 8.86730962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:265.79, Y:3.66, Z:0.89 [[ 9.99470683e-01 -3.24051326e-02 -2.87420385e-03 2.65792673e+02] [ 3.24050415e-02 9.99474816e-01 -7.82425278e-05 3.66056654e+00] [ 2.87522982e-03 -1.49375825e-05 9.99995866e-01 8.86971096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:265.83, Y:3.66, Z:0.89 [[ 9.99582739e-01 -2.87417274e-02 -2.87423829e-03 2.65825332e+02] [ 2.87416250e-02 9.99586871e-01 -7.69561540e-05 3.66280340e+00] [ 2.87526271e-03 -5.68623593e-06 9.99995866e-01 8.87220062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:265.86, Y:3.66, Z:0.89 [[ 9.99584602e-01 -2.86768485e-02 -2.87427236e-03 2.65857158e+02] [ 2.86767495e-02 9.99588735e-01 -7.56618519e-05 3.66365755e+00] [ 2.87526002e-03 -6.79436640e-06 9.99995866e-01 8.87311440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:265.89, Y:3.66, Z:0.89 [[ 9.99615936e-01 -2.75630051e-02 -2.87427726e-03 2.65888316e+02] [ 2.75629020e-02 9.99620068e-01 -7.54753041e-05 3.66395663e+00] [ 2.87526556e-03 -3.77710582e-06 9.99995866e-01 8.86429814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:265.92, Y:3.66, Z:0.89 [[ 9.99613105e-01 -2.76654827e-02 -2.87428215e-03 2.65919573e+02] [ 2.76653806e-02 9.99617237e-01 -7.52887560e-05 3.66190972e+00] [ 2.87526488e-03 -4.25848233e-06 9.99995866e-01 8.87576321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:265.95, Y:3.66, Z:0.90 [[ 9.99602982e-01 -2.80288551e-02 -2.87428700e-03 2.65950661e+02] [ 2.80287550e-02 9.99607114e-01 -7.51031623e-05 3.66157823e+00] [ 2.87526279e-03 -5.48934122e-06 9.99995866e-01 9.00786279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:265.98, Y:3.66, Z:0.89 [[ 9.99601024e-01 -2.80985819e-02 -2.87447564e-03 2.65981261e+02] [ 2.80985030e-02 9.99605157e-01 -6.78584817e-05 3.66169609e+00] [ 2.87524740e-03 -1.29370545e-05 9.99995866e-01 8.87858064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:266.01, Y:3.66, Z:0.89 [[ 9.99610708e-01 -2.77519656e-02 -2.87431253e-03 2.66012397e+02] [ 2.77518670e-02 9.99614840e-01 -7.41788446e-05 3.66063834e+00] [ 2.87526407e-03 -5.61757181e-06 9.99995866e-01 8.87439013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:266.04, Y:3.66, Z:0.90 [[ 9.99631783e-01 -2.69821629e-02 -2.87431728e-03 2.66043946e+02] [ 2.69820617e-02 9.99635915e-01 -7.39942660e-05 3.65989189e+00] [ 2.87526731e-03 -3.58798609e-06 9.99995866e-01 9.00780959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:266.07, Y:3.66, Z:0.90 [[ 9.99578466e-01 -2.88899161e-02 -2.87466655e-03 2.66073337e+02] [ 2.88898621e-02 9.99582599e-01 -6.03005286e-05 3.65889479e+00] [ 2.87520874e-03 -2.27736103e-05 9.99995866e-01 9.02710304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:266.11, Y:3.66, Z:0.89 [[ 9.99599016e-01 -2.81699486e-02 -2.87419836e-03 2.66105194e+02] [ 2.81698391e-02 9.99603148e-01 -7.85852190e-05 3.65940274e+00] [ 2.87527147e-03 -2.41199777e-06 9.99995866e-01 8.87099898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:266.14, Y:3.66, Z:0.89 [[ 9.99584438e-01 -2.86825690e-02 -2.87433677e-03 2.66136089e+02] [ 2.86824773e-02 9.99588570e-01 -7.31461079e-05 3.65835749e+00] [ 2.87525220e-03 -9.32738802e-06 9.99995866e-01 8.86929534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:266.17, Y:3.66, Z:0.89 [[ 9.99600414e-01 -2.81202693e-02 -2.87433914e-03 2.66167817e+02] [ 2.81201755e-02 9.99604547e-01 -7.30530176e-05 3.65710033e+00] [ 2.87525674e-03 -7.80309429e-06 9.99995866e-01 8.87101344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:266.20, Y:3.66, Z:0.90 [[ 9.99623765e-01 -2.72775873e-02 -2.87434383e-03 2.66198643e+02] [ 2.72774905e-02 9.99627897e-01 -7.28678769e-05 3.65660633e+00] [ 2.87526194e-03 -5.56442518e-06 9.99995866e-01 9.01255595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49864 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:266.23, Y:3.66, Z:0.90 [[ 9.99632583e-01 -2.69525255e-02 -2.87423121e-03 2.66229751e+02] [ 2.69524145e-02 9.99636715e-01 -7.73525867e-05 3.65606379e+00] [ 2.87527189e-03 -1.43305001e-07 9.99995866e-01 9.01756477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:266.26, Y:3.66, Z:0.90 [[ 9.99630483e-01 -2.70302762e-02 -2.87422798e-03 2.66261561e+02] [ 2.70301652e-02 9.99634615e-01 -7.74818659e-05 3.65560828e+00] [ 2.87527214e-03 -2.37622043e-07 9.99995866e-01 9.01066028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:266.29, Y:3.66, Z:0.89 [[ 9.99630086e-01 -2.70449416e-02 -2.87434281e-03 2.66293119e+02] [ 2.70448439e-02 9.99634219e-01 -7.28256533e-05 3.65654376e+00] [ 2.87526100e-03 -4.93743880e-06 9.99995866e-01 8.87510623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:266.32, Y:3.66, Z:0.90 [[ 9.99552582e-01 -2.97720364e-02 -2.87441436e-03 2.66323036e+02] [ 2.97719586e-02 9.99556715e-01 -6.98829220e-05 3.65557376e+00] [ 2.87522073e-03 -1.57252901e-05 9.99995866e-01 9.01278080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:266.35, Y:3.65, Z:0.89 [[ 9.99515384e-01 -3.09957322e-02 -2.87415776e-03 2.66354741e+02] [ 3.09956289e-02 9.99519517e-01 -8.04748450e-05 3.65293672e+00] [ 2.87527115e-03 -8.65048165e-06 9.99995866e-01 8.87555046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:266.38, Y:3.65, Z:0.90 [[ 9.99463032e-01 -3.26402367e-02 -2.87444294e-03 2.66384769e+02] [ 3.26401746e-02 9.99467165e-01 -6.85097807e-05 3.65191183e+00] [ 2.87514751e-03 -2.53493262e-05 9.99995866e-01 9.00455678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.42, Y:3.65, Z:0.89 [[ 9.99468825e-01 -3.24624036e-02 -2.87422035e-03 2.66416785e+02] [ 3.24623138e-02 9.99472957e-01 -7.78797737e-05 3.65316620e+00] [ 2.87523368e-03 -1.54654371e-05 9.99995866e-01 8.87949908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.45, Y:3.65, Z:0.89 [[ 9.99348956e-01 -3.59638882e-02 -2.87447290e-03 2.66448526e+02] [ 3.59638441e-02 9.99353089e-01 -6.70533564e-05 3.65217544e+00] [ 2.87502487e-03 -3.63673935e-05 9.99995866e-01 8.88316364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:3.65, Z:0.89 [[ 9.99281245e-01 -3.77985453e-02 -2.87447714e-03 2.66480263e+02] [ 3.77985093e-02 9.99285379e-01 -6.68710369e-05 3.64987904e+00] [ 2.87495061e-03 -4.18279780e-05 9.99995866e-01 8.88183426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:266.51, Y:3.65, Z:0.90 [[ 9.99123447e-01 -4.17621318e-02 -2.87448135e-03 2.66510984e+02] [ 4.17621128e-02 9.99127580e-01 -6.66894615e-05 3.64572906e+00] [ 2.87475869e-03 -5.34134099e-05 9.99995866e-01 9.00993908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:266.54, Y:3.64, Z:0.89 [[ 9.99014543e-01 -4.42908510e-02 -2.87443916e-03 2.66542236e+02] [ 4.42908372e-02 9.99018677e-01 -6.85139726e-05 3.64471480e+00] [ 2.87465295e-03 -5.88648619e-05 9.99995866e-01 8.88357595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:3.64, Z:0.89 [[ 9.98976624e-01 -4.51380284e-02 -2.87450573e-03 2.66574573e+02] [ 4.51380264e-02 9.98980758e-01 -6.55968565e-05 3.64296745e+00] [ 2.87453683e-03 -6.42197894e-05 9.99995866e-01 8.88131889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:266.61, Y:3.64, Z:0.89 [[ 9.98849751e-01 -4.78634635e-02 -2.87453369e-03 2.66606848e+02] [ 4.78634764e-02 9.98853885e-01 -6.43479633e-05 3.63643539e+00] [ 2.87431906e-03 -7.33112282e-05 9.99995866e-01 8.88488347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.64, Y:3.63, Z:0.89 [[ 9.98785100e-01 -4.91941100e-02 -2.87456104e-03 2.66638994e+02] [ 4.91941319e-02 9.98789234e-01 -6.31020122e-05 3.63377349e+00] [ 2.87418487e-03 -7.83861854e-05 9.99995866e-01 8.88130262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:266.67, Y:3.63, Z:0.89 [[ 9.98637233e-01 -5.21096393e-02 -2.87458765e-03 2.66670307e+02] [ 5.21096769e-02 9.98641366e-01 -6.18657902e-05 3.62542764e+00] [ 2.87390594e-03 -8.80123519e-05 9.99995866e-01 8.88077347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:266.70, Y:3.62, Z:0.89 [[ 9.98541922e-01 -5.39051600e-02 -2.87459142e-03 2.66702090e+02] [ 5.39052056e-02 9.98546056e-01 -6.16897306e-05 3.61994246e+00] [ 2.87373732e-03 -9.33556595e-05 9.99995866e-01 8.87236173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:266.73, Y:3.61, Z:0.90 [[ 9.98471585e-01 -5.51926720e-02 -2.87459517e-03 2.66732039e+02] [ 5.51927234e-02 9.98475718e-01 -6.15148676e-05 3.61380126e+00] [ 2.87360864e-03 -9.72358885e-05 9.99995866e-01 9.02392020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:3.60, Z:0.89 [[ 9.98486401e-01 -5.49239891e-02 -2.87433512e-03 2.66764139e+02] [ 5.49240042e-02 9.98490535e-01 -7.37698350e-05 3.60155129e+00] [ 2.87404815e-03 -8.42118170e-05 9.99995866e-01 8.88007686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:266.79, Y:3.60, Z:0.89 [[ 9.98545575e-01 -5.38374529e-02 -2.87461929e-03 2.66794494e+02] [ 5.38375025e-02 9.98549708e-01 -6.02002855e-05 3.59623047e+00] [ 2.87369129e-03 -9.46495946e-05 9.99995866e-01 8.88042066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:266.82, Y:3.59, Z:0.89 [[ 9.98664565e-01 -5.15831580e-02 -2.87461929e-03 2.66824460e+02] [ 5.15831982e-02 9.98668699e-01 -6.02002855e-05 3.59134725e+00] [ 2.87389763e-03 -8.81621649e-05 9.99995866e-01 8.88917225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:266.85, Y:3.58, Z:0.89 [[ 9.98895464e-01 -4.68997784e-02 -2.87461745e-03 2.66854036e+02] [ 4.68997990e-02 9.98899597e-01 -6.02884722e-05 3.58060342e+00] [ 2.87428172e-03 -7.45970989e-05 9.99995866e-01 8.88600790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:266.88, Y:3.57, Z:0.90 [[ 9.99182833e-01 -4.03162892e-02 -2.87461366e-03 2.66883397e+02] [ 4.03162820e-02 9.99186966e-01 -6.04684325e-05 3.57153624e+00] [ 2.87471436e-03 -5.54747152e-05 9.99995866e-01 9.00765192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:266.91, Y:3.57, Z:0.89 [[ 9.99379300e-01 -3.51105947e-02 -2.87434521e-03 2.66914232e+02] [ 3.51105294e-02 9.99383433e-01 -7.31858198e-05 3.56896480e+00] [ 2.87514258e-03 -2.77793887e-05 9.99995866e-01 8.89348294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:266.94, Y:3.57, Z:0.90 [[ 9.99529779e-01 -3.05279632e-02 -2.87462296e-03 2.66944504e+02] [ 3.05279174e-02 9.99533913e-01 -5.98439411e-05 3.56672340e+00] [ 2.87511005e-03 -2.79404510e-05 9.99995866e-01 9.01646148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:266.97, Y:3.57, Z:0.90 [[ 9.99651835e-01 -2.62287059e-02 -2.87464333e-03 2.66974691e+02] [ 2.62286450e-02 9.99655968e-01 -5.88657606e-05 3.56509536e+00] [ 2.87519833e-03 -1.65527338e-05 9.99995866e-01 9.03812993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:267.00, Y:3.57, Z:0.91 [[ 9.99825764e-01 -1.84439250e-02 -2.87472776e-03 2.67004624e+02] [ 1.84438436e-02 9.99829896e-01 -5.48523457e-05 3.56538494e+00] [ 2.87525045e-03 1.82175939e-06 9.99995866e-01 9.07589841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:267.04, Y:3.57, Z:0.90 [[ 9.99885424e-01 -1.48618588e-02 -2.87482835e-03 2.67035165e+02] [ 1.48617762e-02 9.99889556e-01 -5.00686349e-05 3.56637390e+00] [ 2.87525496e-03 7.33784253e-06 9.99995866e-01 9.04395435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:267.06, Y:3.57, Z:0.90 [[ 9.99961772e-01 -8.25768415e-03 -2.87485981e-03 2.67064918e+02] [ 8.25757862e-03 9.99965904e-01 -4.85761433e-05 3.56678786e+00] [ 2.87516291e-03 2.48349054e-05 9.99995866e-01 9.03189975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:267.09, Y:3.57, Z:0.90 [[ 9.99981877e-01 -5.28965814e-03 -2.87488125e-03 2.67094936e+02] [ 5.28954322e-03 9.99986009e-01 -4.75736258e-05 3.56824046e+00] [ 2.87509267e-03 3.23659550e-05 9.99995866e-01 9.03750866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:267.12, Y:3.57, Z:0.89 [[ 9.99990901e-01 -3.15153495e-03 -2.87495877e-03 2.67123763e+02] [ 3.15142143e-03 9.99995033e-01 -4.40132032e-05 3.57091802e+00] [ 2.87508320e-03 3.49525960e-05 9.99995866e-01 8.92373886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:267.15, Y:3.58, Z:0.91 [[ 9.99993179e-01 2.31931723e-03 -2.87450973e-03 2.67154118e+02] [-2.31951117e-03 9.99997308e-01 -6.41380012e-05 3.58015294e+00] [ 2.87435324e-03 7.08050212e-05 9.99995867e-01 9.08179802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:267.18, Y:3.58, Z:0.89 [[ 9.99968901e-01 7.34391570e-03 -2.87466729e-03 2.67184351e+02] [-7.34411008e-03 9.99973030e-01 -5.70685473e-05 3.58487926e+00] [ 2.87417066e-03 7.81786455e-05 9.99995867e-01 8.93979484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:267.21, Y:3.59, Z:0.89 [[ 9.99915388e-01 1.26867440e-02 -2.87450204e-03 2.67212898e+02] [-1.26869816e-02 9.99919515e-01 -6.44402003e-05 3.59216913e+00] [ 2.87345314e-03 1.00903502e-04 9.99995867e-01 8.94779544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:267.24, Y:3.60, Z:0.90 [[ 9.99895188e-01 1.41897979e-02 -2.87447254e-03 2.67240379e+02] [-1.41900454e-02 9.99899314e-01 -6.57300397e-05 3.59636912e+00] [ 2.87325043e-03 1.06512046e-04 9.99995867e-01 8.95128000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:267.27, Y:3.60, Z:0.91 [[ 9.99883177e-01 1.50123101e-02 -2.87443838e-03 2.67271649e+02] [-1.50125652e-02 9.99887303e-01 -6.71913544e-05 3.60153127e+00] [ 2.87310574e-03 1.10336199e-04 9.99995867e-01 9.09022640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:267.30, Y:3.61, Z:0.91 [[ 9.99892226e-01 1.43968675e-02 -2.87499773e-03 2.67300356e+02] [-1.43970524e-02 9.99896356e-01 -4.36256740e-05 3.60948052e+00] [ 2.87407168e-03 8.50124654e-05 9.99995866e-01 9.09805173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:267.33, Y:3.61, Z:0.91 [[ 9.99953322e-01 9.22431848e-03 -2.87505372e-03 2.67329342e+02] [-9.22447542e-03 9.99957453e-01 -4.13296502e-05 3.61318757e+00] [ 2.87455015e-03 6.78485833e-05 9.99995866e-01 9.09556611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:267.36, Y:3.62, Z:0.91 [[ 9.99979159e-01 5.78066053e-03 -2.87490662e-03 2.67358169e+02] [-5.78082018e-03 9.99983290e-01 -4.72236928e-05 3.61504253e+00] [ 2.87458559e-03 6.38420268e-05 9.99995866e-01 9.10464097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:267.39, Y:3.62, Z:0.91 [[ 9.99994209e-01 1.82142212e-03 -2.87465549e-03 2.67387107e+02] [-1.82159402e-03 9.99998339e-01 -5.71833979e-05 3.61779409e+00] [ 2.87454656e-03 6.24195221e-05 9.99995867e-01 9.11914996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:267.42, Y:3.62, Z:0.91 [[ 9.99994788e-01 -1.47022991e-03 -2.87444665e-03 2.67418661e+02] [ 1.47004806e-03 9.99998917e-01 -6.53773660e-05 3.62226201e+00] [ 2.87453966e-03 6.11514505e-05 9.99995867e-01 9.09251358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:267.45, Y:3.62, Z:0.91 [[ 9.99982551e-01 -5.16070388e-03 -2.87483235e-03 2.67447023e+02] [ 5.16058040e-03 9.99986683e-01 -5.03678287e-05 3.62353925e+00] [ 2.87505399e-03 3.55311463e-05 9.99995866e-01 9.11835897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:267.48, Y:3.62, Z:0.91 [[ 9.99953166e-01 -9.24146935e-03 -2.87434963e-03 2.67478118e+02] [ 9.24130941e-03 9.99957296e-01 -6.89217847e-05 3.62410903e+00] [ 2.87486382e-03 4.23558025e-05 9.99995867e-01 9.09292380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:267.51, Y:3.63, Z:0.91 [[ 9.99923745e-01 -1.20100666e-02 -2.87454425e-03 2.67507769e+02] [ 1.20099395e-02 9.99927876e-01 -6.14697914e-05 3.62510843e+00] [ 2.87507518e-03 2.69420014e-05 9.99995867e-01 9.06694933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:267.54, Y:3.63, Z:0.91 [[ 9.99868611e-01 -1.59529914e-02 -2.87450513e-03 2.67536552e+02] [ 1.59528764e-02 9.99872743e-01 -6.29582402e-05 3.62539488e+00] [ 2.87514370e-03 1.70933432e-05 9.99995867e-01 9.07661499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:267.57, Y:3.62, Z:0.91 [[ 9.99746238e-01 -2.23427628e-02 -2.87427844e-03 2.67566321e+02] [ 2.23426496e-02 9.99750369e-01 -7.14792924e-05 3.62243002e+00] [ 2.87515797e-03 7.24215765e-06 9.99995867e-01 9.07144780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:267.60, Y:3.62, Z:0.91 [[ 9.99675859e-01 -2.52965698e-02 -2.87419275e-03 2.67595680e+02] [ 2.52964595e-02 9.99679991e-01 -7.47018177e-05 3.62102810e+00] [ 2.87516268e-03 1.97070324e-06 9.99995867e-01 9.06384133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:267.63, Y:3.62, Z:0.89 [[ 9.99562461e-01 -2.94385096e-02 -2.87415711e-03 2.67625624e+02] [ 2.94384127e-02 9.99566593e-01 -7.60402581e-05 3.61753013e+00] [ 2.87514995e-03 -8.60363567e-06 9.99995867e-01 8.94303110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:267.66, Y:3.62, Z:0.91 [[ 9.99530363e-01 -3.05088914e-02 -2.87414204e-03 2.67655859e+02] [ 3.05087972e-02 9.99534495e-01 -7.66056294e-05 3.61612641e+00] [ 2.87514127e-03 -1.11169643e-05 9.99995867e-01 9.06471205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:267.69, Y:3.61, Z:0.91 [[ 9.99531398e-01 -3.04749799e-02 -2.87417400e-03 2.67685164e+02] [ 3.04748890e-02 9.99535530e-01 -7.54102712e-05 3.61437146e+00] [ 2.87513716e-03 -1.22152000e-05 9.99995867e-01 9.07117505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:267.71, Y:3.61, Z:0.91 [[ 9.99537230e-01 -3.02830421e-02 -2.87443112e-03 2.67714468e+02] [ 3.02829779e-02 9.99541363e-01 -6.58767122e-05 3.60965370e+00] [ 2.87510775e-03 -2.12001077e-05 9.99995867e-01 9.08607613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:267.74, Y:3.61, Z:0.91 [[ 9.99557802e-01 -2.95962492e-02 -2.87428718e-03 2.67743941e+02] [ 2.95961668e-02 9.99561935e-01 -7.12224779e-05 3.60761772e+00] [ 2.87513597e-03 -1.38768993e-05 9.99995867e-01 9.09214781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:267.77, Y:3.61, Z:0.91 [[ 9.99552437e-01 -2.97768957e-02 -2.87430393e-03 2.67773088e+02] [ 2.97768157e-02 9.99556570e-01 -7.06048460e-05 3.60833830e+00] [ 2.87513177e-03 -1.50143726e-05 9.99995867e-01 9.09298595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:3.60, Z:0.90 [[ 9.99599550e-01 -2.81509758e-02 -2.87428902e-03 2.67802846e+02] [ 2.81508876e-02 9.99603683e-01 -7.11510227e-05 3.60497094e+00] [ 2.87515286e-03 -9.79125657e-06 9.99995867e-01 8.97227073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:267.83, Y:3.60, Z:0.90 [[ 9.99637248e-01 -2.67789631e-02 -2.87408399e-03 2.67831521e+02] [ 2.67788477e-02 9.99641379e-01 -7.86437654e-05 3.60353394e+00] [ 2.87515928e-03 1.65057964e-06 9.99995867e-01 8.96602632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:267.86, Y:3.60, Z:0.91 [[ 9.99759087e-01 -2.17602369e-02 -2.87407336e-03 2.67862492e+02] [ 2.17600996e-02 9.99763218e-01 -7.90302332e-05 3.59899806e+00] [ 2.87511255e-03 1.64710710e-05 9.99995867e-01 9.07050711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:3.60, Z:0.90 [[ 9.99781113e-01 -2.07234786e-02 -2.87452053e-03 2.67891572e+02] [ 2.07233840e-02 9.99785246e-01 -6.26840939e-05 3.59727100e+00] [ 2.87520225e-03 3.10058031e-06 9.99995867e-01 8.97123554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:3.60, Z:0.90 [[ 9.99809685e-01 -1.92959232e-02 -2.87405599e-03 2.67920652e+02] [ 1.92957745e-02 9.99813816e-01 -7.94818935e-05 3.59784462e+00] [ 2.87505456e-03 2.40096307e-05 9.99995867e-01 8.97430276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:267.95, Y:3.60, Z:0.90 [[ 9.99934913e-01 -1.10412469e-02 -2.87404532e-03 2.67949469e+02] [ 1.10410630e-02 9.99939042e-01 -7.98657045e-05 3.60021388e+00] [ 2.87475195e-03 4.81279909e-05 9.99995867e-01 8.96563630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:267.98, Y:3.60, Z:0.91 [[ 9.99976180e-01 -6.27531767e-03 -2.87400743e-03 2.67980051e+02] [ 6.27511018e-03 9.99980308e-01 -8.12067917e-05 3.60169573e+00] [ 2.87446043e-03 6.31701441e-05 9.99995867e-01 9.09163635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:3.61, Z:0.90 [[ 9.99989600e-01 3.54089658e-03 -2.87434265e-03 2.68010140e+02] [-3.54111054e-03 9.99993728e-01 -6.93546348e-05 3.60688578e+00] [ 2.87407905e-03 7.95322786e-05 9.99995867e-01 8.97654742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:268.04, Y:3.61, Z:0.91 [[ 9.99956061e-01 8.92277287e-03 -2.87399477e-03 2.68042549e+02] [-8.92304422e-03 9.99960186e-01 -8.16061480e-05 3.61203125e+00] [ 2.87315219e-03 1.07247345e-04 9.99995867e-01 9.11112509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:3.62, Z:0.90 [[ 9.99922282e-01 1.21311252e-02 -2.87489720e-03 2.68070534e+02] [-1.21313181e-02 9.99926412e-01 -4.96718519e-05 3.61670373e+00] [ 2.87408306e-03 8.45442840e-05 9.99995866e-01 8.99364693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:268.10, Y:3.63, Z:0.90 [[ 9.99847343e-01 1.72345689e-02 -2.87395552e-03 2.68098531e+02] [-1.72348770e-02 9.99851465e-01 -8.24828751e-05 3.62656745e+00] [ 2.87210708e-03 1.32002553e-04 9.99995867e-01 8.98418390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:3.63, Z:0.90 [[ 9.99831089e-01 1.81530473e-02 -2.87391309e-03 2.68126520e+02] [-1.81533634e-02 9.99835211e-01 -8.39355807e-05 3.63315669e+00] [ 2.87191581e-03 1.36092592e-04 9.99995867e-01 8.98918979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:3.65, Z:0.90 [[ 9.99833777e-01 1.80044085e-02 -2.87387029e-03 2.68155085e+02] [-1.80047281e-02 9.99837898e-01 -8.53762630e-05 3.64585938e+00] [ 2.87186728e-03 1.37105325e-04 9.99995867e-01 8.99691747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:268.18, Y:3.65, Z:0.90 [[ 9.99865180e-01 1.61666976e-02 -2.87383267e-03 2.68183813e+02] [-1.61670132e-02 9.99869302e-01 -8.66245619e-05 3.65158556e+00] [ 2.87205663e-03 1.33074174e-04 9.99995867e-01 8.99518590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:268.21, Y:3.66, Z:0.90 [[ 9.99903447e-01 1.35955143e-02 -2.87379420e-03 2.68212647e+02] [-1.35958229e-02 9.99907569e-01 -8.78822808e-05 3.65704163e+00] [ 2.87233377e-03 1.26945393e-04 9.99995867e-01 8.98639564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:3.67, Z:0.90 [[ 9.99965075e-01 7.84793814e-03 -2.87375518e-03 2.68241469e+02] [-7.84822668e-03 9.99969198e-01 -8.91404795e-05 3.66901378e+00] [ 2.87296709e-03 1.11691248e-04 9.99995867e-01 8.98714727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:268.27, Y:3.67, Z:0.90 [[ 9.99982729e-01 5.12667424e-03 -2.87374391e-03 2.68269814e+02] [-5.12695259e-03 9.99986853e-01 -8.95021125e-05 3.67391286e+00] [ 2.87324728e-03 1.04234116e-04 9.99995867e-01 8.99599812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:268.30, Y:3.68, Z:0.90 [[ 9.99985319e-01 -4.59389611e-03 -2.87373245e-03 2.68298560e+02] [ 4.59365680e-03 9.99989445e-01 -8.98686932e-05 3.68184699e+00] [ 2.87411496e-03 7.66664332e-05 9.99995867e-01 8.99667634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:268.33, Y:3.69, Z:0.91 [[ 9.99956365e-01 -8.88875088e-03 -2.87372370e-03 2.68329583e+02] [ 8.88852849e-03 9.99960492e-01 -9.01476402e-05 3.68705872e+00] [ 2.87441146e-03 6.46005317e-05 9.99995867e-01 9.10658954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:268.36, Y:3.69, Z:0.91 [[ 9.99894699e-01 -1.42241758e-02 -2.87470926e-03 2.68358363e+02] [ 1.42240660e-02 9.99898831e-01 -5.86113848e-05 3.69135003e+00] [ 2.87525213e-03 1.77151586e-05 9.99995866e-01 9.11580482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:268.39, Y:3.69, Z:0.91 [[ 9.99746029e-01 -2.23521019e-02 -2.87413302e-03 2.68389486e+02] [ 2.23519737e-02 9.99750160e-01 -7.67322914e-05 3.69412362e+00] [ 2.87513007e-03 1.24702581e-05 9.99995867e-01 9.11687237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:268.42, Y:3.70, Z:0.91 [[ 9.99626121e-01 -2.71910963e-02 -2.87438624e-03 2.68420386e+02] [ 2.71910109e-02 9.99630254e-01 -6.88196376e-05 3.69521153e+00] [ 2.87519472e-03 -9.36356003e-06 9.99995867e-01 9.10435791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:268.45, Y:3.70, Z:0.91 [[ 9.99363951e-01 -3.55447806e-02 -2.87432534e-03 2.68451828e+02] [ 3.55447243e-02 9.99368084e-01 -7.07064605e-05 3.69822459e+00] [ 2.87502225e-03 -3.15056139e-05 9.99995867e-01 9.12646584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:268.48, Y:3.70, Z:0.91 [[ 9.99207861e-01 -3.96911677e-02 -2.87417760e-03 2.68482975e+02] [ 3.96911154e-02 9.99211994e-01 -7.52802554e-05 3.69809493e+00] [ 2.87490069e-03 -3.88586915e-05 9.99995867e-01 9.13306489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:3.69, Z:0.90 [[ 9.98844883e-01 -4.79649671e-02 -2.87418493e-03 2.68513773e+02] [ 4.79649496e-02 9.98849017e-01 -7.50544461e-05 3.69347868e+00] [ 2.87447677e-03 -6.28923857e-05 9.99995867e-01 8.98515876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:3.69, Z:0.90 [[ 9.98710233e-01 -5.06913474e-02 -2.87358630e-03 2.68546136e+02] [ 5.06912882e-02 9.98714366e-01 -9.34602996e-05 3.69221898e+00] [ 2.87462955e-03 -5.23260337e-05 9.99995867e-01 8.99377472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:3.69, Z:0.91 [[ 9.98585480e-01 -5.30921878e-02 -2.87362690e-03 2.68576101e+02] [ 5.30921422e-02 9.98589613e-01 -9.21947914e-05 3.69033990e+00] [ 2.87446880e-03 -6.05026281e-05 9.99995867e-01 9.12320228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:3.68, Z:0.90 [[ 9.98405705e-01 -5.63719057e-02 -2.87350747e-03 2.68607693e+02] [ 5.63718630e-02 9.98409838e-01 -9.59315127e-05 3.68370454e+00] [ 2.87434597e-03 -6.62063997e-05 9.99995867e-01 8.97847510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:268.64, Y:3.68, Z:0.90 [[ 9.98421842e-01 -5.60853602e-02 -2.87365894e-03 2.68639514e+02] [ 5.60853300e-02 9.98425975e-01 -9.11564764e-05 3.68136783e+00] [ 2.87424827e-03 -7.01574930e-05 9.99995867e-01 8.99243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:3.68, Z:0.90 [[ 9.98508548e-01 -5.45199116e-02 -2.87369771e-03 2.68671454e+02] [ 5.45198785e-02 9.98512681e-01 -8.99172473e-05 3.68008852e+00] [ 2.87432589e-03 -6.68905102e-05 9.99995867e-01 8.99590911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.70, Y:3.68, Z:0.90 [[ 9.98734666e-01 -5.02076543e-02 -2.87373613e-03 2.68703338e+02] [ 5.02076069e-02 9.98738799e-01 -8.86721414e-05 3.67635557e+00] [ 2.87456379e-03 -5.57234727e-05 9.99995867e-01 8.99149936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:268.73, Y:3.67, Z:0.91 [[ 9.98928357e-01 -4.61939270e-02 -2.87377430e-03 2.68734526e+02] [ 4.61938666e-02 9.98932490e-01 -8.74176294e-05 3.67329303e+00] [ 2.87474468e-03 -4.54267975e-05 9.99995867e-01 9.12314841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:268.77, Y:3.67, Z:0.91 [[ 9.99039981e-01 -4.37133288e-02 -2.87415282e-03 2.68765575e+02] [ 4.37132942e-02 9.99044114e-01 -7.49028921e-05 3.66843590e+00] [ 2.87467971e-03 -5.08077036e-05 9.99995867e-01 9.13189991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:268.80, Y:3.67, Z:0.90 [[ 9.99095914e-01 -4.24157619e-02 -2.87359023e-03 2.68797016e+02] [ 4.24156682e-02 9.99100046e-01 -9.35513496e-05 3.66758106e+00] [ 2.87497218e-03 -2.84184785e-05 9.99995867e-01 8.99964117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:268.83, Y:3.66, Z:0.90 [[ 9.99171424e-01 -4.05981109e-02 -2.87380747e-03 2.68827909e+02] [ 4.05980305e-02 9.99175556e-01 -8.63185530e-05 3.66202904e+00] [ 2.87494255e-03 -3.04238919e-05 9.99995867e-01 8.98668226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:3.66, Z:0.90 [[ 9.99206243e-01 -3.97319090e-02 -2.87380747e-03 2.68858181e+02] [ 3.97318250e-02 9.99210376e-01 -8.63185530e-05 3.65917536e+00] [ 2.87496784e-03 -2.79315786e-05 9.99995867e-01 8.98836810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:268.89, Y:3.66, Z:0.91 [[ 9.99277601e-01 -3.78948112e-02 -2.87380747e-03 2.68888081e+02] [ 3.78947196e-02 9.99281733e-01 -8.63185530e-05 3.65761042e+00] [ 2.87501434e-03 -2.26459319e-05 9.99995867e-01 9.13683510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:268.92, Y:3.66, Z:0.91 [[ 9.99387564e-01 -3.48746192e-02 -2.87372546e-03 2.68918141e+02] [ 3.48745073e-02 9.99391695e-01 -8.90418306e-05 3.65669755e+00] [ 2.87508266e-03 -1.12324613e-05 9.99995867e-01 9.12129339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:268.95, Y:3.66, Z:0.91 [[ 9.99480891e-01 -3.20888033e-02 -2.87368232e-03 2.68947882e+02] [ 3.20886758e-02 9.99485022e-01 -9.04763803e-05 3.65642792e+00] [ 2.87510572e-03 -1.78324738e-06 9.99995867e-01 9.11531503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:268.98, Y:3.66, Z:0.91 [[ 9.99588617e-01 -2.85366076e-02 -2.87366225e-03 2.68978051e+02] [ 2.85364635e-02 9.99592748e-01 -9.11441811e-05 3.65531891e+00] [ 2.87509289e-03 9.10252819e-06 9.99995867e-01 9.12183706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.01, Y:3.66, Z:0.91 [[ 9.99708346e-01 -2.39783718e-02 -2.87397539e-03 2.69007389e+02] [ 2.39782387e-02 9.99712477e-01 -8.07639103e-05 3.65533826e+00] [ 2.87508564e-03 1.18274873e-05 9.99995867e-01 9.14495857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:3.66, Z:0.90 [[ 9.99756853e-01 -2.18626465e-02 -2.87381493e-03 2.69037723e+02] [ 2.18624893e-02 9.99760984e-01 -8.61015020e-05 3.65715553e+00] [ 2.87501045e-03 2.32518186e-05 9.99995867e-01 9.03039198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.07, Y:3.66, Z:0.91 [[ 9.99794546e-01 -2.00650727e-02 -2.87380036e-03 2.69067525e+02] [ 2.00649067e-02 9.99798676e-01 -8.65850987e-05 3.65764648e+00] [ 2.87495913e-03 2.89047734e-05 9.99995867e-01 9.14210846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.10, Y:3.65, Z:0.91 [[ 9.99829621e-01 -1.82336965e-02 -2.87410151e-03 2.69096506e+02] [ 1.82335516e-02 9.99833752e-01 -7.66148354e-05 3.65498463e+00] [ 2.87502067e-03 2.41967035e-05 9.99995867e-01 9.13618643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:269.12, Y:3.65, Z:0.91 [[ 9.99837563e-01 -1.77928808e-02 -2.87427895e-03 2.69124956e+02] [ 1.77927508e-02 9.99841694e-01 -7.07875019e-05 3.65473885e+00] [ 2.87508345e-03 1.96346742e-05 9.99995867e-01 9.13991746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:269.15, Y:3.65, Z:0.92 [[ 9.99847834e-01 -1.72060051e-02 -2.87427835e-03 2.69153997e+02] [ 1.72058727e-02 9.99851966e-01 -7.08071681e-05 3.65478389e+00] [ 2.87507117e-03 2.13419263e-05 9.99995867e-01 9.15122414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.18, Y:3.65, Z:0.92 [[ 9.99857665e-01 -1.66249241e-02 -2.87428106e-03 2.69182618e+02] [ 1.66247895e-02 9.99861796e-01 -7.07200539e-05 3.65482666e+00] [ 2.87505954e-03 2.29256702e-05 9.99995867e-01 9.15974262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:269.21, Y:3.66, Z:0.92 [[ 9.99855024e-01 -1.67829780e-02 -2.87440505e-03 2.69211233e+02] [ 1.67828555e-02 9.99859156e-01 -6.67560968e-05 3.65515895e+00] [ 2.87512058e-03 1.85056942e-05 9.99995867e-01 9.15158070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:3.66, Z:0.90 [[ 9.99829795e-01 -1.82241487e-02 -2.87439643e-03 2.69240127e+02] [ 1.82240313e-02 9.99833926e-01 -6.70278590e-05 3.65779530e+00] [ 2.87514060e-03 1.46333599e-05 9.99995867e-01 9.03078802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.27, Y:3.66, Z:0.90 [[ 9.99842318e-01 -1.75237216e-02 -2.87362577e-03 2.69268556e+02] [ 1.75235316e-02 9.99846447e-01 -9.12875177e-05 3.65949685e+00] [ 2.87478421e-03 4.09170515e-05 9.99995867e-01 9.03201668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:269.30, Y:3.66, Z:0.92 [[ 9.99855381e-01 -1.67618176e-02 -2.87361362e-03 2.69298834e+02] [ 1.67616233e-02 9.99859510e-01 -9.16683569e-05 3.66033384e+00] [ 2.87474643e-03 4.34886708e-05 9.99995867e-01 9.15524975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.33, Y:3.66, Z:0.90 [[ 9.99827488e-01 -1.83502660e-02 -2.87422204e-03 2.69327909e+02] [ 1.83501330e-02 9.99831619e-01 -7.26579071e-05 3.66150922e+00] [ 2.87507137e-03 1.99030162e-05 9.99995867e-01 9.03335287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:269.36, Y:3.66, Z:0.92 [[ 9.99822352e-01 -1.86281413e-02 -2.87358296e-03 2.69358176e+02] [ 1.86279524e-02 9.99826480e-01 -9.25092303e-05 3.66386793e+00] [ 2.87480762e-03 3.89638295e-05 9.99995867e-01 9.15421281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.39, Y:3.67, Z:0.90 [[ 9.99807171e-01 -1.94257619e-02 -2.87402514e-03 2.69387751e+02] [ 1.94256159e-02 9.99811302e-01 -7.87136808e-05 3.66786250e+00] [ 2.87501189e-03 2.28687942e-05 9.99995867e-01 9.01512808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:3.67, Z:0.90 [[ 9.99807889e-01 -1.93888256e-02 -2.87359438e-03 2.69416634e+02] [ 1.93886409e-02 9.99812018e-01 -9.21468529e-05 3.66995880e+00] [ 2.87484082e-03 3.64140610e-05 9.99995867e-01 9.01653511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.45, Y:3.67, Z:0.91 [[ 9.99815162e-01 -1.90101345e-02 -2.87358206e-03 2.69447130e+02] [ 1.90099470e-02 9.99819290e-01 -9.25296257e-05 3.67221419e+00] [ 2.87482177e-03 3.78858799e-05 9.99995867e-01 9.12342933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.48, Y:3.68, Z:0.91 [[ 9.99775401e-01 -2.09972937e-02 -2.87435074e-03 2.69476265e+02] [ 2.09971835e-02 9.99779532e-01 -6.85453294e-05 3.67649877e+00] [ 2.87515631e-03 8.17666426e-06 9.99995867e-01 9.12810412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.51, Y:3.68, Z:0.91 [[ 9.99737523e-01 -2.27293663e-02 -2.87426875e-03 2.69505866e+02] [ 2.27292559e-02 9.99741655e-01 -7.10801477e-05 3.67902965e+00] [ 2.87514180e-03 5.73150087e-06 9.99995867e-01 9.12584352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.54, Y:3.68, Z:0.91 [[ 9.99685161e-01 -2.49262559e-02 -2.87415179e-03 2.69535583e+02] [ 2.49261442e-02 9.99689293e-01 -7.46740822e-05 3.68154691e+00] [ 2.87512012e-03 3.00904975e-06 9.99995867e-01 9.14146660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:269.57, Y:3.68, Z:0.91 [[ 9.99672758e-01 -2.54188612e-02 -2.87383163e-03 2.69565023e+02] [ 2.54187236e-02 9.99676888e-01 -8.44080728e-05 3.68289648e+00] [ 2.87504862e-03 1.13313192e-05 9.99995867e-01 9.12463369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:269.60, Y:3.68, Z:0.91 [[ 9.99667932e-01 -2.56079504e-02 -2.87382432e-03 2.69595074e+02] [ 2.56078130e-02 9.99672063e-01 -8.46289611e-05 3.68438530e+00] [ 2.87504906e-03 1.10085028e-05 9.99995867e-01 9.11642951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:269.62, Y:3.69, Z:0.91 [[ 9.99580080e-01 -2.88340806e-02 -2.87391918e-03 2.69624862e+02] [ 2.88339647e-02 9.99584211e-01 -8.17544903e-05 3.68525089e+00] [ 2.87508155e-03 -1.14632423e-06 9.99995867e-01 9.11574904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:269.65, Y:3.68, Z:0.91 [[ 9.99506277e-01 -3.12880608e-02 -2.87403121e-03 2.69654564e+02] [ 3.12879648e-02 9.99510409e-01 -7.83648167e-05 3.68492004e+00] [ 2.87507599e-03 -1.15964612e-05 9.99995867e-01 9.12203564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:3.68, Z:0.90 [[ 9.99272203e-01 -3.80368860e-02 -2.87399747e-03 2.69684038e+02] [ 3.80368150e-02 9.99276335e-01 -7.93784586e-05 3.68272598e+00] [ 2.87493697e-03 -2.99970229e-05 9.99995867e-01 9.00965639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:3.68, Z:0.90 [[ 9.99269705e-01 -3.81024793e-02 -2.87346829e-03 2.69714176e+02] [ 3.81023627e-02 9.99273837e-01 -9.53292844e-05 3.68372217e+00] [ 2.87501396e-03 -1.42262649e-05 9.99995867e-01 9.01052972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:269.74, Y:3.68, Z:0.90 [[ 9.99187800e-01 -4.01930659e-02 -2.87346202e-03 2.69743622e+02] [ 4.01929574e-02 9.99191932e-01 -9.55177706e-05 3.68297644e+00] [ 2.87497922e-03 -2.00527457e-05 9.99995867e-01 9.02011956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.77, Y:3.68, Z:0.91 [[ 9.99235847e-01 -3.89803204e-02 -2.87345577e-03 2.69774356e+02] [ 3.89802063e-02 9.99239978e-01 -9.57056402e-05 3.68178503e+00] [ 2.87500251e-03 -1.63753922e-05 9.99995867e-01 9.13254350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:269.80, Y:3.68, Z:0.91 [[ 9.99214582e-01 -3.95216074e-02 -2.87413930e-03 2.69803701e+02] [ 3.95215545e-02 9.99218715e-01 -7.52230828e-05 3.68041757e+00] [ 2.87486672e-03 -3.84264517e-05 9.99995867e-01 9.14333495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:3.68, Z:0.90 [[ 9.99096575e-01 -4.24001401e-02 -2.87420100e-03 2.69833500e+02] [ 4.24001045e-02 9.99100709e-01 -7.33736595e-05 3.67678209e+00] [ 2.87472731e-03 -4.85590509e-05 9.99995867e-01 9.02518014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:269.86, Y:3.68, Z:0.90 [[ 9.99142140e-01 -4.13125482e-02 -2.87344824e-03 2.69862951e+02] [ 4.13124431e-02 9.99146272e-01 -9.59231245e-05 3.67617842e+00] [ 2.87495793e-03 -2.28683313e-05 9.99995867e-01 9.02845222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:269.89, Y:3.67, Z:0.91 [[ 9.99265280e-01 -3.82183675e-02 -2.87344199e-03 2.69893422e+02] [ 3.82182491e-02 9.99269411e-01 -9.61100249e-05 3.67330130e+00] [ 2.87501586e-03 -1.37785109e-05 9.99995867e-01 9.14854112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:3.67, Z:0.90 [[ 9.99209245e-01 -3.96563224e-02 -2.87425564e-03 2.69922815e+02] [ 3.96562798e-02 9.99213378e-01 -7.18320287e-05 3.67207738e+00] [ 2.87484328e-03 -4.22070585e-05 9.99995867e-01 9.03145945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:269.95, Y:3.67, Z:0.92 [[ 9.99311294e-01 -3.69956800e-02 -2.87344024e-03 2.69953986e+02] [ 3.69955564e-02 9.99315425e-01 -9.61899356e-05 3.67091988e+00] [ 2.87503177e-03 -1.01808315e-05 9.99995867e-01 9.15645103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:269.98, Y:3.67, Z:0.91 [[ 9.99314623e-01 -3.69055879e-02 -2.87437248e-03 2.69983998e+02] [ 3.69055441e-02 9.99318756e-01 -6.82961846e-05 3.66947164e+00] [ 2.87493484e-03 -3.78309043e-05 9.99995867e-01 9.14680319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.01, Y:3.67, Z:0.90 [[ 9.99241914e-01 -3.88244321e-02 -2.87419699e-03 2.70013209e+02] [ 3.88243813e-02 9.99246047e-01 -7.35131762e-05 3.66936106e+00] [ 2.87488409e-03 -3.81314730e-05 9.99995867e-01 9.02425560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:270.04, Y:3.67, Z:0.90 [[ 9.99253156e-01 -3.85340476e-02 -2.87341430e-03 2.70042588e+02] [ 3.85339286e-02 9.99257288e-01 -9.67569672e-05 3.66646398e+00] [ 2.87500862e-03 -1.40392368e-05 9.99995867e-01 9.02696773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:270.07, Y:3.67, Z:0.90 [[ 9.99248532e-01 -3.86537837e-02 -2.87340795e-03 2.70072621e+02] [ 3.86536647e-02 9.99252663e-01 -9.69453041e-05 3.66540222e+00] [ 2.87500785e-03 -1.41952946e-05 9.99995867e-01 9.02342734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:270.10, Y:3.67, Z:0.90 [[ 9.99275274e-01 -3.79561654e-02 -2.87340148e-03 2.70102079e+02] [ 3.79560430e-02 9.99279405e-01 -9.71366268e-05 3.66593978e+00] [ 2.87501786e-03 -1.19967207e-05 9.99995867e-01 9.02500548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:270.13, Y:3.67, Z:0.91 [[ 9.99372603e-01 -3.53007716e-02 -2.87339508e-03 2.70132145e+02] [ 3.53006377e-02 9.99376734e-01 -9.73255466e-05 3.66645107e+00] [ 2.87503986e-03 -4.16819389e-06 9.99995867e-01 9.13051123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:270.16, Y:3.67, Z:0.91 [[ 9.99391272e-01 -3.47681555e-02 -2.87415116e-03 2.70160810e+02] [ 3.47680839e-02 9.99395405e-01 -7.48863281e-05 3.66561544e+00] [ 2.87501712e-03 -2.50879861e-05 9.99995867e-01 9.12292097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:270.19, Y:3.66, Z:0.91 [[ 9.99383753e-01 -3.49836339e-02 -2.87406611e-03 2.70191019e+02] [ 3.49835560e-02 9.99387885e-01 -7.73876167e-05 3.66300680e+00] [ 2.87501415e-03 -2.32051260e-05 9.99995867e-01 9.12918830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:270.22, Y:3.66, Z:0.91 [[ 9.99381606e-01 -3.50449101e-02 -2.87415123e-03 2.70221120e+02] [ 3.50448396e-02 9.99385738e-01 -7.48942897e-05 3.66341390e+00] [ 2.87501042e-03 -2.58761935e-05 9.99995867e-01 9.13479300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:270.25, Y:3.66, Z:0.90 [[ 9.99373179e-01 -3.52843781e-02 -2.87426736e-03 2.70250198e+02] [ 3.52843184e-02 9.99377312e-01 -7.15114858e-05 3.66267662e+00] [ 2.87500083e-03 -2.99499036e-05 9.99995867e-01 9.02244203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:270.28, Y:3.66, Z:0.91 [[ 9.99476597e-01 -3.22223080e-02 -2.87330013e-03 2.70281062e+02] [ 3.22221552e-02 9.99480727e-01 -9.94551332e-05 3.66221824e+00] [ 2.87501278e-03 6.81915521e-06 9.99995867e-01 9.13405016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:270.31, Y:3.66, Z:0.90 [[ 9.99445350e-01 -3.31772643e-02 -2.87432859e-03 2.70309662e+02] [ 3.31772008e-02 9.99449483e-01 -6.97686664e-05 3.66146076e+00] [ 2.87506095e-03 -2.56322076e-05 9.99995867e-01 9.02435242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:270.34, Y:3.66, Z:0.91 [[ 9.99534517e-01 -3.03725856e-02 -2.87326904e-03 2.70341781e+02] [ 3.03724231e-02 9.99538647e-01 -1.00162812e-04 3.66020101e+00] [ 2.87498565e-03 1.28480444e-05 9.99995867e-01 9.14621363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:270.37, Y:3.66, Z:0.90 [[ 9.99458748e-01 -3.27711305e-02 -2.87464222e-03 2.70370542e+02] [ 3.27710916e-02 9.99462882e-01 -6.06747155e-05 3.65954574e+00] [ 2.87508657e-03 -3.35632881e-05 9.99995866e-01 9.02172208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:270.40, Y:3.66, Z:0.91 [[ 9.99544987e-01 -3.00260412e-02 -2.87324103e-03 2.70402754e+02] [ 3.00258759e-02 9.99549117e-01 -1.00667472e-04 3.65829703e+00] [ 2.87496817e-03 1.43500891e-05 9.99995867e-01 9.14184081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:270.43, Y:3.66, Z:0.91 [[ 9.99508020e-01 -3.12322584e-02 -2.87487794e-03 2.70432024e+02] [ 3.12322326e-02 9.99512153e-01 -5.38632772e-05 3.65500466e+00] [ 2.87515771e-03 -3.59520790e-05 9.99995866e-01 9.13899213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:270.46, Y:3.65, Z:0.92 [[ 9.99478952e-01 -3.21490141e-02 -2.87479947e-03 2.70460973e+02] [ 3.21489858e-02 9.99483086e-01 -5.60650091e-05 3.65488201e+00] [ 2.87511589e-03 -3.63860910e-05 9.99995866e-01 9.15300456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:270.49, Y:3.65, Z:0.90 [[ 9.99417353e-01 -3.40101706e-02 -2.87462514e-03 2.70488947e+02] [ 3.40101361e-02 9.99421486e-01 -6.08962925e-05 3.65321734e+00] [ 2.87503323e-03 -3.69055809e-05 9.99995866e-01 9.02674541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:270.52, Y:3.65, Z:0.91 [[ 9.99523124e-01 -3.07452642e-02 -2.87300187e-03 2.70520975e+02] [ 3.07450888e-02 9.99527252e-01 -1.05219652e-04 3.65279935e+00] [ 2.87487867e-03 1.68387781e-05 9.99995867e-01 9.14526340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:270.55, Y:3.65, Z:0.91 [[ 9.99511886e-01 -3.11082976e-02 -2.87459187e-03 2.70549692e+02] [ 3.11082489e-02 9.99516019e-01 -6.16555876e-05 3.65200988e+00] [ 2.87511863e-03 -2.77980270e-05 9.99995866e-01 9.14385582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:270.58, Y:3.65, Z:0.90 [[ 9.99478837e-01 -3.21526578e-02 -2.87423271e-03 2.70577014e+02] [ 3.21525856e-02 9.99482969e-01 -7.13263049e-05 3.65179784e+00] [ 2.87503997e-03 -2.11248811e-05 9.99995867e-01 9.04254927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:270.61, Y:3.65, Z:0.91 [[ 9.99610256e-01 -2.77683784e-02 -2.87285993e-03 2.70609181e+02] [ 2.77681830e-02 9.99614384e-01 -1.07882712e-04 3.65234692e+00] [ 2.87474784e-03 2.80665647e-05 9.99995868e-01 9.14839565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:270.64, Y:3.65, Z:0.91 [[ 9.99621562e-01 -2.73581646e-02 -2.87461469e-03 2.70638287e+02] [ 2.73581002e-02 9.99625695e-01 -6.17266163e-05 3.65156309e+00] [ 2.87522744e-03 -1.69407402e-05 9.99995866e-01 9.13485510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:270.67, Y:3.65, Z:0.90 [[ 9.99561066e-01 -2.94858174e-02 -2.87438597e-03 2.70665737e+02] [ 2.94857447e-02 9.99565199e-01 -6.76973480e-05 3.64793552e+00] [ 2.87513230e-03 -1.70857774e-05 9.99995867e-01 9.04365862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:270.69, Y:3.65, Z:0.90 [[ 9.99576952e-01 -2.89424417e-02 -2.87268020e-03 2.70694587e+02] [ 2.89422405e-02 9.99581079e-01 -1.11603954e-04 3.64713966e+00] [ 2.87470686e-03 2.84149385e-05 9.99995868e-01 9.04290640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:270.73, Y:3.65, Z:0.91 [[ 9.99623447e-01 -2.72894235e-02 -2.87266513e-03 2.70726446e+02] [ 2.72892144e-02 9.99627574e-01 -1.11990538e-04 3.64593988e+00] [ 2.87465143e-03 3.35555936e-05 9.99995868e-01 9.14201591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:3.65, Z:0.90 [[ 9.99587755e-01 -2.85667474e-02 -2.87421589e-03 2.70753637e+02] [ 2.85666568e-02 9.99591887e-01 -7.25814434e-05 3.64525492e+00] [ 2.87511630e-03 -9.55521690e-06 9.99995867e-01 9.03171831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05864 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:270.79, Y:3.65, Z:0.92 [[ 9.99710149e-01 -2.39032746e-02 -2.87252374e-03 2.70788390e+02] [ 2.39030431e-02 9.99714275e-01 -1.14889542e-04 3.64719477e+00] [ 2.87444922e-03 4.61941828e-05 9.99995868e-01 9.15892165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:270.81, Y:3.64, Z:0.90 [[ 9.99726621e-01 -2.32037716e-02 -2.87546865e-03 2.70814233e+02] [ 2.32037480e-02 9.99730756e-01 -4.15707697e-05 3.64424886e+00] [ 2.87565905e-03 -2.51622449e-05 9.99995865e-01 9.02527844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:270.84, Y:3.65, Z:0.90 [[ 9.99785016e-01 -2.05346350e-02 -2.87238635e-03 2.70842861e+02] [ 2.05343831e-02 9.99789140e-01 -1.17147315e-04 3.64513208e+00] [ 2.87418625e-03 5.81394488e-05 9.99995868e-01 9.02713653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:270.88, Y:3.65, Z:0.92 [[ 9.99896307e-01 -1.41111624e-02 -2.87237097e-03 2.70875598e+02] [ 1.41108830e-02 9.99900430e-01 -1.17523232e-04 3.64753415e+00] [ 2.87374335e-03 7.69793552e-05 9.99995868e-01 9.16261462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:270.90, Y:3.65, Z:0.90 [[ 9.99895228e-01 -1.41870306e-02 -2.87408552e-03 2.70903545e+02] [ 1.41868722e-02 9.99899358e-01 -7.54678908e-05 3.64850203e+00] [ 2.87486693e-03 3.46856998e-05 9.99995867e-01 9.03686406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:270.93, Y:3.65, Z:0.90 [[ 9.99894022e-01 -1.42721255e-02 -2.87231837e-03 2.70932262e+02] [ 1.42718443e-02 9.99898145e-01 -1.18354486e-04 3.64985848e+00] [ 2.87371498e-03 7.73486620e-05 9.99995868e-01 9.03733369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:270.96, Y:3.65, Z:0.92 [[ 9.99941611e-01 -1.04175172e-02 -2.87230321e-03 2.70964768e+02] [ 1.04172191e-02 9.99945732e-01 -1.18721226e-04 3.65220656e+00] [ 2.87338412e-03 8.87928822e-05 9.99995868e-01 9.17708486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:270.99, Y:3.66, Z:0.90 [[ 9.99938854e-01 -1.06784092e-02 -2.87401510e-03 2.70992320e+02] [ 1.06782319e-02 9.99942983e-01 -7.70396271e-05 3.65601414e+00] [ 2.87467389e-03 4.63455169e-05 9.99995867e-01 9.04933956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:271.02, Y:3.66, Z:0.92 [[ 9.99969524e-01 -7.25955879e-03 -2.87225398e-03 2.71024171e+02] [ 7.25924573e-03 9.99973644e-01 -1.19403361e-04 3.65958483e+00] [ 2.87304510e-03 9.85493251e-05 9.99995868e-01 9.16677765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:271.05, Y:3.66, Z:0.91 [[ 9.99988564e-01 -3.82246822e-03 -2.87411513e-03 2.71051341e+02] [ 3.82226922e-03 9.99992692e-01 -7.47272251e-05 3.66437687e+00] [ 2.87437977e-03 6.37407288e-05 9.99995867e-01 9.05620143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:271.08, Y:3.67, Z:0.91 [[ 9.99993315e-01 -2.26275484e-03 -2.87213237e-03 2.71080152e+02] [ 2.26241499e-03 9.99997433e-01 -1.21570408e-04 3.66819922e+00] [ 2.87240008e-03 1.15071640e-04 9.99995868e-01 9.06519044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:271.11, Y:3.67, Z:0.92 [[ 9.99994442e-01 1.69300121e-03 -2.87207885e-03 2.71112862e+02] [-1.69336093e-03 9.99998559e-01 -1.22821893e-04 3.67327974e+00] [ 2.87186678e-03 1.27684676e-04 9.99995868e-01 9.15863502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41864 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:271.15, Y:3.69, Z:0.92 [[ 9.99921298e-01 1.22121715e-02 -2.87403520e-03 2.71154667e+02] [-1.22124437e-02 9.99925422e-01 -7.71802200e-05 3.68649263e+00] [ 2.87287832e-03 1.12273139e-04 9.99995867e-01 9.21751890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:3.68, Z:0.91 [[ 9.99995832e-01 -1.80220406e-04 -2.88167021e-03 2.71167225e+02] [ 1.80519935e-04 9.99999978e-01 1.03682952e-04 3.68127189e+00] [ 2.88165146e-03 -1.04202719e-04 9.99995843e-01 9.06680818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47864 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:271.21, Y:3.69, Z:0.92 [[ 9.99969217e-01 7.30222702e-03 -2.87111528e-03 2.71205770e+02] [-7.30262970e-03 9.99973327e-01 -1.29796075e-04 3.68975420e+00] [ 2.87009090e-03 1.50758771e-04 9.99995870e-01 9.22969588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:271.23, Y:3.70, Z:0.92 [[ 9.99990009e-01 3.42129394e-03 -2.87703770e-03 2.71234018e+02] [-3.42129877e-03 9.99994147e-01 3.24263278e-06 3.69533186e+00] [ 2.87703195e-03 6.60060515e-06 9.99995861e-01 9.23776073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.26, Y:3.70, Z:0.91 [[ 9.99995853e-01 1.65298156e-04 -2.87505582e-03 2.71258883e+02] [-1.65413845e-04 9.99999986e-01 -4.00011447e-05 3.69927628e+00] [ 2.87504917e-03 4.04765528e-05 9.99995866e-01 9.09061961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56864 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:271.31, Y:3.72, Z:0.92 [[ 9.99780436e-01 2.07566758e-02 -2.87068495e-03 2.71309405e+02] [-2.07571452e-02 9.99784538e-01 -1.33787497e-04 3.71945009e+00] [ 2.86728944e-03 1.93345346e-04 9.99995871e-01 9.18690716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:271.32, Y:3.71, Z:0.92 [[ 9.99995052e-01 1.25440487e-03 -2.88469279e-03 2.71318213e+02] [-1.25390799e-03 9.99999199e-01 1.74047994e-04 3.71198684e+00] [ 2.88490881e-03 -1.70429993e-04 9.99995824e-01 9.21225458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:271.35, Y:3.72, Z:0.92 [[ 9.99993701e-01 2.08751189e-03 -2.87058000e-03 2.71348823e+02] [-2.08783358e-03 9.99997815e-01 -1.09074191e-04 3.71843205e+00] [ 2.87034603e-03 1.15066797e-04 9.99995874e-01 9.21131393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:271.38, Y:3.73, Z:0.91 [[ 9.99995398e-01 9.78574351e-04 -2.87152949e-03 2.71376010e+02] [-9.78837199e-04 9.99999517e-01 -9.01319061e-05 3.73071229e+00] [ 2.87143990e-03 9.29422512e-05 9.99995873e-01 9.10760107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:271.41, Y:3.74, Z:0.92 [[ 9.99992265e-01 2.69058442e-03 -2.86877415e-03 2.71408570e+02] [-2.69101069e-03 9.99996369e-01 -1.44742448e-04 3.73718794e+00] [ 2.86837429e-03 1.52461231e-04 9.99995875e-01 9.21503591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.44, Y:3.74, Z:0.91 [[ 9.99995608e-01 -7.34728736e-04 -2.87121773e-03 2.71436016e+02] [ 7.34455607e-04 9.99999726e-01 -9.61798369e-05 3.74242157e+00] [ 2.87128761e-03 9.40706326e-05 9.99995873e-01 9.10753040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:271.47, Y:3.75, Z:0.92 [[ 9.99989956e-01 -3.44349198e-03 -2.86869683e-03 2.71467970e+02] [ 3.44308790e-03 9.99994062e-01 -1.45785030e-04 3.75158771e+00] [ 2.86918181e-03 1.35906390e-04 9.99995875e-01 9.21656530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:271.50, Y:3.76, Z:0.91 [[ 9.99963833e-01 -8.00556015e-03 -2.87107647e-03 2.71495538e+02] [ 8.00530852e-03 9.99967952e-01 -9.91252479e-05 3.75699529e+00] [ 2.87177801e-03 7.61378100e-05 9.99995874e-01 9.10369937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.52, Y:3.77, Z:0.91 [[ 9.99892786e-01 -1.43592114e-02 -2.86862579e-03 2.71523879e+02] [ 1.43588488e-02 9.99896896e-01 -1.46961426e-04 3.76521563e+00] [ 2.87044028e-03 1.05755505e-04 9.99995875e-01 9.09585065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:3.77, Z:0.91 [[ 9.99891871e-01 -1.44227788e-02 -2.86861197e-03 2.71553995e+02] [ 1.44224157e-02 9.99895981e-01 -1.47230809e-04 3.76674823e+00] [ 2.87043705e-03 1.05842575e-04 9.99995875e-01 9.09671696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.58, Y:3.77, Z:0.91 [[ 9.99840038e-01 -1.76541863e-02 -2.86860260e-03 2.71583770e+02] [ 1.76538359e-02 9.99844148e-01 -1.47413177e-04 3.77045544e+00] [ 2.87075798e-03 9.67477565e-05 9.99995875e-01 9.09206255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89864 meters Centerline goodness : 0.933114 Centerline is valid? [True, False] Translation: X:271.59, Y:3.78, Z:0.91 [[ 9.99982766e-01 -3.47655408e-03 -4.73092637e-03 2.71585025e+02] [ 3.44591415e-03 9.99973136e-01 -6.46933047e-03 3.77925165e+00] [ 4.75329026e-03 6.45291661e-03 9.99967883e-01 9.09884049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:271.58, Y:3.78, Z:0.91 [[ 9.99992243e-01 -1.14973139e-03 -3.76720238e-03 2.71579838e+02] [ 1.13080331e-03 9.99986747e-01 -5.02272213e-03 3.78359257e+00] [ 3.77292723e-03 5.01842321e-03 9.99980290e-01 9.14414471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:271.61, Y:3.78, Z:0.91 [[ 9.99983447e-01 -4.23333279e-03 -3.89679226e-03 2.71607565e+02] [ 4.23296510e-03 9.99991036e-01 -1.02599226e-04 3.78261292e+00] [ 3.89719166e-03 8.61025424e-05 9.99992402e-01 9.14484506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:271.64, Y:3.79, Z:0.92 [[ 9.99984846e-01 -3.88886759e-03 -3.89673695e-03 2.71640331e+02] [ 3.88848927e-03 9.99992434e-01 -1.04658417e-04 3.78533942e+00] [ 3.89711448e-03 8.95044108e-05 9.99992402e-01 9.22752238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.67, Y:3.79, Z:0.91 [[ 9.99937388e-01 -1.04891160e-02 -3.89852170e-03 2.71667657e+02] [ 1.04890412e-02 9.99944988e-01 -3.96143381e-05 3.78696691e+00] [ 3.89872275e-03 -1.27989717e-06 9.99992400e-01 9.13083340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.70, Y:3.79, Z:0.91 [[ 9.99908560e-01 -1.29494445e-02 -3.89662693e-03 2.71696956e+02] [ 1.29491220e-02 9.99916151e-01 -1.07986294e-04 3.78880087e+00] [ 3.89769857e-03 5.75185225e-05 9.99992402e-01 9.13257167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.73, Y:3.79, Z:0.91 [[ 9.99828479e-01 -1.81060663e-02 -3.89661617e-03 2.71725227e+02] [ 1.81057814e-02 9.99836071e-01 -1.08373514e-04 3.79101041e+00] [ 3.89793961e-03 3.78036452e-05 9.99992402e-01 9.14647076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:271.76, Y:3.79, Z:0.92 [[ 9.99831499e-01 -1.79385183e-02 -3.89659797e-03 2.71757761e+02] [ 1.79382296e-02 9.99839091e-01 -1.09023944e-04 3.79122045e+00] [ 3.89792670e-03 3.91075045e-05 9.99992402e-01 9.24625306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.79, Y:3.79, Z:0.91 [[ 9.99701909e-01 -2.41017465e-02 -3.89846136e-03 2.71786234e+02] [ 2.41017667e-02 9.99709509e-01 -4.18013683e-05 3.78960488e+00] [ 3.89833638e-03 -5.21708985e-05 9.99992400e-01 9.14136052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.82, Y:3.79, Z:0.91 [[ 9.99650588e-01 -2.61441757e-02 -3.89656704e-03 2.71816325e+02] [ 2.61439482e-02 9.99658183e-01 -1.09321347e-04 3.78849467e+00] [ 3.89809324e-03 7.41150182e-06 9.99992402e-01 9.13819877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:3.79, Z:0.91 [[ 9.99602202e-01 -2.79330389e-02 -3.89655984e-03 2.71846271e+02] [ 2.79328240e-02 9.99609797e-01 -1.09577340e-04 3.78721362e+00] [ 3.89810022e-03 6.91830177e-07 9.99992402e-01 9.14041020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.88, Y:3.79, Z:0.92 [[ 9.99678386e-01 -2.50587774e-02 -3.89655263e-03 2.71878301e+02] [ 2.50585396e-02 9.99685979e-01 -1.09833381e-04 3.78675692e+00] [ 3.89808132e-03 1.21561386e-05 9.99992402e-01 9.24788948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:271.91, Y:3.78, Z:0.91 [[ 9.99619885e-01 -2.72926614e-02 -3.89822406e-03 2.71906774e+02] [ 2.72926730e-02 9.99627484e-01 -5.02258925e-05 3.78235457e+00] [ 3.89814271e-03 -5.61861536e-05 9.99992401e-01 9.14494995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:271.94, Y:3.78, Z:0.92 [[ 9.99655812e-01 -2.59436615e-02 -3.89654408e-03 2.71936466e+02] [ 2.59434305e-02 9.99663407e-01 -1.09829009e-04 3.78095936e+00] [ 3.89808189e-03 8.70148654e-06 9.99992402e-01 9.15414944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:271.96, Y:3.78, Z:0.92 [[ 9.99681006e-01 -2.49540117e-02 -3.89653675e-03 2.71964978e+02] [ 2.49537722e-02 9.99688600e-01 -1.10088254e-04 3.77932993e+00] [ 3.89807051e-03 1.28198459e-05 9.99992402e-01 9.15728072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:272.00, Y:3.77, Z:0.93 [[ 9.99752413e-01 -2.19073158e-02 -3.89652202e-03 2.71996683e+02] [ 2.19070511e-02 9.99760006e-01 -1.10607189e-04 3.77484620e+00] [ 3.89800998e-03 2.52184976e-05 9.99992402e-01 9.26013851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:272.03, Y:3.77, Z:0.93 [[ 9.99747627e-01 -2.21243531e-02 -3.89805224e-03 2.72025999e+02] [ 2.21243004e-02 9.99755226e-01 -5.66596264e-05 3.77286928e+00] [ 3.89835165e-03 -2.95963515e-05 9.99992401e-01 9.25393283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:3.77, Z:0.92 [[ 9.99691620e-01 -2.45249070e-02 -3.89803710e-03 2.72054186e+02] [ 2.45248705e-02 9.99699218e-01 -5.71821215e-05 3.76943454e+00] [ 3.89826703e-03 -3.84343674e-05 9.99992401e-01 9.16345532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:3.77, Z:0.92 [[ 9.99690437e-01 -2.45733185e-02 -3.89638149e-03 2.72083105e+02] [ 2.45730614e-02 9.99698030e-01 -1.13845851e-04 3.76773665e+00] [ 3.89800247e-03 1.80645867e-05 9.99992403e-01 9.15660097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:3.77, Z:0.92 [[ 9.99706619e-01 -2.39059408e-02 -3.89636618e-03 2.72111912e+02] [ 2.39056766e-02 9.99714212e-01 -1.14367419e-04 3.76579313e+00] [ 3.89798670e-03 2.11885961e-05 9.99992403e-01 9.15941322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:272.10, Y:3.74, Z:0.92 [[ 9.97584935e-01 -6.93477827e-02 -3.89635094e-03 2.72103601e+02] [ 6.93478621e-02 9.97592532e-01 -1.14884207e-04 3.74105741e+00] [ 3.89493757e-03 -1.55596854e-04 9.99992403e-01 9.22600118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.17, Y:3.76, Z:0.93 [[ 9.99850495e-01 -1.68512190e-02 -3.87608573e-03 2.72168867e+02] [ 1.68486059e-02 9.99857803e-01 -7.05824827e-04 3.76190047e+00] [ 3.88742857e-03 6.40412662e-04 9.99992239e-01 9.27062876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:272.20, Y:3.76, Z:0.93 [[ 9.99844005e-01 -1.72280103e-02 -3.89385146e-03 2.72197898e+02] [ 1.72279877e-02 9.99851586e-01 -3.93607679e-05 3.75942939e+00] [ 3.89395166e-03 -2.77285971e-05 9.99992418e-01 9.25991316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.23, Y:3.75, Z:0.92 [[ 9.99779929e-01 -2.06139318e-02 -3.89338270e-03 2.72225467e+02] [ 2.06138675e-02 9.99787510e-01 -5.66448386e-05 3.75470814e+00] [ 3.89372307e-03 -2.36253025e-05 9.99992419e-01 9.15980181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:3.75, Z:0.93 [[ 9.99819291e-01 -1.86074887e-02 -3.89199323e-03 2.72257709e+02] [ 1.86072127e-02 9.99826865e-01 -1.07125938e-04 3.75489136e+00] [ 3.89331273e-03 3.46874339e-05 9.99992420e-01 9.28473178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.29, Y:3.75, Z:0.93 [[ 9.99867994e-01 -1.57745189e-02 -3.89339783e-03 2.72289113e+02] [ 1.57744213e-02 9.99875575e-01 -5.57750408e-05 3.75386315e+00] [ 3.89379322e-03 -5.64841961e-06 9.99992419e-01 9.25833057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:272.32, Y:3.75, Z:0.93 [[ 9.99864491e-01 -1.59949343e-02 -3.89391861e-03 2.72318103e+02] [ 1.59949103e-02 9.99872073e-01 -3.73074949e-05 3.75235082e+00] [ 3.89401720e-03 -2.49804395e-05 9.99992418e-01 9.26727695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.35, Y:3.75, Z:0.93 [[ 9.99895206e-01 -1.39433775e-02 -3.89349710e-03 2.72348294e+02] [ 1.39432809e-02 9.99902786e-01 -5.19632227e-05 3.75095848e+00] [ 3.89384314e-03 -2.33034652e-06 9.99992419e-01 9.25420403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.38, Y:3.75, Z:0.93 [[ 9.99945121e-01 -9.72595518e-03 -3.89368250e-03 2.72376594e+02] [ 9.72585135e-03 9.99952702e-01 -4.56000150e-05 3.74909051e+00] [ 3.89394184e-03 7.72813523e-06 9.99992419e-01 9.28248217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:272.41, Y:3.75, Z:0.93 [[ 9.99960004e-01 -8.05176149e-03 -3.89348873e-03 2.72406030e+02] [ 8.05161965e-03 9.99967584e-01 -5.21043600e-05 3.74961181e+00] [ 3.89378205e-03 2.07533857e-05 9.99992419e-01 9.27031945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.43, Y:3.75, Z:0.92 [[ 9.99976446e-01 -5.65225583e-03 -3.89348844e-03 2.72433353e+02] [ 5.65209576e-03 9.99984025e-01 -5.21141185e-05 3.74879770e+00] [ 3.89372080e-03 3.01065215e-05 9.99992419e-01 9.15854663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:272.47, Y:3.75, Z:0.93 [[ 9.99988461e-01 -2.81688013e-03 -3.89145675e-03 2.72465750e+02] [ 2.81643947e-03 9.99996027e-01 -1.18713574e-04 3.74838762e+00] [ 3.89177569e-03 1.07752152e-04 9.99992421e-01 9.27963630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:3.75, Z:0.92 [[ 9.99987003e-01 -3.29255203e-03 -3.89272443e-03 2.72493992e+02] [ 3.29227505e-03 9.99994577e-01 -7.75577086e-05 3.74872190e+00] [ 3.89295869e-03 6.47407810e-05 9.99992420e-01 9.15713033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:3.75, Z:0.92 [[ 9.99992357e-01 3.77962729e-04 -3.89136335e-03 2.72522263e+02] [-3.78437391e-04 9.99999921e-01 -1.21242775e-04 3.75153762e+00] [ 3.89131721e-03 1.22714486e-04 9.99992421e-01 9.16282293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:272.56, Y:3.75, Z:0.93 [[ 9.99980666e-01 4.85031935e-03 -3.89129963e-03 2.72555273e+02] [-4.85083565e-03 9.99988227e-01 -1.23254339e-04 3.75464465e+00] [ 3.89065600e-03 1.42128011e-04 9.99992421e-01 9.26252516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:272.58, Y:3.76, Z:0.93 [[ 9.99965260e-01 7.36987040e-03 -3.89396896e-03 2.72584373e+02] [-7.37008157e-03 9.99972840e-01 -3.98833974e-05 3.75977790e+00] [ 3.89356926e-03 6.85808807e-05 9.99992418e-01 9.25868428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.61, Y:3.76, Z:0.92 [[ 9.99982373e-01 4.48236418e-03 -3.89375019e-03 2.72610764e+02] [-4.48257928e-03 9.99989952e-01 -4.65174007e-05 3.76317646e+00] [ 3.89350256e-03 6.39706247e-05 9.99992418e-01 9.16628274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:272.64, Y:3.77, Z:0.92 [[ 9.99978146e-01 5.34502693e-03 -3.89087910e-03 2.72639531e+02] [-5.34557892e-03 9.99985704e-01 -1.31481158e-04 3.76780864e+00] [ 3.89012070e-03 1.52277286e-04 9.99992422e-01 9.16452408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:272.67, Y:3.78, Z:0.92 [[ 9.99972142e-01 6.36995943e-03 -3.89082050e-03 2.72666991e+02] [-6.37052581e-03 9.99979699e-01 -1.33192837e-04 3.77561684e+00] [ 3.88989308e-03 1.57975699e-04 9.99992422e-01 9.16650895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.70, Y:3.78, Z:0.92 [[ 9.99979716e-01 5.04279595e-03 -3.89075195e-03 2.72695380e+02] [-5.04335997e-03 9.99987273e-01 -1.35166045e-04 3.77854367e+00] [ 3.89002082e-03 1.54785766e-04 9.99992422e-01 9.15998852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:3.78, Z:0.92 [[ 9.99987362e-01 3.18398372e-03 -3.89068797e-03 2.72723679e+02] [-3.18454075e-03 9.99994920e-01 -1.36983306e-04 3.78488716e+00] [ 3.89023206e-03 1.49371629e-04 9.99992422e-01 9.16405941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:3.79, Z:0.92 [[ 9.99992090e-01 8.26550434e-04 -3.89067064e-03 2.72752282e+02] [-8.27091551e-04 9.99999649e-01 -1.37473726e-04 3.78907539e+00] [ 3.89055565e-03 1.40690579e-04 9.99992422e-01 9.17034812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:3.79, Z:0.92 [[ 9.99992375e-01 -3.36618365e-04 -3.89065309e-03 2.72780722e+02] [ 3.36084117e-04 9.99999934e-01 -1.37968823e-04 3.79349271e+00] [ 3.89069927e-03 1.36660184e-04 9.99992422e-01 9.16569826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:272.81, Y:3.80, Z:0.93 [[ 9.99991053e-01 -1.66023733e-03 -3.89063537e-03 2.72813845e+02] [ 1.65971116e-03 9.99998613e-01 -1.38466711e-04 3.79991703e+00] [ 3.89085986e-03 1.32008141e-04 9.99992422e-01 9.27190206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:272.84, Y:3.80, Z:0.93 [[ 9.99981768e-01 -4.61581243e-03 -3.89329096e-03 2.72842180e+02] [ 4.61559625e-03 9.99989346e-01 -6.45101566e-05 3.80256103e+00] [ 3.89354725e-03 4.65391213e-05 9.99992419e-01 9.29786081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:3.81, Z:0.92 [[ 9.99954964e-01 -8.65529781e-03 -3.89295871e-03 2.72870059e+02] [ 8.65507672e-03 9.99962541e-01 -7.36368143e-05 3.80517502e+00] [ 3.89345024e-03 3.99396416e-05 9.99992420e-01 9.17196354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:3.81, Z:0.92 [[ 9.99929487e-01 -1.12198577e-02 -3.89037960e-03 2.72898758e+02] [ 1.12193841e-02 9.99937050e-01 -1.43539413e-04 3.80938998e+00] [ 3.89174519e-03 9.98816289e-05 9.99992422e-01 9.17109275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:272.93, Y:3.81, Z:0.93 [[ 9.99928393e-01 -1.13169800e-02 -3.89036092e-03 2.72930809e+02] [ 1.13165051e-02 9.99935956e-01 -1.44043904e-04 3.81259626e+00] [ 3.89174191e-03 1.00008301e-04 9.99992422e-01 9.27060748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:272.96, Y:3.81, Z:0.93 [[ 9.99890266e-01 -1.42934085e-02 -3.89274579e-03 2.72959514e+02] [ 1.42932048e-02 9.99897844e-01 -8.01458249e-05 3.81471764e+00] [ 3.89349368e-03 2.44972174e-05 9.99992420e-01 9.28967889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:3.81, Z:0.92 [[ 9.99664921e-01 -2.55908656e-02 -3.89261134e-03 2.72987723e+02] [ 2.55907338e-02 9.99672500e-01 -8.36865339e-05 3.81424202e+00] [ 3.89347812e-03 -1.59562882e-05 9.99992420e-01 9.17921955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:273.02, Y:3.81, Z:0.93 [[ 9.99587650e-01 -2.84498897e-02 -3.89011916e-03 2.73019579e+02] [ 2.84495259e-02 9.99595219e-01 -1.48828246e-04 3.81436074e+00] [ 3.89277866e-03 3.80948309e-05 9.99992422e-01 9.28987173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:3.81, Z:0.92 [[ 9.99223559e-01 -3.92062556e-02 -3.89200389e-03 2.73049004e+02] [ 3.92061651e-02 9.99231138e-01 -9.95711589e-05 3.81420569e+00] [ 3.89291529e-03 -5.30966993e-05 9.99992421e-01 9.16409912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:3.81, Z:0.92 [[ 9.99065239e-01 -4.30524791e-02 -3.89005977e-03 2.73078505e+02] [ 4.30522214e-02 9.99072812e-01 -1.49992257e-04 3.81397779e+00] [ 3.89291049e-03 -1.76236642e-05 9.99992422e-01 9.16987934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:3.81, Z:0.92 [[ 9.98953566e-01 -4.55701716e-02 -3.89004998e-03 2.73108953e+02] [ 4.55699320e-02 9.98961140e-01 -1.50245524e-04 3.81287861e+00] [ 3.89285548e-03 -2.71810116e-05 9.99992422e-01 9.16780356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:273.14, Y:3.81, Z:0.92 [[ 9.98881203e-01 -4.71297161e-02 -3.89004998e-03 2.73139538e+02] [ 4.71294883e-02 9.98888777e-01 -1.50245524e-04 3.80962911e+00] [ 3.89280830e-03 -3.32586360e-05 9.99992422e-01 9.19128322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.17, Y:3.81, Z:0.93 [[ 9.99006465e-01 -4.43953863e-02 -3.89004998e-03 2.73170634e+02] [ 4.43951378e-02 9.99014039e-01 -1.50245524e-04 3.81039697e+00] [ 3.89288475e-03 -2.26030556e-05 9.99992422e-01 9.31722988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:3.81, Z:0.92 [[ 9.99034701e-01 -4.37552783e-02 -3.89131554e-03 2.73200007e+02] [ 4.37551530e-02 9.99042278e-01 -1.17377266e-04 3.81173256e+00] [ 3.89272461e-03 -5.30011453e-05 9.99992422e-01 9.18516161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:273.23, Y:3.81, Z:0.93 [[ 9.99187957e-01 -4.01035445e-02 -3.89007410e-03 2.73230669e+02] [ 4.01032658e-02 9.99195529e-01 -1.49648154e-04 3.81156844e+00] [ 3.89294608e-03 -6.47804219e-06 9.99992422e-01 9.30774543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:273.26, Y:3.81, Z:0.93 [[ 9.99306879e-01 -3.70219181e-02 -3.89097644e-03 2.73260306e+02] [ 3.70217074e-02 9.99314454e-01 -1.26181478e-04 3.81261084e+00] [ 3.89298048e-03 -1.79565724e-05 9.99992422e-01 9.31731174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.29, Y:3.82, Z:0.93 [[ 9.99490840e-01 -3.16688869e-02 -3.89128122e-03 2.73290014e+02] [ 3.16686665e-02 9.99498415e-01 -1.18269362e-04 3.81789607e+00] [ 3.89307487e-03 -5.02254272e-06 9.99992422e-01 9.30751620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.32, Y:3.82, Z:0.93 [[ 9.99474957e-01 -3.21662424e-02 -3.89152705e-03 2.73318880e+02] [ 3.21660506e-02 9.99482532e-01 -1.11892312e-04 3.82009022e+00] [ 3.89311247e-03 -1.33414924e-05 9.99992422e-01 9.30679200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.35, Y:3.82, Z:0.93 [[ 9.99534327e-01 -3.02654023e-02 -3.89038199e-03 2.73350942e+02] [ 3.02650811e-02 9.99541898e-01 -1.41415540e-04 3.82204114e+00] [ 3.89287980e-03 2.36069603e-05 9.99992422e-01 9.29795184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.38, Y:3.83, Z:0.93 [[ 9.99499494e-01 -3.13945201e-02 -3.89170441e-03 2.73380179e+02] [ 3.13943402e-02 9.99507070e-01 -1.07309970e-04 3.82511099e+00] [ 3.89315502e-03 -1.49212317e-05 9.99992422e-01 9.29881996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.41, Y:3.83, Z:0.93 [[ 9.99487014e-01 -3.17893978e-02 -3.89149298e-03 2.73409304e+02] [ 3.17891999e-02 9.99494589e-01 -1.12716323e-04 3.82611134e+00] [ 3.89310937e-03 -1.10489472e-05 9.99992422e-01 9.29995754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:273.44, Y:3.83, Z:0.92 [[ 9.99357626e-01 -3.56257350e-02 -3.89144065e-03 2.73438429e+02] [ 3.56255610e-02 9.99365202e-01 -1.14040628e-04 3.82873727e+00] [ 3.89303316e-03 -2.46673855e-05 9.99992422e-01 9.18035329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:3.83, Z:0.92 [[ 9.99227068e-01 -3.91169651e-02 -3.88980782e-03 2.73468006e+02] [ 3.91166581e-02 9.99234639e-01 -1.55013913e-04 3.83227372e+00] [ 3.89289438e-03 2.73781499e-06 9.99992423e-01 9.18328912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:273.50, Y:3.83, Z:0.93 [[ 9.99199944e-01 -3.98037887e-02 -3.88979754e-03 2.73498712e+02] [ 3.98034858e-02 9.99207515e-01 -1.55271400e-04 3.83427897e+00] [ 3.89289533e-03 3.19673246e-07 9.99992423e-01 9.30602063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:273.53, Y:3.84, Z:0.93 [[ 9.99093655e-01 -4.23878588e-02 -3.89081448e-03 2.73529513e+02] [ 4.23876745e-02 9.99101230e-01 -1.29842778e-04 3.83601092e+00] [ 3.89282129e-03 -3.51974818e-05 9.99992422e-01 9.31736838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:273.56, Y:3.84, Z:0.93 [[ 9.98872977e-01 -4.73036516e-02 -3.89100775e-03 2.73559676e+02] [ 4.73035234e-02 9.98880554e-01 -1.25009136e-04 3.83702175e+00] [ 3.89256536e-03 -5.91901279e-05 9.99992422e-01 9.31981025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:273.59, Y:3.84, Z:0.93 [[ 9.98755309e-01 -4.97261991e-02 -3.89078711e-03 2.73590234e+02] [ 4.97260679e-02 9.98762885e-01 -1.30520665e-04 3.83782902e+00] [ 3.89246406e-03 -6.31153368e-05 9.99992422e-01 9.31990292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:273.62, Y:3.84, Z:0.93 [[ 9.98662655e-01 -5.15535322e-02 -3.89040942e-03 2.73621716e+02] [ 5.15533781e-02 9.98670231e-01 -1.39955463e-04 3.83882338e+00] [ 3.89245127e-03 -6.07954532e-05 9.99992423e-01 9.32885167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:273.65, Y:3.84, Z:0.93 [[ 9.98515929e-01 -5.43212908e-02 -3.89052120e-03 2.73652594e+02] [ 5.43211686e-02 9.98523506e-01 -1.37146061e-04 3.83693932e+00] [ 3.89222682e-03 -7.43951312e-05 9.99992422e-01 9.32346050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:273.68, Y:3.84, Z:0.93 [[ 9.98533783e-01 -5.39921328e-02 -3.89030244e-03 2.73684073e+02] [ 5.39919866e-02 9.98541359e-01 -1.42660248e-04 3.83552186e+00] [ 3.89233041e-03 -6.75940805e-05 9.99992423e-01 9.32151690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:3.83, Z:0.92 [[ 9.98376057e-01 -5.68340646e-02 -3.89072742e-03 2.73715211e+02] [ 5.68339816e-02 9.98383634e-01 -1.31976644e-04 3.83395823e+00] [ 3.89193935e-03 -8.93632088e-05 9.99992422e-01 9.19320094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:273.75, Y:3.83, Z:0.93 [[ 9.98684707e-01 -5.11246099e-02 -3.88980630e-03 2.73745224e+02] [ 5.11243936e-02 9.98692281e-01 -1.55080748e-04 3.83187645e+00] [ 3.89264797e-03 -4.39872172e-05 9.99992423e-01 9.33923022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:273.78, Y:3.83, Z:0.93 [[ 9.98761423e-01 -4.96032674e-02 -3.89051977e-03 2.73775778e+02] [ 4.96031096e-02 9.98768999e-01 -1.37112456e-04 3.83221964e+00] [ 3.89253176e-03 -5.60392471e-05 9.99992422e-01 9.33502845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:273.81, Y:3.83, Z:0.93 [[ 9.99011348e-01 -4.42853231e-02 -3.89050622e-03 2.73805397e+02] [ 4.42851236e-02 9.99018923e-01 -1.37452820e-04 3.83134650e+00] [ 3.89277647e-03 -3.49746217e-05 9.99992423e-01 9.32797936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:3.83, Z:0.92 [[ 9.99011351e-01 -4.42852323e-02 -3.89096887e-03 2.73835339e+02] [ 4.42850779e-02 9.99018927e-01 -1.25879015e-04 3.83106547e+00] [ 3.89272613e-03 -4.65572948e-05 9.99992422e-01 9.18286183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:273.87, Y:3.83, Z:0.93 [[ 9.99196254e-01 -3.98963033e-02 -3.88977813e-03 2.73865913e+02] [ 3.98959997e-02 9.99203826e-01 -1.55638669e-04 3.83089583e+00] [ 3.89289059e-03 3.26987794e-07 9.99992423e-01 9.31638170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:273.90, Y:3.83, Z:0.93 [[ 9.99189844e-01 -4.00563927e-02 -3.89102838e-03 2.73895905e+02] [ 4.00562125e-02 9.99197420e-01 -1.24275925e-04 3.82915603e+00] [ 3.89288356e-03 -3.16846174e-05 9.99992422e-01 9.31128511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:273.93, Y:3.83, Z:0.93 [[ 9.99133060e-01 -4.14486167e-02 -3.89117738e-03 2.73925493e+02] [ 4.14484615e-02 9.99140636e-01 -1.20540738e-04 3.82881412e+00] [ 3.89282969e-03 -4.08470796e-05 9.99992422e-01 9.31353912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:273.96, Y:3.83, Z:0.93 [[ 9.99089619e-01 -4.24828674e-02 -3.89081545e-03 2.73955005e+02] [ 4.24826848e-02 9.99097195e-01 -1.29598385e-04 3.82771931e+00] [ 3.89280852e-03 -3.58118853e-05 9.99992422e-01 9.31568504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:273.98, Y:3.83, Z:0.94 [[ 9.99067821e-01 -4.29924390e-02 -3.89082062e-03 2.73984373e+02] [ 4.29922607e-02 9.99075397e-01 -1.29470114e-04 3.82849224e+00] [ 3.89278939e-03 -3.79257500e-05 9.99992422e-01 9.36800053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:3.83, Z:0.92 [[ 9.98989079e-01 -4.47848611e-02 -3.89046362e-03 2.74014180e+02] [ 4.47846621e-02 9.98996654e-01 -1.38296434e-04 3.82980204e+00] [ 3.89275372e-03 -3.60764708e-05 9.99992423e-01 9.19313637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:274.04, Y:3.83, Z:0.92 [[ 9.98950368e-01 -4.56402637e-02 -3.88967228e-03 2.74043867e+02] [ 4.56399952e-02 9.98957940e-01 -1.57802228e-04 3.83036475e+00] [ 3.89282114e-03 -1.98880300e-05 9.99992423e-01 9.19410733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.07, Y:3.83, Z:0.93 [[ 9.98984471e-01 -4.48875992e-02 -3.88966192e-03 2.74074540e+02] [ 4.48873241e-02 9.98992044e-01 -1.58057129e-04 3.83123480e+00] [ 3.89283611e-03 -1.66998979e-05 9.99992423e-01 9.34184238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:274.10, Y:3.83, Z:0.93 [[ 9.98978492e-01 -4.50203718e-02 -3.89079306e-03 2.74104317e+02] [ 4.50202066e-02 9.98986068e-01 -1.30089444e-04 3.83230692e+00] [ 3.89270474e-03 -4.52077505e-05 9.99992422e-01 9.34754483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:274.13, Y:3.83, Z:0.93 [[ 9.98911128e-01 -4.64910633e-02 -3.89098863e-03 2.74133607e+02] [ 4.64909280e-02 9.98918704e-01 -1.25263089e-04 3.83024029e+00] [ 3.89260494e-03 -5.57689789e-05 9.99992422e-01 9.34131884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:274.16, Y:3.83, Z:0.93 [[ 9.98847602e-01 -4.78365017e-02 -3.89076128e-03 2.74163312e+02] [ 4.78363549e-02 9.98855178e-01 -1.30834574e-04 3.82765889e+00] [ 3.89256571e-03 -5.54360367e-05 9.99992422e-01 9.34881671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:3.83, Z:0.92 [[ 9.98622732e-01 -5.23211227e-02 -3.89080697e-03 2.74193397e+02] [ 5.23210142e-02 9.98630309e-01 -1.29721469e-04 3.82616098e+00] [ 3.89226494e-03 -7.40281587e-05 9.99992422e-01 9.21853150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.22, Y:3.82, Z:0.93 [[ 9.98629499e-01 -5.21919085e-02 -3.88957440e-03 2.74224568e+02] [ 5.21916822e-02 9.98637073e-01 -1.59734777e-04 3.82305074e+00] [ 3.89261006e-03 -4.34875709e-05 9.99992423e-01 9.34747047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:274.25, Y:3.82, Z:0.92 [[ 9.98416636e-01 -5.61166776e-02 -3.89097226e-03 2.74253859e+02] [ 5.61166138e-02 9.98424213e-01 -1.25658377e-04 3.82156971e+00] [ 3.89189245e-03 -9.28887737e-05 9.99992422e-01 9.21645355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:274.29, Y:3.82, Z:0.94 [[ 9.98657833e-01 -5.16469257e-02 -3.88951885e-03 2.74286014e+02] [ 5.16466910e-02 9.98665406e-01 -1.60811631e-04 3.81589704e+00] [ 3.89263335e-03 -4.02849839e-05 9.99992423e-01 9.36972716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.32, Y:3.81, Z:0.94 [[ 9.98716363e-01 -5.05023086e-02 -3.89140519e-03 2.74315694e+02] [ 5.05022436e-02 9.98723941e-01 -1.15045858e-04 3.81391346e+00] [ 3.89224960e-03 -8.16265114e-05 9.99992422e-01 9.37204812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:274.35, Y:3.81, Z:0.94 [[ 9.98962001e-01 -4.53848031e-02 -3.89104509e-03 2.74345617e+02] [ 4.53846653e-02 9.98969578e-01 -1.23758944e-04 3.81119203e+00] [ 3.89265244e-03 -5.29632969e-05 9.99992422e-01 9.36446646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:274.37, Y:3.81, Z:0.94 [[ 9.99020407e-01 -4.40803692e-02 -3.89209353e-03 2.74374266e+02] [ 4.40803197e-02 9.99027985e-01 -9.85390654e-05 3.81065243e+00] [ 3.89265400e-03 -7.31221902e-05 9.99992421e-01 9.35793934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.40, Y:3.81, Z:0.94 [[ 9.99120829e-01 -4.17423839e-02 -3.89142140e-03 2.74404115e+02] [ 4.17422547e-02 9.99128406e-01 -1.14455082e-04 3.81068533e+00] [ 3.89280729e-03 -4.80822473e-05 9.99992422e-01 9.35253966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:3.81, Z:0.94 [[ 9.99253758e-01 -3.84289470e-02 -3.89154897e-03 2.74434052e+02] [ 3.84288043e-02 9.99261334e-01 -1.11458397e-04 3.81064351e+00] [ 3.89295765e-03 -3.81723517e-05 9.99992422e-01 9.35423572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:3.81, Z:0.94 [[ 9.99466641e-01 -3.24235523e-02 -3.89180506e-03 2.74463667e+02] [ 3.24233874e-02 9.99474218e-01 -1.05489269e-04 3.81007831e+00] [ 3.89317915e-03 -2.07524979e-05 9.99992421e-01 9.36618565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.49, Y:3.81, Z:0.94 [[ 9.99586577e-01 -2.84873211e-02 -3.89199299e-03 2.74492062e+02] [ 2.84871431e-02 9.99594154e-01 -1.01164126e-04 3.81132855e+00] [ 3.89329534e-03 -9.74945898e-06 9.99992421e-01 9.38113345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:274.52, Y:3.81, Z:0.94 [[ 9.99620926e-01 -2.72554323e-02 -3.89179501e-03 2.74521630e+02] [ 2.72552275e-02 9.99628502e-01 -1.05655965e-04 3.81346485e+00] [ 3.89322891e-03 -4.55844440e-07 9.99992421e-01 9.37772307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:274.55, Y:3.82, Z:0.94 [[ 9.99638710e-01 -2.65951829e-02 -3.89168944e-03 2.74551590e+02] [ 2.65949639e-02 9.99646286e-01 -1.08018245e-04 3.81554220e+00] [ 3.89318566e-03 4.47987891e-06 9.99992422e-01 9.39944727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:274.58, Y:3.82, Z:0.94 [[ 9.99652265e-01 -2.60807268e-02 -3.89162233e-03 2.74581994e+02] [ 2.60804981e-02 9.99659840e-01 -1.09506496e-04 3.81816402e+00] [ 3.89315456e-03 7.97296837e-06 9.99992422e-01 9.38393449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.61, Y:3.82, Z:0.92 [[ 9.99534104e-01 -3.02725592e-02 -3.89200178e-03 2.74609016e+02] [ 3.02723945e-02 9.99541681e-01 -1.01231749e-04 3.82106779e+00] [ 3.89328254e-03 -1.66356282e-05 9.99992421e-01 9.24973328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.64, Y:3.82, Z:0.92 [[ 9.99510803e-01 -3.10328039e-02 -3.88835523e-03 2.74638034e+02] [ 3.10323384e-02 9.99518365e-01 -1.80003252e-04 3.82309244e+00] [ 3.89206847e-03 5.92504394e-05 9.99992424e-01 9.24817914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:274.67, Y:3.82, Z:0.94 [[ 9.99518589e-01 -3.07810159e-02 -3.88833130e-03 2.74670132e+02] [ 3.07805465e-02 9.99526150e-01 -1.80518573e-04 3.82469905e+00] [ 3.89204536e-03 6.07467066e-05 9.99992424e-01 9.38339838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:274.70, Y:3.83, Z:0.94 [[ 9.99477084e-01 -3.21001419e-02 -3.89084138e-03 2.74699267e+02] [ 3.20998938e-02 9.99484658e-01 -1.26196616e-04 3.82603404e+00] [ 3.89288719e-03 1.23503062e-06 9.99992423e-01 9.39774033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:274.73, Y:3.83, Z:0.94 [[ 9.99450556e-01 -3.29157568e-02 -3.89082760e-03 2.74727586e+02] [ 3.29155138e-02 9.99458130e-01 -1.26491758e-04 3.82861819e+00] [ 3.89288284e-03 -1.64633137e-06 9.99992423e-01 9.40187966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:274.76, Y:3.83, Z:0.94 [[ 9.99378292e-01 -3.50413125e-02 -3.89056412e-03 2.74756304e+02] [ 3.50410638e-02 9.99385865e-01 -1.32089443e-04 3.83193527e+00] [ 3.89280337e-03 -4.32218384e-06 9.99992423e-01 9.40039307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.79, Y:3.83, Z:0.94 [[ 9.99349905e-01 -3.58417781e-02 -3.89025656e-03 2.74785512e+02] [ 3.58415103e-02 9.99357477e-01 -1.38549245e-04 3.83290190e+00] [ 3.89272283e-03 -9.73495820e-07 9.99992423e-01 9.39586258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:274.81, Y:3.83, Z:0.94 [[ 9.99313295e-01 -3.68483974e-02 -3.89016369e-03 2.74814695e+02] [ 3.68481297e-02 9.99320867e-01 -1.40483877e-04 3.83383354e+00] [ 3.89269836e-03 -2.95784969e-06 9.99992423e-01 9.38041715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:274.84, Y:3.84, Z:0.94 [[ 9.99274143e-01 -3.78952944e-02 -3.89030114e-03 2.74843763e+02] [ 3.78950457e-02 9.99281715e-01 -1.37650546e-04 3.83543981e+00] [ 3.89272311e-03 -9.87250857e-06 9.99992423e-01 9.37794475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.87, Y:3.84, Z:0.93 [[ 9.99202174e-01 -3.97477584e-02 -3.88990099e-03 2.74871748e+02] [ 3.97474917e-02 9.99209746e-01 -1.45868825e-04 3.83676905e+00] [ 3.89262493e-03 -8.86135974e-06 9.99992424e-01 9.25413039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:274.90, Y:3.84, Z:0.94 [[ 9.99239414e-01 -3.88005029e-02 -3.88774333e-03 2.74902909e+02] [ 3.88000572e-02 9.99246976e-01 -1.90015025e-04 3.83790676e+00] [ 3.89218844e-03 3.90258390e-05 9.99992425e-01 9.40200380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:274.93, Y:3.84, Z:0.94 [[ 9.99266874e-01 -3.80865853e-02 -3.88923690e-03 2.74933824e+02] [ 3.80862536e-02 9.99274443e-01 -1.59346357e-04 3.84020503e+00] [ 3.89248399e-03 1.11030728e-05 9.99992424e-01 9.38702264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:274.96, Y:3.84, Z:0.94 [[ 9.99266256e-01 -3.81027476e-02 -3.88982071e-03 2.74963394e+02] [ 3.81024624e-02 9.99273827e-01 -1.47417317e-04 3.84249309e+00] [ 3.89261303e-03 -9.02597486e-07 9.99992424e-01 9.38950389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:274.99, Y:3.84, Z:0.94 [[ 9.99230773e-01 -3.90221496e-02 -3.89035805e-03 2.74992556e+02] [ 3.90219137e-02 9.99238346e-01 -1.36552084e-04 3.84454627e+00] [ 3.89272349e-03 -1.53621714e-05 9.99992423e-01 9.36833123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:275.02, Y:3.85, Z:0.94 [[ 9.99197312e-01 -3.98698331e-02 -3.88955734e-03 2.75022148e+02] [ 3.98695413e-02 9.99204882e-01 -1.52559492e-04 3.84507141e+00] [ 3.89254720e-03 -2.63783234e-06 9.99992424e-01 9.39392541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:275.05, Y:3.85, Z:0.94 [[ 9.99140676e-01 -4.12647362e-02 -3.88989881e-03 2.75051136e+02] [ 4.12644813e-02 9.99148248e-01 -1.45790665e-04 3.84526049e+00] [ 3.89260160e-03 -1.48492735e-05 9.99992424e-01 9.39935626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:275.08, Y:3.85, Z:0.94 [[ 9.99063151e-01 -4.31009444e-02 -3.88958768e-03 2.75079629e+02] [ 4.31006795e-02 9.99070722e-01 -1.51929337e-04 3.84717109e+00] [ 3.89252148e-03 -1.58568702e-05 9.99992424e-01 9.41180023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:275.11, Y:3.85, Z:0.94 [[ 9.99047727e-01 -4.34570511e-02 -3.88896792e-03 2.75109840e+02] [ 4.34567418e-02 9.99055296e-01 -1.64036455e-04 3.84935272e+00] [ 3.89242254e-03 -5.12162734e-06 9.99992424e-01 9.39814091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:275.14, Y:3.85, Z:0.94 [[ 9.99017635e-01 -4.41433698e-02 -3.88947458e-03 2.75138833e+02] [ 4.41431040e-02 9.99025206e-01 -1.54217460e-04 3.85173089e+00] [ 3.89249082e-03 -1.76275187e-05 9.99992424e-01 9.39812954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:275.17, Y:3.85, Z:0.94 [[ 9.99004492e-01 -4.44398415e-02 -3.88907573e-03 2.75168624e+02] [ 4.44395480e-02 9.99012062e-01 -1.61887978e-04 3.85327192e+00] [ 3.89242784e-03 -1.11019495e-05 9.99992424e-01 9.39961578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.20, Y:3.86, Z:0.94 [[ 9.99075158e-01 -4.28217954e-02 -3.88865926e-03 2.75198134e+02] [ 4.28214586e-02 9.99082726e-01 -1.69873719e-04 3.85636479e+00] [ 3.89236659e-03 3.19855075e-06 9.99992425e-01 9.42056180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.23, Y:3.86, Z:0.94 [[ 9.99097384e-01 -4.23000539e-02 -3.88890581e-03 2.75227684e+02] [ 4.22997314e-02 9.99104952e-01 -1.65163248e-04 3.85896482e+00] [ 3.89241147e-03 5.14497300e-07 9.99992425e-01 9.41641649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.26, Y:3.86, Z:0.94 [[ 9.99079470e-01 -4.27210661e-02 -3.88889485e-03 2.75256810e+02] [ 4.27207461e-02 9.99087039e-01 -1.65371082e-04 3.86034438e+00] [ 3.89240927e-03 -9.17636681e-07 9.99992425e-01 9.41755150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67864000000003 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:275.29, Y:3.86, Z:0.94 [[ 9.99092018e-01 -4.24266057e-02 -3.88880695e-03 2.75286214e+02] [ 4.24262770e-02 9.99099586e-01 -1.67024509e-04 3.86277699e+00] [ 3.89239170e-03 1.88525281e-06 9.99992425e-01 9.41903003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:275.32, Y:3.87, Z:0.94 [[ 9.99110600e-01 -4.19867305e-02 -3.88875969e-03 2.75315137e+02] [ 4.19863950e-02 9.99118168e-01 -1.67909000e-04 3.86518029e+00] [ 3.89238041e-03 4.48466097e-06 9.99992425e-01 9.44482743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:275.34, Y:3.87, Z:0.94 [[ 9.99173701e-01 -4.04573518e-02 -3.88809278e-03 2.75344750e+02] [ 4.04569567e-02 9.99181266e-01 -1.80263561e-04 3.86843221e+00] [ 3.89220245e-03 2.28142085e-05 9.99992425e-01 9.44491509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:275.37, Y:3.87, Z:0.95 [[ 9.99143153e-01 -4.12048403e-02 -3.88856786e-03 2.75373171e+02] [ 4.12044849e-02 9.99150720e-01 -1.71512432e-04 3.87177342e+00] [ 3.89233252e-03 1.11390361e-05 9.99992425e-01 9.45646480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:275.40, Y:3.88, Z:0.94 [[ 9.99212747e-01 -3.94812883e-02 -3.88780646e-03 2.75403598e+02] [ 3.94808656e-02 9.99220309e-01 -1.85452043e-04 3.87650208e+00] [ 3.89209706e-03 3.18120811e-05 9.99992425e-01 9.43699107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:275.43, Y:3.88, Z:0.94 [[ 9.99210878e-01 -3.95284750e-02 -3.88849793e-03 2.75433142e+02] [ 3.95281015e-02 9.99218444e-01 -1.72880966e-04 3.87868663e+00] [ 3.89229257e-03 1.90396012e-05 9.99992425e-01 9.44846657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:275.46, Y:3.88, Z:0.95 [[ 9.99183760e-01 -4.02082022e-02 -3.88762452e-03 2.75462324e+02] [ 4.02077724e-02 9.99191323e-01 -1.88682288e-04 3.88222485e+00] [ 3.89206727e-03 3.22155560e-05 9.99992425e-01 9.45539598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:275.49, Y:3.89, Z:0.94 [[ 9.99169721e-01 -4.05556223e-02 -3.88729924e-03 2.75491781e+02] [ 4.05551723e-02 9.99177282e-01 -1.94554142e-04 3.88500486e+00] [ 3.89199135e-03 3.67425173e-05 9.99992425e-01 9.44299155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.52, Y:3.89, Z:0.94 [[ 9.99198653e-01 -3.98364131e-02 -3.88750303e-03 2.75521811e+02] [ 3.98359719e-02 9.99206214e-01 -1.90888774e-04 3.88763038e+00] [ 3.89202151e-03 3.58733448e-05 9.99992425e-01 9.43465551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:275.55, Y:3.89, Z:0.94 [[ 9.99146581e-01 -4.11217245e-02 -3.88768641e-03 2.75550848e+02] [ 4.11213058e-02 9.99154144e-01 -1.87595472e-04 3.89119436e+00] [ 3.89211223e-03 2.75686324e-05 9.99992425e-01 9.44332485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.58, Y:3.90, Z:0.94 [[ 9.99149902e-01 -4.10409588e-02 -3.88763027e-03 2.75580134e+02] [ 4.10405356e-02 9.99157465e-01 -1.88596909e-04 3.89514728e+00] [ 3.89209500e-03 2.88861544e-05 9.99992425e-01 9.42803519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:275.61, Y:3.90, Z:0.94 [[ 9.99147173e-01 -4.11073038e-02 -3.88790501e-03 2.75610108e+02] [ 4.11069002e-02 9.99154737e-01 -1.83704615e-04 3.89874080e+00] [ 3.89217031e-03 2.37282233e-05 9.99992425e-01 9.44324488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:275.64, Y:3.90, Z:0.94 [[ 9.99159631e-01 -4.08033580e-02 -3.88827003e-03 2.75639324e+02] [ 4.08029772e-02 9.99167196e-01 -1.77247183e-04 3.90376893e+00] [ 3.89226414e-03 1.84452369e-05 9.99992425e-01 9.44725576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.67, Y:3.91, Z:0.94 [[ 9.99117323e-01 -4.18265722e-02 -3.88753272e-03 2.75668958e+02] [ 4.18261487e-02 9.99124886e-01 -1.90209887e-04 3.90745749e+00] [ 3.89208652e-03 2.74414713e-05 9.99992425e-01 9.44824709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:275.70, Y:3.92, Z:0.94 [[ 9.99098335e-01 -4.22777044e-02 -3.88747400e-03 2.75698431e+02] [ 4.22772804e-02 9.99105898e-01 -1.91236672e-04 3.91612985e+00] [ 3.89208325e-03 2.67124125e-05 9.99992425e-01 9.43465714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:275.73, Y:3.92, Z:0.94 [[ 9.99037059e-01 -4.37017378e-02 -3.88747543e-03 2.75727786e+02] [ 4.37013246e-02 9.99044622e-01 -1.91211844e-04 3.92167952e+00] [ 3.89211772e-03 2.11398927e-05 9.99992425e-01 9.43590139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:275.76, Y:3.93, Z:0.94 [[ 9.98952449e-01 -4.55948844e-02 -3.88723043e-03 2.75756750e+02] [ 4.55944690e-02 9.98960012e-01 -1.95454031e-04 3.92644796e+00] [ 3.89209946e-03 1.80130761e-05 9.99992426e-01 9.44564304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:275.79, Y:3.93, Z:0.95 [[ 9.98978293e-01 -4.50252348e-02 -3.88570985e-03 2.75788240e+02] [ 4.50247130e-02 9.98985849e-01 -2.21691956e-04 3.93315510e+00] [ 3.89175088e-03 4.65124806e-05 9.99992426e-01 9.45075707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:275.82, Y:3.94, Z:0.94 [[ 9.98978442e-01 -4.50218005e-02 -3.88714468e-03 2.75819132e+02] [ 4.50213751e-02 9.98986004e-01 -1.96898182e-04 3.93767691e+00] [ 3.89206784e-03 2.16924404e-05 9.99992426e-01 9.44955118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:275.85, Y:3.95, Z:0.94 [[ 9.98877052e-01 -4.72177568e-02 -3.88815222e-03 2.75848956e+02] [ 4.72174157e-02 9.98884620e-01 -1.79534230e-04 3.94595283e+00] [ 3.89229266e-03 -4.25587693e-06 9.99992425e-01 9.44965066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:275.88, Y:3.95, Z:0.94 [[ 9.98754740e-01 -4.97378478e-02 -3.88787406e-03 2.75880119e+02] [ 4.97375072e-02 9.98762307e-01 -1.84310492e-04 3.94991706e+00] [ 3.89222928e-03 -9.29218712e-06 9.99992425e-01 9.44807512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:275.91, Y:3.95, Z:0.95 [[ 9.98632284e-01 -5.21387348e-02 -3.88767902e-03 2.75910229e+02] [ 5.21383994e-02 9.98639851e-01 -1.87645217e-04 3.95223327e+00] [ 3.89217478e-03 -1.53087898e-05 9.99992425e-01 9.46218315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:275.94, Y:3.95, Z:0.95 [[ 9.98414500e-01 -5.61549025e-02 -3.88764754e-03 2.75941135e+02] [ 5.61545955e-02 9.98422068e-01 -1.88177125e-04 3.95270559e+00] [ 3.89208016e-03 -3.04305045e-05 9.99992425e-01 9.45582219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:275.97, Y:3.95, Z:0.95 [[ 9.98293356e-01 -5.82688908e-02 -3.88732861e-03 2.75972349e+02] [ 5.82685788e-02 9.98300924e-01 -1.93570260e-04 3.95456269e+00] [ 3.89200286e-03 -3.32692082e-05 9.99992426e-01 9.46685896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:276.00, Y:3.96, Z:0.95 [[ 9.98156337e-01 -6.05707738e-02 -3.88704726e-03 2.76004036e+02] [ 6.05704607e-02 9.98163904e-01 -1.98314989e-04 3.95789043e+00] [ 3.89192236e-03 -3.74908803e-05 9.99992426e-01 9.45980323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:276.04, Y:3.96, Z:0.95 [[ 9.98172342e-01 -6.03064206e-02 -3.88730130e-03 2.76035976e+02] [ 6.03061222e-02 9.98179911e-01 -1.94030249e-04 3.95930789e+00] [ 3.89192733e-03 -4.07524395e-05 9.99992426e-01 9.45610338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.07, Y:3.96, Z:0.93 [[ 9.98074909e-01 -6.18980166e-02 -3.88728631e-03 2.76066369e+02] [ 6.18977293e-02 9.98082478e-01 -1.94283508e-04 3.95950711e+00] [ 3.89185812e-03 -4.67047009e-05 9.99992426e-01 9.32723583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:276.10, Y:3.96, Z:0.95 [[ 9.98227056e-01 -5.93940166e-02 -3.88522770e-03 2.76098394e+02] [ 5.93935745e-02 9.98234617e-01 -2.29182368e-04 3.95777557e+00] [ 3.89198084e-03 -1.98151985e-06 9.99992426e-01 9.46852893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:276.13, Y:3.96, Z:0.93 [[ 9.98184084e-01 -6.01117419e-02 -3.88747883e-03 2.76128214e+02] [ 6.01114538e-02 9.98191653e-01 -1.91014018e-04 3.95897508e+00] [ 3.89193111e-03 -4.30148512e-05 9.99992425e-01 9.34470299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:276.16, Y:3.96, Z:0.95 [[ 9.98557657e-01 -5.35491376e-02 -3.88518258e-03 2.76159591e+02] [ 5.35486487e-02 9.98565215e-01 -2.29831131e-04 3.96201007e+00] [ 3.89191544e-03 2.14533591e-05 9.99992426e-01 9.47774281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:276.19, Y:3.96, Z:0.95 [[ 9.98705020e-01 -5.07264617e-02 -3.88696795e-03 2.76190730e+02] [ 5.07260694e-02 9.98712584e-01 -1.99496962e-04 3.96427310e+00] [ 3.89208358e-03 2.06801094e-06 9.99992426e-01 9.46043380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:276.22, Y:3.97, Z:0.95 [[ 9.98792796e-01 -4.89677000e-02 -3.88783675e-03 2.76222071e+02] [ 4.89673518e-02 9.98800363e-01 -1.84754197e-04 3.96678576e+00] [ 3.89221974e-03 -5.84590895e-06 9.99992425e-01 9.45643822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:276.25, Y:3.97, Z:0.95 [[ 9.98930491e-01 -4.60734318e-02 -3.88743951e-03 2.76253319e+02] [ 4.60730354e-02 9.98938056e-01 -1.91491385e-04 3.97225394e+00] [ 3.89213393e-03 1.21804454e-05 9.99992426e-01 9.46625459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:276.28, Y:3.98, Z:0.95 [[ 9.98915177e-01 -4.64042391e-02 -3.88785838e-03 2.76283997e+02] [ 4.64038728e-02 9.98922743e-01 -1.84418440e-04 3.97542329e+00] [ 3.89222796e-03 3.80669262e-06 9.99992425e-01 9.47487272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:276.32, Y:3.98, Z:0.95 [[ 9.98861362e-01 -4.75485703e-02 -3.88747953e-03 2.76315551e+02] [ 4.75481878e-02 9.98868927e-01 -1.90795552e-04 3.97797084e+00] [ 3.89215456e-03 5.73569760e-06 9.99992426e-01 9.46718948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:276.35, Y:3.98, Z:0.95 [[ 9.98746011e-01 -4.99128618e-02 -3.88736399e-03 2.76346808e+02] [ 4.99124897e-02 9.98753576e-01 -1.92733300e-04 3.98035862e+00] [ 3.89213856e-03 -1.53640058e-06 9.99992426e-01 9.47311021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:276.38, Y:3.98, Z:0.95 [[ 9.98690637e-01 -5.10088843e-02 -3.88645378e-03 2.76378106e+02] [ 5.10084613e-02 9.98698199e-01 -2.07949288e-04 3.98404106e+00] [ 3.89200165e-03 9.43497987e-06 9.99992426e-01 9.48674169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:276.41, Y:3.99, Z:0.95 [[ 9.98549066e-01 -5.37089960e-02 -3.88669356e-03 2.76408775e+02] [ 5.37086090e-02 9.98556630e-01 -2.03942989e-04 3.98897676e+00] [ 3.89203720e-03 -5.10182362e-06 9.99992426e-01 9.48798924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:276.44, Y:3.99, Z:0.95 [[ 9.98461723e-01 -5.53089720e-02 -3.88650887e-03 2.76438764e+02] [ 5.53085852e-02 9.98469287e-01 -2.07028469e-04 3.99181049e+00] [ 3.89201028e-03 -8.24730562e-06 9.99992426e-01 9.50056469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:276.47, Y:3.99, Z:0.95 [[ 9.98498613e-01 -5.46390064e-02 -3.88564561e-03 2.76471230e+02] [ 5.46385586e-02 9.98506174e-01 -2.21397818e-04 3.99439953e+00] [ 3.89193809e-03 8.75933846e-06 9.99992426e-01 9.48859849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:276.50, Y:4.00, Z:0.95 [[ 9.98476915e-01 -5.50340491e-02 -3.88623562e-03 2.76501802e+02] [ 5.50336426e-02 9.98484478e-01 -2.11560545e-04 3.99887445e+00] [ 3.89198898e-03 -2.63538201e-06 9.99992426e-01 9.49769987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:276.53, Y:4.00, Z:0.95 [[ 9.98515633e-01 -5.43271073e-02 -3.88541221e-03 2.76533702e+02] [ 5.43266419e-02 9.98523192e-01 -2.25283600e-04 4.00217212e+00] [ 3.89191321e-03 1.38677983e-05 9.99992426e-01 9.49669117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:276.57, Y:4.00, Z:0.95 [[ 9.98378070e-01 -5.67990148e-02 -3.88609917e-03 2.76565008e+02] [ 5.67986128e-02 9.98385633e-01 -2.13826961e-04 4.00499230e+00] [ 3.89197074e-03 -7.24489336e-06 9.99992426e-01 9.49787734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:276.60, Y:4.01, Z:0.95 [[ 9.98300144e-01 -5.81526488e-02 -3.88492116e-03 2.76595573e+02] [ 5.81521803e-02 9.98307703e-01 -2.33544279e-04 4.00693394e+00] [ 3.89192794e-03 7.23065139e-06 9.99992426e-01 9.53688603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.63, Y:4.01, Z:0.94 [[ 9.98253679e-01 -5.89449099e-02 -3.88452582e-03 2.76626453e+02] [ 5.89444215e-02 9.98261237e-01 -2.40196425e-04 4.00844465e+00] [ 3.89192991e-03 1.08058376e-05 9.99992426e-01 9.38087575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:276.66, Y:4.01, Z:0.95 [[ 9.98017797e-01 -6.28122885e-02 -3.88512290e-03 2.76656958e+02] [ 6.28118686e-02 9.98025358e-01 -2.30115802e-04 4.00823417e+00] [ 3.89190528e-03 -1.43721631e-05 9.99992426e-01 9.50518900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:276.69, Y:4.01, Z:0.95 [[ 9.97883130e-01 -6.49166284e-02 -3.88470375e-03 2.76689084e+02] [ 6.49161968e-02 9.97890691e-01 -2.37228974e-04 4.00913803e+00] [ 3.89190981e-03 -1.54534017e-05 9.99992426e-01 9.51537822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.72, Y:4.01, Z:0.94 [[ 9.97631507e-01 -6.86752305e-02 -3.88450273e-03 2.76720770e+02] [ 6.86748140e-02 9.97639069e-01 -2.40658817e-04 4.00989786e+00] [ 3.89185898e-03 -2.66786842e-05 9.99992426e-01 9.38335086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:4.01, Z:0.95 [[ 9.97616515e-01 -6.88926143e-02 -3.88535196e-03 2.76752022e+02] [ 6.88922563e-02 9.97624080e-01 -2.26062945e-04 4.01032227e+00] [ 3.89169475e-03 -4.21465360e-05 9.99992426e-01 9.49676169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:4.01, Z:0.94 [[ 9.97470700e-01 -7.09725500e-02 -3.88583278e-03 2.76783450e+02] [ 7.09722400e-02 9.97478267e-01 -2.17769933e-04 4.00917262e+00] [ 3.89148944e-03 -5.85671297e-05 9.99992426e-01 9.39153854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.82, Y:4.00, Z:0.94 [[ 9.97082946e-01 -7.62266546e-02 -3.88545124e-03 2.76815486e+02] [ 7.62263588e-02 9.97090513e-01 -2.24376939e-04 4.00405612e+00] [ 3.89125007e-03 -7.24513806e-05 9.99992426e-01 9.39438519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:276.85, Y:4.00, Z:0.94 [[ 9.97019342e-01 -7.70541051e-02 -3.88554319e-03 2.76848424e+02] [ 7.70538218e-02 9.97026910e-01 -2.22773123e-04 4.00321011e+00] [ 3.89115671e-03 -7.72868401e-05 9.99992426e-01 9.38847206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:4.00, Z:0.94 [[ 9.96848029e-01 -7.92395679e-02 -3.88565477e-03 2.76880411e+02] [ 7.92393089e-02 9.96855598e-01 -2.20809684e-04 4.00215104e+00] [ 3.89093357e-03 -8.77828999e-05 9.99992426e-01 9.40502793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.91, Y:4.00, Z:0.94 [[ 9.96606257e-01 -8.22245042e-02 -3.88568947e-03 2.76912878e+02] [ 8.22242702e-02 9.96613827e-01 -2.20197349e-04 3.99681927e+00] [ 3.89063747e-03 -1.00047925e-04 9.99992426e-01 9.40577472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:3.99, Z:0.94 [[ 9.96575289e-01 -8.25989943e-02 -3.88578661e-03 2.76944844e+02] [ 8.25987699e-02 9.96582859e-01 -2.18469483e-04 3.99459637e+00] [ 3.89055369e-03 -1.03239906e-04 9.99992426e-01 9.39765668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:276.98, Y:3.99, Z:0.94 [[ 9.96610550e-01 -8.21724487e-02 -3.88588117e-03 2.76976993e+02] [ 8.21722277e-02 9.96618120e-01 -2.16774479e-04 3.98790474e+00] [ 3.89055248e-03 -1.03271779e-04 9.99992426e-01 9.39972421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:277.01, Y:3.99, Z:0.94 [[ 9.96723317e-01 -8.07931248e-02 -3.88596807e-03 2.77008623e+02] [ 8.07928994e-02 9.96730887e-01 -2.15205333e-04 3.98583789e+00] [ 3.89065151e-03 -9.94584535e-05 9.99992426e-01 9.38539968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.04, Y:3.98, Z:0.94 [[ 9.96836208e-01 -7.93881256e-02 -3.88598153e-03 2.77039633e+02] [ 7.93878904e-02 9.96843777e-01 -2.14961986e-04 3.98375937e+00] [ 3.89078194e-03 -9.42179848e-05 9.99992426e-01 9.38797984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:277.07, Y:3.98, Z:0.95 [[ 9.97375985e-01 -7.22913843e-02 -3.88598829e-03 2.77069878e+02] [ 7.22910958e-02 9.97383553e-01 -2.14839761e-04 3.98078638e+00] [ 3.89135187e-03 -6.66463335e-05 9.99992426e-01 9.51757389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:3.98, Z:0.94 [[ 9.97534970e-01 -7.00634472e-02 -3.88558254e-03 2.77100754e+02] [ 7.00631132e-02 9.97542536e-01 -2.22164541e-04 3.98083361e+00] [ 3.89159947e-03 -5.06191110e-05 9.99992426e-01 9.39905917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.13, Y:3.98, Z:0.94 [[ 9.98010839e-01 -6.29226870e-02 -3.88600260e-03 2.77130296e+02] [ 6.29223286e-02 9.98018404e-01 -2.14556556e-04 3.97924803e+00] [ 3.89180258e-03 -3.03865638e-05 9.99992426e-01 9.39530685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:277.16, Y:3.98, Z:0.95 [[ 9.98231643e-01 -5.93168258e-02 -3.88598862e-03 2.77160071e+02] [ 5.93164390e-02 9.98239207e-01 -2.14809317e-04 3.98030192e+00] [ 3.89188801e-03 -1.60735495e-05 9.99992426e-01 9.52306650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:277.19, Y:3.98, Z:0.95 [[ 9.98389042e-01 -5.66058543e-02 -3.88555113e-03 2.77190782e+02] [ 5.66054161e-02 9.98396603e-01 -2.22757345e-04 3.98214951e+00] [ 3.89193042e-03 2.45525402e-06 9.99992426e-01 9.52629892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:277.22, Y:3.99, Z:0.95 [[ 9.98762802e-01 -4.95758520e-02 -3.88601826e-03 2.77220640e+02] [ 4.95753936e-02 9.98770361e-01 -2.14245991e-04 3.98603949e+00] [ 3.89186129e-03 2.13300410e-05 9.99992426e-01 9.53996328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:277.25, Y:3.99, Z:0.95 [[ 9.98757865e-01 -4.96751979e-02 -3.88605666e-03 2.77249757e+02] [ 4.96747431e-02 9.98765425e-01 -2.13546636e-04 3.98759897e+00] [ 3.89186700e-03 2.02425161e-05 9.99992426e-01 9.54109794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.28, Y:3.99, Z:0.94 [[ 9.98890582e-01 -4.69308437e-02 -3.88603526e-03 2.77279598e+02] [ 4.69303665e-02 9.98898140e-01 -2.13935657e-04 3.99102810e+00] [ 3.89179358e-03 3.13252541e-05 9.99992426e-01 9.40867841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:4.00, Z:0.94 [[ 9.99103477e-01 -4.21561587e-02 -3.88603551e-03 2.77309067e+02] [ 4.21556454e-02 9.99111033e-01 -2.13931161e-04 3.99696125e+00] [ 3.89159947e-03 4.99210314e-05 9.99992426e-01 9.42075951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.34, Y:4.00, Z:0.94 [[ 9.99211379e-01 -3.95160664e-02 -3.88602130e-03 2.77338330e+02] [ 3.95155322e-02 9.99218933e-01 -2.14189051e-04 4.00091337e+00] [ 3.89144996e-03 6.04619369e-05 9.99992426e-01 9.42368374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:4.01, Z:0.94 [[ 9.99287476e-01 -3.75424934e-02 -3.88600708e-03 2.77367890e+02] [ 3.75419433e-02 9.99295030e-01 -2.14446738e-04 4.00543540e+00] [ 3.89131842e-03 6.84056824e-05 9.99992426e-01 9.43268317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:277.40, Y:4.01, Z:0.94 [[ 9.99386443e-01 -3.48085627e-02 -3.88599284e-03 2.77397138e+02] [ 3.48079909e-02 9.99393995e-01 -2.14704424e-04 4.01318287e+00] [ 3.89111146e-03 7.93090877e-05 9.99992426e-01 9.43297381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:277.43, Y:4.02, Z:0.94 [[ 9.99410444e-01 -3.41125100e-02 -3.88597856e-03 2.77426642e+02] [ 3.41119319e-02 9.99417996e-01 -2.14962562e-04 4.01756796e+00] [ 3.89104981e-03 8.22775936e-05 9.99992426e-01 9.42682367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:277.46, Y:4.02, Z:0.94 [[ 9.99417634e-01 -3.39012060e-02 -3.88596415e-03 2.77456361e+02] [ 3.39006253e-02 9.99425185e-01 -2.15222629e-04 4.02378773e+00] [ 3.89102675e-03 8.33606762e-05 9.99992426e-01 9.42052254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:277.49, Y:4.03, Z:0.94 [[ 9.99392099e-01 -3.46458150e-02 -3.88594988e-03 2.77485311e+02] [ 3.46452389e-02 9.99399650e-01 -2.15480063e-04 4.02881117e+00] [ 3.89108243e-03 8.07194102e-05 9.99992426e-01 9.43231275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:277.51, Y:4.03, Z:0.94 [[ 9.99369682e-01 -3.52865208e-02 -3.88593567e-03 2.77514477e+02] [ 3.52859486e-02 9.99377234e-01 -2.15736048e-04 4.03426676e+00] [ 3.89112821e-03 7.84811399e-05 9.99992426e-01 9.42331705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89864 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:277.54, Y:4.04, Z:0.94 [[ 9.99274282e-01 -3.78920679e-02 -3.88592128e-03 2.77543886e+02] [ 3.78915144e-02 9.99281835e-01 -2.15994839e-04 4.04136014e+00] [ 3.89131504e-03 6.85946452e-05 9.99992426e-01 9.43030013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864000000003 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:277.57, Y:4.04, Z:0.94 [[ 9.99213688e-01 -3.94576503e-02 -3.88590695e-03 2.77574380e+02] [ 3.94571076e-02 9.99221242e-01 -2.16252318e-04 4.04440257e+00] [ 3.89141358e-03 6.27556277e-05 9.99992426e-01 9.42095073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95864 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:277.61, Y:4.05, Z:0.95 [[ 9.99083339e-01 -4.26307559e-02 -3.88590695e-03 2.77605352e+02] [ 4.26302372e-02 9.99090895e-01 -2.16252318e-04 4.04980237e+00] [ 3.89159326e-03 5.03969532e-05 9.99992426e-01 9.54242046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:277.63, Y:4.05, Z:0.94 [[ 9.98929488e-01 -4.60951966e-02 -3.88730618e-03 2.77634904e+02] [ 4.60948020e-02 9.98937051e-01 -1.91090164e-04 4.05312287e+00] [ 3.89198251e-03 1.17009911e-05 9.99992426e-01 9.41652993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01864 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:277.67, Y:4.06, Z:0.95 [[ 9.98824909e-01 -4.83083924e-02 -3.88587394e-03 2.77666622e+02] [ 4.83079146e-02 9.98832468e-01 -2.16765482e-04 4.05629702e+00] [ 3.89180865e-03 2.87922965e-05 9.99992426e-01 9.53451767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:277.70, Y:4.06, Z:0.95 [[ 9.98754755e-01 -4.97375338e-02 -3.88805613e-03 2.77697818e+02] [ 4.97372201e-02 9.98762323e-01 -1.77408335e-04 4.05859919e+00] [ 3.89206783e-03 -1.61936856e-05 9.99992426e-01 9.53966268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07864 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:277.73, Y:4.06, Z:0.95 [[ 9.98690458e-01 -5.10122716e-02 -3.88805756e-03 2.77728724e+02] [ 5.10119676e-02 9.98698026e-01 -1.77382482e-04 4.06105891e+00] [ 3.89204410e-03 -2.11872745e-05 9.99992426e-01 9.54163613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:277.76, Y:4.06, Z:0.95 [[ 9.98581896e-01 -5.30950359e-02 -3.88779910e-03 2.77759553e+02] [ 5.30947296e-02 9.98589463e-01 -1.82027111e-04 4.06450349e+00] [ 3.89197995e-03 -2.46526644e-05 9.99992426e-01 9.54566901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13864 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:277.79, Y:4.07, Z:0.95 [[ 9.98583149e-01 -5.30715209e-02 -3.88702664e-03 2.77791075e+02] [ 5.30711605e-02 9.98590714e-01 -1.95869084e-04 4.06570036e+00] [ 3.89194377e-03 -1.06974484e-05 9.99992426e-01 9.53897390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:277.82, Y:4.06, Z:0.94 [[ 9.98364128e-01 -5.70434514e-02 -3.88747220e-03 2.77821021e+02] [ 5.70431522e-02 9.98371696e-01 -1.87884767e-04 4.06447689e+00] [ 3.89185981e-03 -3.41762566e-05 9.99992426e-01 9.41503566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19864 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:277.85, Y:4.07, Z:0.95 [[ 9.98407552e-01 -5.62784234e-02 -3.88584518e-03 2.77852340e+02] [ 5.62780050e-02 9.98415114e-01 -2.17017700e-04 4.06510709e+00] [ 3.89189997e-03 -2.01550380e-06 9.99992427e-01 9.53800086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:277.88, Y:4.07, Z:0.95 [[ 9.98329988e-01 -5.76378537e-02 -3.88757171e-03 2.77883401e+02] [ 5.76375666e-02 9.98337556e-01 -1.85958027e-04 4.06563755e+00] [ 3.89182706e-03 -3.84226987e-05 9.99992426e-01 9.54091287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25864 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:277.91, Y:4.06, Z:0.94 [[ 9.98096446e-01 -6.15497305e-02 -3.88772576e-03 2.77913568e+02] [ 6.15494838e-02 9.98104016e-01 -1.83178507e-04 4.06484887e+00] [ 3.89162928e-03 -5.64576967e-05 9.99992426e-01 9.43644824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:277.95, Y:4.07, Z:0.94 [[ 9.98126634e-01 -6.10583534e-02 -3.88595128e-03 2.77945351e+02] [ 6.10579782e-02 9.98134198e-01 -2.15218249e-04 4.06643263e+00] [ 3.89184174e-03 -2.24532625e-05 9.99992427e-01 9.44029429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31864 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:277.98, Y:4.07, Z:0.95 [[ 9.98209642e-01 -5.96859184e-02 -3.88604832e-03 2.77976407e+02] [ 5.96855397e-02 9.98217206e-01 -2.13451686e-04 4.06733267e+00] [ 3.89186035e-03 -1.88713595e-05 9.99992427e-01 9.45485524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:278.01, Y:4.07, Z:0.94 [[ 9.98312365e-01 -5.79423941e-02 -3.88606213e-03 2.78008214e+02] [ 5.79420032e-02 9.98319928e-01 -2.13199902e-04 4.06774354e+00] [ 3.89188658e-03 -1.23261258e-05 9.99992427e-01 9.44547954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37864 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:278.04, Y:4.07, Z:0.95 [[ 9.98394385e-01 -5.65115065e-02 -3.88607597e-03 2.78039829e+02] [ 5.65111058e-02 9.98401948e-01 -2.12947252e-04 4.06813145e+00] [ 3.89189979e-03 -7.00110959e-06 9.99992427e-01 9.45080633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:278.07, Y:4.07, Z:0.95 [[ 9.98482731e-01 -5.49284418e-02 -3.88608980e-03 2.78070833e+02] [ 5.49280300e-02 9.98490294e-01 -2.12694601e-04 4.06940064e+00] [ 3.89190593e-03 -1.08337082e-06 9.99992427e-01 9.46171718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43864 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:278.10, Y:4.07, Z:0.95 [[ 9.98680553e-01 -5.12059717e-02 -3.88610381e-03 2.78102487e+02] [ 5.12055328e-02 9.98688114e-01 -2.12438375e-04 4.07072878e+00] [ 3.89188380e-03 1.31680579e-05 9.99992427e-01 9.45615729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:278.13, Y:4.07, Z:0.95 [[ 9.98752796e-01 -4.97770046e-02 -3.88611775e-03 2.78133076e+02] [ 4.97765558e-02 9.98760356e-01 -2.12183037e-04 4.07060808e+00] [ 3.89186218e-03 1.84808450e-05 9.99992427e-01 9.46396650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49864 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:278.16, Y:4.07, Z:0.95 [[ 9.98797837e-01 -4.88649136e-02 -3.88611775e-03 2.78163565e+02] [ 4.88644578e-02 9.98805396e-01 -2.12183037e-04 4.07191364e+00] [ 3.89184369e-03 2.20349217e-05 9.99992427e-01 9.46894541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters Centerline goodness : 0.992792 Centerline is valid? [True, True] Translation: X:278.19, Y:4.07, Z:0.95 [[ 9.98836097e-01 -4.80765058e-02 -3.88611775e-03 2.78194285e+02] [ 4.80760441e-02 9.98843656e-01 -2.12183037e-04 4.07477862e+00] [ 3.89182508e-03 2.51069085e-05 9.99992427e-01 9.47520484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55864 meters Centerline goodness : 0.990311 Centerline is valid? [True, True] Translation: X:278.23, Y:4.08, Z:0.96 [[ 9.98940245e-01 -4.58615717e-02 -3.88614986e-03 2.78225383e+02] [ 4.58610956e-02 9.98947804e-01 -2.11593267e-04 4.07819678e+00] [ 3.89176487e-03 3.31459397e-05 9.99992427e-01 9.57832803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58864 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:278.26, Y:4.08, Z:0.95 [[ 9.99105799e-01 -4.21009877e-02 -3.88709977e-03 2.78256112e+02] [ 4.21005513e-02 9.99113360e-01 -1.94075827e-04 4.08150091e+00] [ 3.89182410e-03 3.02532406e-05 9.99992426e-01 9.46981807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61864 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:278.29, Y:4.08, Z:0.95 [[ 9.99218738e-01 -3.93295092e-02 -3.88621436e-03 2.78286225e+02] [ 3.93289882e-02 9.99226294e-01 -2.10427868e-04 4.08436601e+00] [ 3.89148359e-03 5.74225902e-05 9.99992427e-01 9.47851812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64864 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:278.32, Y:4.09, Z:0.95 [[ 9.99416395e-01 -3.39376777e-02 -3.88621436e-03 2.78316272e+02] [ 3.39371159e-02 9.99423948e-01 -2.10427868e-04 4.08946760e+00] [ 3.89111713e-03 7.84181540e-05 9.99992427e-01 9.48921247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67864000000003 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:278.35, Y:4.09, Z:0.95 [[ 9.99472774e-01 -3.22346162e-02 -3.88621436e-03 2.78345631e+02] [ 3.22340415e-02 9.99480326e-01 -2.10427868e-04 4.09266622e+00] [ 3.89097785e-03 8.50485299e-05 9.99992427e-01 9.48396245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70864 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:278.38, Y:4.10, Z:0.96 [[ 9.99547412e-01 -2.98306677e-02 -3.88620042e-03 2.78376236e+02] [ 2.98300739e-02 9.99554962e-01 -2.10684917e-04 4.09839821e+00] [ 3.89075579e-03 9.46639175e-05 9.99992427e-01 9.57981620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73864 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:278.41, Y:4.10, Z:0.95 [[ 9.99594723e-01 -2.82007555e-02 -3.88667903e-03 2.78406257e+02] [ 2.82001837e-02 9.99602275e-01 -2.01855302e-04 4.10166584e+00] [ 3.89082567e-03 9.21684325e-05 9.99992426e-01 9.48664854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76864 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:278.44, Y:4.10, Z:0.96 [[ 9.99572080e-01 -2.89923010e-02 -3.88619212e-03 2.78436118e+02] [ 2.89917003e-02 9.99579630e-01 -2.10830311e-04 4.10480346e+00] [ 3.89067094e-03 9.80727754e-05 9.99992427e-01 9.57761607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79864 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:278.47, Y:4.11, Z:0.95 [[ 9.99558902e-01 -2.94431715e-02 -3.88604745e-03 2.78466986e+02] [ 2.94425638e-02 9.99566451e-01 -2.13500384e-04 4.10824066e+00] [ 3.89064879e-03 9.89910087e-05 9.99992426e-01 9.49469393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82864 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:278.50, Y:4.11, Z:0.95 [[ 9.99541100e-01 -3.00414134e-02 -3.88626487e-03 2.78496592e+02] [ 3.00408259e-02 9.99548651e-01 -2.09466610e-04 4.11190577e+00] [ 3.89080348e-03 9.26238794e-05 9.99992427e-01 9.50053479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85864 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:278.53, Y:4.12, Z:0.95 [[ 9.99588056e-01 -2.84361541e-02 -3.88625108e-03 2.78526823e+02] [ 2.84355535e-02 9.99595606e-01 -2.09722124e-04 4.12055717e+00] [ 3.89064319e-03 9.91280295e-05 9.99992427e-01 9.50507818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88864 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:278.56, Y:4.13, Z:0.95 [[ 9.99616562e-01 -2.74157980e-02 -3.88625108e-03 2.78557412e+02] [ 2.74151897e-02 9.99624111e-01 -2.09722124e-04 4.12546529e+00] [ 3.89053998e-03 1.03099398e-04 9.99992427e-01 9.50413967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91864 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:278.59, Y:4.13, Z:0.95 [[ 9.99631419e-01 -2.68686350e-02 -3.88625108e-03 2.78587686e+02] [ 2.68680225e-02 9.99638968e-01 -2.09722124e-04 4.12992986e+00] [ 3.89048297e-03 1.05228943e-04 9.99992427e-01 9.49807001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94864 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:278.62, Y:4.14, Z:0.95 [[ 9.99610325e-01 -2.76422549e-02 -3.88625108e-03 2.78617429e+02] [ 2.76416484e-02 9.99617875e-01 -2.09722124e-04 4.13542625e+00] [ 3.89056324e-03 1.02218015e-04 9.99992427e-01 9.49168914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97864 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:278.65, Y:4.14, Z:0.95 [[ 9.99573146e-01 -2.89555480e-02 -3.88625575e-03 2.78647795e+02] [ 2.89549516e-02 9.99580696e-01 -2.09635589e-04 4.13938015e+00] [ 3.89069634e-03 9.70197578e-05 9.99992427e-01 9.49866447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00864 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:278.68, Y:4.15, Z:0.96 [[ 9.99462921e-01 -3.25386961e-02 -3.88625575e-03 2.78678679e+02] [ 3.25381268e-02 9.99470473e-01 -2.09635589e-04 4.14721782e+00] [ 3.89101914e-03 8.30715156e-05 9.99992427e-01 9.58619258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03864 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:278.71, Y:4.15, Z:0.96 [[ 9.99371052e-01 -3.52476149e-02 -3.88667588e-03 2.78709413e+02] [ 3.52470965e-02 9.99378608e-01 -2.01831160e-04 4.15158713e+00] [ 3.89137480e-03 6.47101791e-05 9.99992426e-01 9.58407888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06864 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:278.74, Y:4.16, Z:0.95 [[ 9.99311721e-01 -3.68914870e-02 -3.88617612e-03 2.78740992e+02] [ 3.68909447e-02 9.99319275e-01 -2.11170735e-04 4.15544669e+00] [ 3.89132110e-03 6.76606821e-05 9.99992426e-01 9.50594569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:278.77, Y:4.16, Z:0.95 [[ 9.99051673e-01 -4.33664707e-02 -3.88641910e-03 2.78771979e+02] [ 4.33659951e-02 9.99059231e-01 -2.06599864e-04 4.16130084e+00] [ 3.89172239e-03 3.78655078e-05 9.99992427e-01 9.49168609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12864 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:278.80, Y:4.17, Z:0.96 [[ 9.98936062e-01 -4.59525842e-02 -3.88643271e-03 2.78802984e+02] [ 4.59521292e-02 9.98943622e-01 -2.06343616e-04 4.16580523e+00] [ 3.89180919e-03 2.75342212e-05 9.99992427e-01 9.58786042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15864 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:278.83, Y:4.17, Z:0.95 [[ 9.98668858e-01 -5.14334929e-02 -3.88681433e-03 2.78834243e+02] [ 5.14331074e-02 9.98676422e-01 -1.99134700e-04 4.17099355e+00] [ 3.89191202e-03 -1.04131540e-06 9.99992426e-01 9.48406449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:278.87, Y:4.17, Z:0.95 [[ 9.98606440e-01 -5.26314922e-02 -3.88650496e-03 2.78867304e+02] [ 5.26310929e-02 9.98614003e-01 -2.04999895e-04 4.17348244e+00] [ 3.89190773e-03 1.63211320e-07 9.99992426e-01 9.49514803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:278.90, Y:4.18, Z:0.95 [[ 9.98492649e-01 -5.47478296e-02 -3.88661085e-03 2.78900073e+02] [ 5.47474543e-02 9.98500213e-01 -2.02972379e-04 4.17525073e+00] [ 3.89189406e-03 -1.01156210e-05 9.99992427e-01 9.49495999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24864 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:278.93, Y:4.18, Z:0.96 [[ 9.98327974e-01 -5.76727762e-02 -3.88671584e-03 2.78931917e+02] [ 5.76724309e-02 9.98335540e-01 -2.00941598e-04 4.17784367e+00] [ 3.89183541e-03 -2.35507321e-05 9.99992427e-01 9.61790992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:278.96, Y:4.18, Z:0.95 [[ 9.98072511e-01 -6.19366655e-02 -3.88737958e-03 2.78962270e+02] [ 6.19364027e-02 9.98080080e-01 -1.88078557e-04 4.18011113e+00] [ 3.89156509e-03 -5.30542699e-05 9.99992426e-01 9.49552787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:279.00, Y:4.18, Z:0.95 [[ 9.97835118e-01 -6.56503641e-02 -3.88672749e-03 2.78995499e+02] [ 6.56500802e-02 9.97842686e-01 -2.00706552e-04 4.18109227e+00] [ 3.89151906e-03 -5.48919257e-05 9.99992427e-01 9.48270357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33864 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:279.03, Y:4.18, Z:0.96 [[ 9.97742111e-01 -6.70490340e-02 -3.88682884e-03 2.79026236e+02] [ 6.70487685e-02 9.97749680e-01 -1.98724262e-04 4.18136130e+00] [ 3.89140650e-03 -6.23315221e-05 9.99992427e-01 9.62147413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:279.06, Y:4.18, Z:0.95 [[ 9.97558889e-01 -6.97219804e-02 -3.88687280e-03 2.79057147e+02] [ 6.97217385e-02 9.97566459e-01 -1.97864776e-04 4.18209344e+00] [ 3.89120946e-03 -7.36177625e-05 9.99992427e-01 9.50412184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39864 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:279.09, Y:4.18, Z:0.96 [[ 9.97579849e-01 -6.94214483e-02 -3.88683275e-03 2.79087928e+02] [ 6.94212010e-02 9.97587418e-01 -1.98648269e-04 4.18158172e+00] [ 3.89124590e-03 -7.16610881e-05 9.99992427e-01 9.61626499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.12, Y:4.18, Z:0.95 [[ 9.97553025e-01 -6.98058507e-02 -3.88667506e-03 2.79119372e+02] [ 6.98055943e-02 9.97560594e-01 -2.01741017e-04 4.18214792e+00] [ 3.89127659e-03 -7.00643009e-05 9.99992427e-01 9.49819142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.15, Y:4.18, Z:0.95 [[ 9.97587972e-01 -6.93046197e-02 -3.88691391e-03 2.79152885e+02] [ 6.93043779e-02 9.97595541e-01 -1.97029152e-04 4.18414533e+00] [ 3.89122302e-03 -7.28262380e-05 9.99992427e-01 9.49949262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:279.19, Y:4.18, Z:0.95 [[ 9.97681136e-01 -6.79502944e-02 -3.88701192e-03 2.79186127e+02] [ 6.79500499e-02 9.97688705e-01 -1.95076173e-04 4.18198623e+00] [ 3.89128338e-03 -6.94988365e-05 9.99992427e-01 9.49456614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:279.22, Y:4.18, Z:0.96 [[ 9.97760931e-01 -6.67683655e-02 -3.88710900e-03 2.79216970e+02] [ 6.67681197e-02 9.97768501e-01 -1.93122289e-04 4.18129492e+00] [ 3.89132937e-03 -6.68450841e-05 9.99992427e-01 9.62529381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:279.25, Y:4.18, Z:0.95 [[ 9.97680084e-01 -6.79657312e-02 -3.88715333e-03 2.79248379e+02] [ 6.79654979e-02 9.97687654e-01 -1.92230350e-04 4.18078841e+00] [ 3.89122996e-03 -7.24079194e-05 9.99992427e-01 9.48907721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:279.28, Y:4.18, Z:0.95 [[ 9.97775016e-01 -6.65575459e-02 -3.88711847e-03 2.79281031e+02] [ 6.65572992e-02 9.97782586e-01 -1.92932727e-04 4.18052081e+00] [ 3.89134024e-03 -6.62126520e-05 9.99992427e-01 9.49587454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:4.18, Z:0.95 [[ 9.97900666e-01 -6.46463515e-02 -3.88721424e-03 2.79314601e+02] [ 6.46460979e-02 9.97908235e-01 -1.90983468e-04 4.17746081e+00] [ 3.89142948e-03 -6.07107020e-05 9.99992427e-01 9.48952961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:279.35, Y:4.18, Z:0.95 [[ 9.97985337e-01 -6.33257848e-02 -3.88730884e-03 2.79348200e+02] [ 6.33255287e-02 9.97992907e-01 -1.89037969e-04 4.17715996e+00] [ 3.89147763e-03 -5.75087661e-05 9.99992427e-01 9.48235616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:279.38, Y:4.18, Z:0.95 [[ 9.98156591e-01 -6.05665564e-02 -3.88740374e-03 2.79380464e+02] [ 6.05662871e-02 9.98164160e-01 -1.87065869e-04 4.17587378e+00] [ 3.89159703e-03 -4.87245813e-05 9.99992427e-01 9.47478183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:279.41, Y:4.18, Z:0.95 [[ 9.98302800e-01 -5.81068624e-02 -3.88748576e-03 2.79413828e+02] [ 5.81065812e-02 9.98310368e-01 -1.85345596e-04 4.17604108e+00] [ 3.89168719e-03 -4.08574797e-05 9.99992427e-01 9.47228661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:279.44, Y:4.18, Z:0.96 [[ 9.98411393e-01 -5.62101154e-02 -3.88757932e-03 2.79444333e+02] [ 5.62098275e-02 9.98418961e-01 -1.83362041e-04 4.17664488e+00] [ 3.89173971e-03 -3.54494116e-05 9.99992427e-01 9.62245189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:279.47, Y:4.18, Z:0.96 [[ 9.98612983e-01 -5.25071192e-02 -3.88741327e-03 2.79474679e+02] [ 5.25067895e-02 9.98620550e-01 -1.86893902e-04 4.17856949e+00] [ 3.89186404e-03 -1.74809137e-05 9.99992427e-01 9.63906473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.51, Y:4.18, Z:0.95 [[ 9.98839694e-01 -4.80016552e-02 -3.88666984e-03 2.79507094e+02] [ 4.80012293e-02 9.98847256e-01 -2.02845093e-04 4.18112729e+00] [ 3.89192640e-03 1.60448004e-05 9.99992426e-01 9.49837363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:279.54, Y:4.19, Z:0.95 [[ 9.99130822e-01 -4.15028430e-02 -3.88772301e-03 2.79539191e+02] [ 4.15024564e-02 9.99138386e-01 -1.80112501e-04 4.18542251e+00] [ 3.89184847e-03 1.86058965e-05 9.99992427e-01 9.49932623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:279.57, Y:4.19, Z:0.95 [[ 9.99260814e-01 -3.82453961e-02 -3.88780431e-03 2.79570334e+02] [ 3.82449916e-02 9.99268377e-01 -1.78340015e-04 4.18958136e+00] [ 3.89178059e-03 2.95191451e-05 9.99992427e-01 9.48461470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:279.60, Y:4.19, Z:0.96 [[ 9.99361714e-01 -3.55112466e-02 -3.88781590e-03 2.79600821e+02] [ 3.55108225e-02 9.99369276e-01 -1.78087105e-04 4.19411584e+00] [ 3.89168785e-03 3.99138943e-05 9.99992427e-01 9.60374393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:279.63, Y:4.20, Z:0.96 [[ 9.99492425e-01 -3.16191480e-02 -3.88856851e-03 2.79632006e+02] [ 3.16187588e-02 9.99499989e-01 -1.61541853e-04 4.20281944e+00] [ 3.89173200e-03 3.85081488e-05 9.99992426e-01 9.60564641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:279.66, Y:4.21, Z:0.95 [[ 9.99515147e-01 -3.08925027e-02 -3.88886643e-03 2.79661206e+02] [ 3.08921335e-02 9.99522712e-01 -1.54975271e-04 4.20812301e+00] [ 3.89179790e-03 3.47647496e-05 9.99992426e-01 9.48938107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:279.69, Y:4.22, Z:0.95 [[ 9.99534026e-01 -3.02756685e-02 -3.88787553e-03 2.79692619e+02] [ 3.02752099e-02 9.99541585e-01 -1.76769219e-04 4.21691514e+00] [ 3.89144508e-03 5.89806017e-05 9.99992427e-01 9.48100613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.72, Y:4.22, Z:0.95 [[ 9.99521459e-01 -3.06877426e-02 -3.88788707e-03 2.79723408e+02] [ 3.06872881e-02 9.99529019e-01 -1.76515042e-04 4.22043013e+00] [ 3.89147280e-03 5.71218611e-05 9.99992427e-01 9.48985133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:279.75, Y:4.22, Z:0.95 [[ 9.99449299e-01 -3.29542465e-02 -3.88789854e-03 2.79754974e+02] [ 3.29538102e-02 9.99456860e-01 -1.76262079e-04 4.22391236e+00] [ 3.89159545e-03 4.80439411e-05 9.99992427e-01 9.47981517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:279.79, Y:4.23, Z:0.95 [[ 9.99260229e-01 -3.82606832e-02 -3.88791014e-03 2.79785659e+02] [ 3.82602880e-02 9.99267792e-01 -1.76005734e-04 4.22973105e+00] [ 3.89179748e-03 2.71229679e-05 9.99992427e-01 9.49638678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.82, Y:4.23, Z:0.95 [[ 9.99147963e-01 -4.10881118e-02 -3.88792163e-03 2.79817921e+02] [ 4.10877390e-02 9.99155527e-01 -1.75751554e-04 4.23238820e+00] [ 3.89185969e-03 1.58558976e-05 9.99992427e-01 9.49502880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:279.85, Y:4.23, Z:0.95 [[ 9.98935322e-01 -4.59685336e-02 -3.88800112e-03 2.79849759e+02] [ 4.59682047e-02 9.98942888e-01 -1.73975291e-04 4.23285660e+00] [ 3.89188845e-03 -4.93436799e-06 9.99992427e-01 9.50094457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:279.88, Y:4.23, Z:0.95 [[ 9.98837038e-01 -4.80567884e-02 -3.88808024e-03 2.79882704e+02] [ 4.80564822e-02 9.98844605e-01 -1.72188608e-04 4.23443810e+00] [ 3.89186280e-03 -1.48590999e-05 9.99992427e-01 9.50002653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17864000000003 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:279.91, Y:4.24, Z:0.96 [[ 9.98760008e-01 -4.96319352e-02 -3.88816889e-03 2.79913023e+02] [ 4.96316489e-02 9.98767576e-01 -1.70163043e-04 4.23535933e+00] [ 3.89182254e-03 -2.30241906e-05 9.99992427e-01 9.60166528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:279.94, Y:4.23, Z:0.95 [[ 9.98578861e-01 -5.31520552e-02 -3.88810512e-03 2.79944624e+02] [ 5.31517899e-02 9.98586430e-01 -1.71621679e-04 4.23305961e+00] [ 3.89173106e-03 -3.52819661e-05 9.99992427e-01 9.49933062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:279.97, Y:4.23, Z:0.96 [[ 9.98385990e-01 -5.66594719e-02 -3.88823352e-03 2.79972925e+02] [ 5.66592447e-02 9.98393560e-01 -1.68661572e-04 4.23120819e+00] [ 3.89154359e-03 -5.19150241e-05 9.99992427e-01 9.63346359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:280.01, Y:4.23, Z:0.95 [[ 9.98471504e-01 -5.51321536e-02 -3.88607347e-03 2.80006542e+02] [ 5.51317197e-02 9.98479066e-01 -2.18782110e-04 4.22793810e+00] [ 3.89222494e-03 4.20178876e-06 9.99992425e-01 9.51697218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:280.04, Y:4.23, Z:0.95 [[ 9.98440252e-01 -5.56950945e-02 -3.88834671e-03 2.80039961e+02] [ 5.56948730e-02 9.98447822e-01 -1.65313184e-04 4.22679245e+00] [ 3.89151844e-03 -5.15056390e-05 9.99992427e-01 9.51527487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32864 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:280.07, Y:4.22, Z:0.96 [[ 9.98384591e-01 -5.66841048e-02 -3.88842981e-03 2.80071155e+02] [ 5.66838984e-02 9.98392162e-01 -1.63334896e-04 4.22435781e+00] [ 3.89143633e-03 -5.73403174e-05 9.99992427e-01 9.62427687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:280.10, Y:4.22, Z:0.96 [[ 9.98509836e-01 -5.44333450e-02 -3.88835688e-03 2.80104483e+02] [ 5.44331149e-02 9.98517405e-01 -1.65076652e-04 4.21909717e+00] [ 3.89157770e-03 -4.68247161e-05 9.99992427e-01 9.61425495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:280.13, Y:4.22, Z:0.95 [[ 9.98327457e-01 -5.76815208e-02 -3.88993252e-03 2.80134232e+02] [ 5.76814626e-02 9.98335030e-01 -1.27239019e-04 4.21653436e+00] [ 3.89079524e-03 -9.73507903e-05 9.99992426e-01 9.53494554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:280.17, Y:4.21, Z:0.95 [[ 9.98320454e-01 -5.78026934e-02 -3.88844927e-03 2.80167786e+02] [ 5.78024980e-02 9.98328025e-01 -1.62690179e-04 4.20917699e+00] [ 3.89135180e-03 -6.23451481e-05 9.99992427e-01 9.53160219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:280.20, Y:4.21, Z:0.95 [[ 9.98312660e-01 -5.79371317e-02 -3.88853057e-03 2.80200151e+02] [ 5.79369450e-02 9.98320231e-01 -1.60723141e-04 4.20559217e+00] [ 3.89131058e-03 -6.48376352e-05 9.99992427e-01 9.52859678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:280.23, Y:4.20, Z:0.95 [[ 9.98259760e-01 -5.88415617e-02 -3.88860121e-03 2.80232437e+02] [ 5.88413886e-02 9.98267332e-01 -1.58995439e-04 4.19850900e+00] [ 3.89121909e-03 -7.00919460e-05 9.99992427e-01 9.51958765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:280.26, Y:4.20, Z:0.95 [[ 9.98318934e-01 -5.78289286e-02 -3.88867070e-03 2.80264464e+02] [ 5.78287546e-02 9.98326505e-01 -1.57277417e-04 4.19631661e+00] [ 3.89125821e-03 -6.78639604e-05 9.99992427e-01 9.52071775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:280.30, Y:4.19, Z:0.95 [[ 9.98379692e-01 -5.67703149e-02 -3.88873945e-03 2.80295720e+02] [ 5.67701395e-02 9.98387263e-01 -1.55558678e-04 4.19372496e+00] [ 3.89129905e-03 -6.54576564e-05 9.99992427e-01 9.52266263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:280.33, Y:4.19, Z:0.95 [[ 9.98542851e-01 -5.38242648e-02 -3.88874926e-03 2.80327540e+02] [ 5.38240680e-02 9.98550422e-01 -1.55313032e-04 4.18950716e+00] [ 3.89147183e-03 -5.42215869e-05 9.99992427e-01 9.53327165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:280.36, Y:4.19, Z:0.95 [[ 9.98627659e-01 -5.22271641e-02 -3.88875918e-03 2.80358825e+02] [ 5.22269562e-02 9.98635229e-01 -1.55064153e-04 4.18946899e+00] [ 3.89155048e-03 -4.82467038e-05 9.99992427e-01 9.53686483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:280.39, Y:4.19, Z:0.96 [[ 9.98890153e-01 -4.69397416e-02 -3.88876913e-03 2.80389429e+02] [ 4.69394946e-02 9.98897722e-01 -1.54814429e-04 4.18987466e+00] [ 3.89174957e-03 -2.78942489e-05 9.99992427e-01 9.64941405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:280.42, Y:4.19, Z:0.97 [[ 9.98943733e-01 -4.57852912e-02 -3.88910578e-03 2.80419882e+02] [ 4.57850683e-02 9.98951303e-01 -1.46370779e-04 4.19096989e+00] [ 3.89172892e-03 -3.18468020e-05 9.99992427e-01 9.65413169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:280.45, Y:4.19, Z:0.95 [[ 9.99246929e-01 -3.86064311e-02 -3.88826413e-03 2.80450748e+02] [ 3.86060710e-02 9.99254494e-01 -1.67662946e-04 4.19320586e+00] [ 3.89183828e-03 1.74260828e-05 9.99992427e-01 9.52178589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:280.48, Y:4.20, Z:0.95 [[ 9.99382332e-01 -3.49260954e-02 -3.88886245e-03 2.80480719e+02] [ 3.49257668e-02 9.99389898e-01 -1.52395067e-04 4.19662893e+00] [ 3.89181241e-03 1.64794342e-05 9.99992427e-01 9.53156554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:280.51, Y:4.20, Z:0.96 [[ 9.99517722e-01 -3.08090926e-02 -3.88885241e-03 2.80510947e+02] [ 3.08087319e-02 9.99525287e-01 -1.52650601e-04 4.20107397e+00] [ 3.89170935e-03 3.27663700e-05 9.99992427e-01 9.64606585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:280.54, Y:4.21, Z:0.95 [[ 9.99576806e-01 -2.88285138e-02 -3.88928511e-03 2.80540741e+02] [ 2.88281810e-02 9.99584372e-01 -1.41625587e-04 4.20608937e+00] [ 3.89175147e-03 2.94446370e-05 9.99992427e-01 9.53690441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:280.57, Y:4.21, Z:0.95 [[ 9.99535170e-01 -3.02377268e-02 -3.88883608e-03 2.80570440e+02] [ 3.02373602e-02 9.99542735e-01 -1.53035987e-04 4.20776401e+00] [ 3.89168531e-03 3.53767142e-05 9.99992427e-01 9.53057590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83864 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:280.60, Y:4.21, Z:0.97 [[ 9.99424758e-01 -3.36901991e-02 -3.88882596e-03 2.80601084e+02] [ 3.36898576e-02 9.99432324e-01 -1.53292761e-04 4.20953714e+00] [ 3.89178283e-03 2.21905881e-05 9.99992427e-01 9.67577832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:280.63, Y:4.21, Z:0.96 [[ 9.99384879e-01 -3.48531038e-02 -3.88904505e-03 2.80632344e+02] [ 3.48527928e-02 9.99392446e-01 -1.47713852e-04 4.21122992e+00] [ 3.89183053e-03 1.20789085e-05 9.99992427e-01 9.62105097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:280.66, Y:4.21, Z:0.95 [[ 9.99248880e-01 -3.85557298e-02 -3.88988645e-03 2.80661761e+02] [ 3.85555301e-02 9.99256451e-01 -1.26332612e-04 4.21251825e+00] [ 3.89186497e-03 -2.37389130e-05 9.99992426e-01 9.53379701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:280.69, Y:4.21, Z:0.95 [[ 9.99068368e-01 -4.29799181e-02 -3.88880858e-03 2.80692559e+02] [ 4.29796457e-02 9.99075936e-01 -1.53618569e-04 4.21306316e+00] [ 3.89181758e-03 -1.36641617e-05 9.99992427e-01 9.52530704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:280.72, Y:4.21, Z:0.95 [[ 9.98979461e-01 -4.49990403e-02 -3.88880858e-03 2.80723030e+02] [ 4.49987833e-02 9.98987030e-01 -1.53618569e-04 4.21349036e+00] [ 3.89178202e-03 -2.15298587e-05 9.99992427e-01 9.52974387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:280.75, Y:4.21, Z:0.95 [[ 9.98885372e-01 -4.70413670e-02 -3.88880858e-03 2.80753537e+02] [ 4.70411254e-02 9.98892942e-01 -1.53618569e-04 4.21457749e+00] [ 3.89172987e-03 -2.94865903e-05 9.99992427e-01 9.52563244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:280.78, Y:4.21, Z:0.95 [[ 9.98769403e-01 -4.94424645e-02 -3.88880858e-03 2.80784743e+02] [ 4.94422411e-02 9.98776973e-01 -1.53618569e-04 4.21464502e+00] [ 3.89164774e-03 -3.88418846e-05 9.99992427e-01 9.53524691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:280.82, Y:4.21, Z:0.95 [[ 9.98724268e-01 -5.03459308e-02 -3.88881850e-03 2.80816312e+02] [ 5.03457153e-02 9.98731839e-01 -1.53367037e-04 4.21418336e+00] [ 3.89160825e-03 -4.26139671e-05 9.99992427e-01 9.53883156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:280.85, Y:4.21, Z:0.95 [[ 9.98720340e-01 -5.04238082e-02 -3.88882838e-03 2.80848058e+02] [ 5.04235942e-02 9.98727910e-01 -1.53116124e-04 4.21383829e+00] [ 3.89160213e-03 -4.31685169e-05 9.99992427e-01 9.53745908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:280.88, Y:4.21, Z:0.96 [[ 9.98837778e-01 -4.80413349e-02 -3.88883823e-03 2.80879487e+02] [ 4.80411038e-02 9.98845348e-01 -1.52865591e-04 4.21281345e+00] [ 3.89169184e-03 -3.41361537e-05 9.99992427e-01 9.61569951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:280.91, Y:4.21, Z:0.95 [[ 9.98822962e-01 -4.83483737e-02 -3.88923804e-03 2.80910567e+02] [ 4.83481846e-02 9.98830533e-01 -1.42681196e-04 4.21259690e+00] [ 3.89158811e-03 -4.55243441e-05 9.99992427e-01 9.53931153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:280.94, Y:4.21, Z:0.96 [[ 9.98924493e-01 -4.62031909e-02 -3.88888588e-03 2.80940932e+02] [ 4.62029504e-02 9.98932062e-01 -1.51708496e-04 4.21127543e+00] [ 3.89174221e-03 -2.81326687e-05 9.99992427e-01 9.55210982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:280.97, Y:4.21, Z:0.96 [[ 9.99015272e-01 -4.41968559e-02 -3.88888588e-03 2.80970961e+02] [ 4.41966002e-02 9.99022841e-01 -1.51708496e-04 4.21296494e+00] [ 3.89179086e-03 -2.03164297e-05 9.99992427e-01 9.55086409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:281.00, Y:4.22, Z:0.96 [[ 9.99233465e-01 -3.89533031e-02 -3.88888588e-03 2.81001845e+02] [ 3.89530076e-02 9.99241032e-01 -1.51708496e-04 4.21528628e+00] [ 3.89184389e-03 1.08404873e-07 9.99992427e-01 9.55759590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:4.22, Z:0.96 [[ 9.99316421e-01 -3.67636815e-02 -3.88888588e-03 2.81031019e+02] [ 3.67633695e-02 9.99323987e-01 -1.51708496e-04 4.21617763e+00] [ 3.89183430e-03 8.63624295e-06 9.99992427e-01 9.55600834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.06, Y:4.22, Z:0.96 [[ 9.99375030e-01 -3.51343959e-02 -3.88887586e-03 2.81060860e+02] [ 3.51340706e-02 9.99382596e-01 -1.51964826e-04 4.21701033e+00] [ 3.89181405e-03 1.52378137e-05 9.99992427e-01 9.55157190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:281.09, Y:4.22, Z:0.96 [[ 9.99393471e-01 -3.46058666e-02 -3.88886581e-03 2.81090776e+02] [ 3.46055363e-02 9.99401037e-01 -1.52221603e-04 4.21939408e+00] [ 3.89180429e-03 1.75529892e-05 9.99992427e-01 9.57727914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.12, Y:4.22, Z:0.96 [[ 9.99394460e-01 -3.45773093e-02 -3.88885577e-03 2.81120233e+02] [ 3.45769777e-02 9.99402026e-01 -1.52477781e-04 4.22205146e+00] [ 3.89180260e-03 1.79205703e-05 9.99992427e-01 9.57318181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:281.15, Y:4.23, Z:0.96 [[ 9.99357991e-01 -3.56157763e-02 -3.88884567e-03 2.81149276e+02] [ 3.56154516e-02 9.99365557e-01 -1.52734805e-04 4.22605335e+00] [ 3.89181819e-03 1.41337526e-05 9.99992427e-01 9.57480360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:281.18, Y:4.23, Z:0.96 [[ 9.99355633e-01 -3.56818783e-02 -3.88883544e-03 2.81179409e+02] [ 3.56815531e-02 9.99363199e-01 -1.52994859e-04 4.22722232e+00] [ 3.89181817e-03 1.41365856e-05 9.99992427e-01 9.57597737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:281.21, Y:4.23, Z:0.96 [[ 9.99304587e-01 -3.70839496e-02 -3.88882530e-03 2.81208534e+02] [ 3.70836340e-02 9.99312154e-01 -1.53252082e-04 4.22976028e+00] [ 3.89183358e-03 8.93373377e-06 9.99992427e-01 9.57893499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:4.23, Z:0.96 [[ 9.99287451e-01 -3.75428843e-02 -3.88881513e-03 2.81239271e+02] [ 3.75425711e-02 9.99295017e-01 -1.53509705e-04 4.23240227e+00] [ 3.89183678e-03 7.40420295e-06 9.99992427e-01 9.57459461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.27, Y:4.24, Z:0.96 [[ 9.99217927e-01 -3.93498662e-02 -3.88881513e-03 2.81269342e+02] [ 3.93495668e-02 9.99225494e-01 -1.53509705e-04 4.23505248e+00] [ 3.89184381e-03 3.66458291e-07 9.99992427e-01 9.57146042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:281.30, Y:4.24, Z:0.96 [[ 9.99200369e-01 -3.97932135e-02 -3.88881513e-03 2.81300008e+02] [ 3.97929174e-02 9.99207936e-01 -1.53509705e-04 4.23695671e+00] [ 3.89184359e-03 -1.36034543e-06 9.99992427e-01 9.57316017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.33, Y:4.24, Z:0.96 [[ 9.99219730e-01 -3.93040512e-02 -3.88881513e-03 2.81330314e+02] [ 3.93037514e-02 9.99227297e-01 -1.53509705e-04 4.24201595e+00] [ 3.89184379e-03 5.44902681e-07 9.99992427e-01 9.57925233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:281.36, Y:4.24, Z:0.97 [[ 9.99287768e-01 -3.75344277e-02 -3.88881513e-03 2.81361725e+02] [ 3.75341145e-02 9.99295335e-01 -1.53509705e-04 4.24422436e+00] [ 3.89183672e-03 7.43713796e-06 9.99992427e-01 9.69800406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:4.24, Z:0.96 [[ 9.99232843e-01 -3.89691840e-02 -3.88947211e-03 2.81391659e+02] [ 3.89689469e-02 9.99240413e-01 -1.36755212e-04 4.24458242e+00] [ 3.89184696e-03 -1.49183330e-05 9.99992427e-01 9.57566073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:281.42, Y:4.25, Z:0.97 [[ 9.99246225e-01 -3.86245903e-02 -3.88883440e-03 2.81422191e+02] [ 3.86242875e-02 9.99253792e-01 -1.52967461e-04 4.24577402e+00] [ 3.89184083e-03 2.64869960e-06 9.99992427e-01 9.71060380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:4.25, Z:0.96 [[ 9.99200099e-01 -3.97999580e-02 -3.88905422e-03 2.81452654e+02] [ 3.97996858e-02 9.99207668e-01 -1.47398803e-04 4.24792628e+00] [ 3.89183926e-03 -7.50223741e-06 9.99992427e-01 9.58813402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:281.48, Y:4.25, Z:0.97 [[ 9.99149624e-01 -4.10476059e-02 -3.88883619e-03 2.81483624e+02] [ 4.10473215e-02 9.99157192e-01 -1.52942608e-04 4.24729148e+00] [ 3.89183657e-03 -6.81376050e-06 9.99992427e-01 9.72878719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.51, Y:4.25, Z:0.96 [[ 9.99044004e-01 -4.35425550e-02 -3.88908182e-03 2.81514729e+02] [ 4.35423140e-02 9.99051573e-01 -1.46666736e-04 4.24643587e+00] [ 3.89177955e-03 -2.28130982e-05 9.99992427e-01 9.59922811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:281.55, Y:4.25, Z:0.97 [[ 9.99095222e-01 -4.23510696e-02 -3.88889071e-03 2.81545977e+02] [ 4.23508005e-02 9.99102791e-01 -1.51570102e-04 4.24724400e+00] [ 3.89182072e-03 -1.32646693e-05 9.99992427e-01 9.72573257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:281.58, Y:4.25, Z:0.96 [[ 9.99038191e-01 -4.36756774e-02 -3.88953175e-03 2.81576369e+02] [ 4.36754826e-02 9.99045762e-01 -1.35041116e-04 4.25004377e+00] [ 3.89171823e-03 -3.49659441e-05 9.99992427e-01 9.61460176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.61, Y:4.25, Z:0.96 [[ 9.99052857e-01 -4.33389499e-02 -3.88893003e-03 2.81607010e+02] [ 4.33386921e-02 9.99060426e-01 -1.50581272e-04 4.25017989e+00] [ 3.89180213e-03 -1.81024916e-05 9.99992427e-01 9.59799398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.64, Y:4.25, Z:0.96 [[ 9.99078388e-01 -4.27463555e-02 -3.88893003e-03 2.81637953e+02] [ 4.27460932e-02 9.99085957e-01 -1.50581272e-04 4.25096192e+00] [ 3.89181218e-03 -1.57940717e-05 9.99992427e-01 9.60169714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:281.67, Y:4.25, Z:0.97 [[ 9.99167642e-01 -4.06066382e-02 -3.88893003e-03 2.81668636e+02] [ 4.06063597e-02 9.99175210e-01 -1.50581272e-04 4.25307834e+00] [ 3.89183708e-03 -7.45935752e-06 9.99992427e-01 9.73658223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.70, Y:4.26, Z:0.96 [[ 9.99278453e-01 -3.77815728e-02 -3.88919728e-03 2.81699578e+02] [ 3.77812999e-02 9.99286021e-01 -1.43651549e-04 4.25827726e+00] [ 3.89184786e-03 -3.39103079e-06 9.99992427e-01 9.61749681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:281.73, Y:4.26, Z:0.97 [[ 9.99393400e-01 -3.46079112e-02 -3.88897942e-03 2.81729557e+02] [ 3.46075922e-02 9.99400967e-01 -1.49325526e-04 4.26042811e+00] [ 3.89181763e-03 1.46467312e-05 9.99992427e-01 9.73550517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:281.76, Y:4.27, Z:0.96 [[ 9.99449579e-01 -3.29456075e-02 -3.88926181e-03 2.81760515e+02] [ 3.29453046e-02 9.99457146e-01 -1.41947534e-04 4.26520595e+00] [ 3.89182706e-03 1.37364880e-05 9.99992427e-01 9.61183992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:281.79, Y:4.27, Z:0.96 [[ 9.99444454e-01 -3.31007433e-02 -3.88902458e-03 2.81791260e+02] [ 3.31004173e-02 9.99452020e-01 -1.48174041e-04 4.26957417e+00] [ 3.89179814e-03 1.93633872e-05 9.99992427e-01 9.61921739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.82, Y:4.27, Z:0.96 [[ 9.99438069e-01 -3.32929806e-02 -3.88902458e-03 2.81821944e+02] [ 3.32926560e-02 9.99445635e-01 -1.48174041e-04 4.27318574e+00] [ 3.89180179e-03 1.86148200e-05 9.99992427e-01 9.61179830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:281.85, Y:4.27, Z:0.96 [[ 9.99346501e-01 -3.59366937e-02 -3.88902458e-03 2.81852755e+02] [ 3.59363892e-02 9.99354068e-01 -1.48174041e-04 4.27334387e+00] [ 3.89183742e-03 8.31970897e-06 9.99992427e-01 9.61536231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:281.88, Y:4.27, Z:0.98 [[ 9.99323673e-01 -3.65659909e-02 -3.88902458e-03 2.81884178e+02] [ 3.65656911e-02 9.99331241e-01 -1.48174041e-04 4.27404974e+00] [ 3.89184189e-03 5.86895560e-06 9.99992427e-01 9.75814997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.91, Y:4.28, Z:0.96 [[ 9.99112750e-01 -4.19354592e-02 -3.88962533e-03 2.81914193e+02] [ 4.19352620e-02 9.99120321e-01 -1.32275014e-04 4.27766596e+00] [ 3.89175072e-03 -3.09548038e-05 9.99992427e-01 9.64255649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.95, Y:4.28, Z:0.96 [[ 9.99079825e-01 -4.27127422e-02 -3.88906997e-03 2.81945855e+02] [ 4.27124937e-02 9.99087394e-01 -1.46970641e-04 4.27929082e+00] [ 3.89179830e-03 -1.92764746e-05 9.99992427e-01 9.63696788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:281.98, Y:4.28, Z:0.96 [[ 9.99079651e-01 -4.27168235e-02 -3.88907955e-03 2.81976893e+02] [ 4.27165760e-02 9.99087220e-01 -1.46716776e-04 4.27996920e+00] [ 3.89179695e-03 -1.95464168e-05 9.99992427e-01 9.63336258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.01, Y:4.28, Z:0.96 [[ 9.99103887e-01 -4.21461387e-02 -3.88908910e-03 2.82007924e+02] [ 4.21458879e-02 9.99111457e-01 -1.46463106e-04 4.28079950e+00] [ 3.89180633e-03 -1.75772550e-05 9.99992427e-01 9.62769964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:282.04, Y:4.28, Z:0.98 [[ 9.99169041e-01 -4.05721797e-02 -3.88909864e-03 2.82038783e+02] [ 4.05719179e-02 9.99176610e-01 -1.46209482e-04 4.28242195e+00] [ 3.89182843e-03 -1.17002029e-05 9.99992427e-01 9.76389162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:282.07, Y:4.28, Z:0.96 [[ 9.99032783e-01 -4.37991872e-02 -3.88961246e-03 2.82069746e+02] [ 4.37990032e-02 9.99040354e-01 -1.32517825e-04 4.28054654e+00] [ 3.89168399e-03 -3.79714973e-05 9.99992427e-01 9.64822916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:282.10, Y:4.28, Z:0.97 [[ 9.98935160e-01 -4.59719537e-02 -3.88911125e-03 2.82100761e+02] [ 4.59717341e-02 9.98942730e-01 -1.45880033e-04 4.27876162e+00] [ 3.89170580e-03 -3.30644942e-05 9.99992427e-01 9.66011902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.13, Y:4.28, Z:0.97 [[ 9.98846811e-01 -4.78531480e-02 -3.88912068e-03 2.82132614e+02] [ 4.78529436e-02 9.98854381e-01 -1.45628289e-04 4.27776461e+00] [ 3.89163400e-03 -4.06455203e-05 9.99992427e-01 9.66171550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:4.28, Z:0.97 [[ 9.98777110e-01 -4.92864975e-02 -3.88913006e-03 2.82164026e+02] [ 4.92863050e-02 9.98784681e-01 -1.45377166e-04 4.27770260e+00] [ 3.89156866e-03 -4.64814650e-05 9.99992427e-01 9.66681814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:282.20, Y:4.28, Z:0.97 [[ 9.98658341e-01 -5.16371300e-02 -3.88913936e-03 2.82195854e+02] [ 5.16369563e-02 9.98665912e-01 -1.45128029e-04 4.27513983e+00] [ 3.89144490e-03 -5.58900024e-05 9.99992427e-01 9.65492463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864000000003 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:282.23, Y:4.27, Z:0.98 [[ 9.98693158e-01 -5.09593140e-02 -3.88914865e-03 2.82226691e+02] [ 5.09591361e-02 9.98700729e-01 -1.44878703e-04 4.27230609e+00] [ 3.89147851e-03 -5.34982855e-05 9.99992427e-01 9.77993205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:282.26, Y:4.27, Z:0.97 [[ 9.98683421e-01 -5.11497749e-02 -3.88922044e-03 2.82258096e+02] [ 5.11496060e-02 9.98690992e-01 -1.42934569e-04 4.27256334e+00] [ 3.89144049e-03 -5.61857091e-05 9.99992427e-01 9.66113596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:282.29, Y:4.27, Z:0.97 [[ 9.98711910e-01 -5.05904587e-02 -3.88921026e-03 2.82289775e+02] [ 5.05902846e-02 9.98719481e-01 -1.43211151e-04 4.27242417e+00] [ 3.89147517e-03 -5.37295711e-05 9.99992427e-01 9.66537287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.32, Y:4.27, Z:0.97 [[ 9.98771566e-01 -4.93987235e-02 -3.88921933e-03 2.82320464e+02] [ 4.93985412e-02 9.98779137e-01 -1.42964240e-04 4.26886815e+00] [ 3.89153338e-03 -4.93331440e-05 9.99992427e-01 9.65821657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:282.35, Y:4.27, Z:0.97 [[ 9.98818830e-01 -4.84336575e-02 -3.88921933e-03 2.82351330e+02] [ 4.84334680e-02 9.98826401e-01 -1.42964240e-04 4.26842473e+00] [ 3.89157923e-03 -4.55730053e-05 9.99992427e-01 9.66391886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:282.38, Y:4.27, Z:0.97 [[ 9.98871251e-01 -4.73402255e-02 -3.88921933e-03 2.82381714e+02] [ 4.73400277e-02 9.98878822e-01 -1.42964240e-04 4.26873275e+00] [ 3.89162678e-03 -4.13128817e-05 9.99992427e-01 9.66226901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:282.41, Y:4.27, Z:0.98 [[ 9.99064764e-01 -4.30635726e-02 -3.88921933e-03 2.82412211e+02] [ 4.30633424e-02 9.99072334e-01 -1.42964240e-04 4.26867445e+00] [ 3.89176798e-03 -2.46522492e-05 9.99992427e-01 9.77301663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:282.44, Y:4.27, Z:0.98 [[ 9.99129922e-01 -4.15243251e-02 -3.88953732e-03 2.82442118e+02] [ 4.15241170e-02 9.99137493e-01 -1.34283888e-04 4.26944919e+00] [ 3.89175862e-03 -2.73425518e-05 9.99992427e-01 9.78531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:282.47, Y:4.27, Z:0.98 [[ 9.99278013e-01 -3.77932047e-02 -3.88935483e-03 2.82472882e+02] [ 3.77929488e-02 9.99285582e-01 -1.39276903e-04 4.27226645e+00] [ 3.89183992e-03 -7.81384155e-06 9.99992427e-01 9.79496333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.50, Y:4.27, Z:0.97 [[ 9.99368743e-01 -3.53127431e-02 -3.88909807e-03 2.82503447e+02] [ 3.53124410e-02 9.99376311e-01 -1.46346621e-04 4.27490087e+00] [ 3.89184038e-03 8.92069253e-06 9.99992427e-01 9.67594469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:282.53, Y:4.28, Z:0.98 [[ 9.99435301e-01 -3.33759148e-02 -3.88929075e-03 2.82532751e+02] [ 3.33756187e-02 9.99442869e-01 -1.41032983e-04 4.27754273e+00] [ 3.89183101e-03 1.11458568e-05 9.99992427e-01 9.80406956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:282.56, Y:4.28, Z:0.98 [[ 9.99487523e-01 -3.17736582e-02 -3.88928403e-03 2.82562949e+02] [ 3.17733492e-02 9.99495090e-01 -1.41218122e-04 4.27991419e+00] [ 3.89180731e-03 1.75701709e-05 9.99992427e-01 9.79893305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:282.59, Y:4.28, Z:0.98 [[ 9.99522108e-01 -3.06664339e-02 -3.88910715e-03 2.82592684e+02] [ 3.06660976e-02 9.99529674e-01 -1.46096951e-04 4.28200064e+00] [ 3.89175827e-03 2.67633934e-05 9.99992427e-01 9.80441668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:282.62, Y:4.29, Z:0.98 [[ 9.99454245e-01 -3.28037223e-02 -3.88945224e-03 2.82621948e+02] [ 3.28034392e-02 9.99461813e-01 -1.36576695e-04 4.28503222e+00] [ 3.89183921e-03 8.91474727e-06 9.99992427e-01 9.80220421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:282.65, Y:4.29, Z:0.98 [[ 9.99456520e-01 -3.27343965e-02 -3.88894275e-03 2.82651723e+02] [ 3.27340581e-02 9.99464086e-01 -1.50629682e-04 4.28659663e+00] [ 3.89178938e-03 2.32469393e-05 9.99992427e-01 9.80498826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:282.68, Y:4.29, Z:0.98 [[ 9.99453886e-01 -3.28147257e-02 -3.88899051e-03 2.82681469e+02] [ 3.28143931e-02 9.99461452e-01 -1.49313545e-04 4.28825764e+00] [ 3.89179578e-03 2.16171397e-05 9.99992427e-01 9.79878534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.71, Y:4.29, Z:0.97 [[ 9.99433763e-01 -3.34219489e-02 -3.88919349e-03 2.82711835e+02] [ 3.34216428e-02 9.99441331e-01 -1.43689335e-04 4.29146419e+00] [ 3.89182309e-03 1.36247367e-05 9.99992427e-01 9.68349930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:4.29, Z:0.97 [[ 9.99447349e-01 -3.30131668e-02 -3.88934664e-03 2.82741646e+02] [ 3.30128742e-02 9.99454917e-01 -1.39416890e-04 4.29423877e+00] [ 3.89182921e-03 1.09413294e-05 9.99992427e-01 9.68224176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:4.30, Z:0.97 [[ 9.99440974e-01 -3.32056142e-02 -3.88933741e-03 2.82771402e+02] [ 3.32053221e-02 9.99448541e-01 -1.39673946e-04 4.29818281e+00] [ 3.89183056e-03 1.04491630e-05 9.99992427e-01 9.67197257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.80, Y:4.30, Z:0.97 [[ 9.99440808e-01 -3.32106080e-02 -3.88932811e-03 2.82802161e+02] [ 3.32103149e-02 9.99448376e-01 -1.39932306e-04 4.30079522e+00] [ 3.89182990e-03 1.06882457e-05 9.99992427e-01 9.67129790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.83, Y:4.30, Z:0.97 [[ 9.99455031e-01 -3.27797797e-02 -3.88932811e-03 2.82832753e+02] [ 3.27794834e-02 9.99462599e-01 -1.39932306e-04 4.30340886e+00] [ 3.89182493e-03 1.23658811e-05 9.99992427e-01 9.67352674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.86, Y:4.31, Z:0.97 [[ 9.99461237e-01 -3.25900149e-02 -3.88932811e-03 2.82862777e+02] [ 3.25897171e-02 9.99468804e-01 -1.39932306e-04 4.30599521e+00] [ 3.89182251e-03 1.31048126e-05 9.99992427e-01 9.66260796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.89, Y:4.31, Z:0.97 [[ 9.99444775e-01 -3.30910085e-02 -3.88932811e-03 2.82893094e+02] [ 3.30907145e-02 9.99452343e-01 -1.39932306e-04 4.30970416e+00] [ 3.89182859e-03 1.11539660e-05 9.99992427e-01 9.65906513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.92, Y:4.31, Z:0.97 [[ 9.99432101e-01 -3.34716059e-02 -3.88932811e-03 2.82923351e+02] [ 3.34713148e-02 9.99439669e-01 -1.39932306e-04 4.31422000e+00] [ 3.89183256e-03 9.67191290e-06 9.99992427e-01 9.66288764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:4.32, Z:0.97 [[ 9.99442996e-01 -3.31446813e-02 -3.88932811e-03 2.82953912e+02] [ 3.31443877e-02 9.99450564e-01 -1.39932306e-04 4.31765417e+00] [ 3.89182919e-03 1.09449643e-05 9.99992427e-01 9.67295861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:4.32, Z:0.97 [[ 9.99434861e-01 -3.33890866e-02 -3.88932811e-03 2.82984614e+02] [ 3.33887948e-02 9.99442429e-01 -1.39932306e-04 4.32130858e+00] [ 3.89183175e-03 9.99324636e-06 9.99992427e-01 9.67040465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.02, Y:4.32, Z:0.97 [[ 9.99434547e-01 -3.33984986e-02 -3.88932811e-03 2.83015061e+02] [ 3.33982070e-02 9.99442114e-01 -1.39932306e-04 4.32479429e+00] [ 3.89183184e-03 9.95659546e-06 9.99992427e-01 9.66992141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.05, Y:4.33, Z:0.97 [[ 9.99379134e-01 -3.50174085e-02 -3.88932811e-03 2.83045636e+02] [ 3.50171291e-02 9.99386702e-01 -1.39932306e-04 4.32914721e+00] [ 3.89184286e-03 3.65232217e-06 9.99992427e-01 9.68056365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.08, Y:4.33, Z:0.97 [[ 9.99379134e-01 -3.50174085e-02 -3.88932811e-03 2.83076609e+02] [ 3.50171291e-02 9.99386702e-01 -1.39932306e-04 4.33026157e+00] [ 3.89184286e-03 3.65232217e-06 9.99992427e-01 9.68176986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.11, Y:4.33, Z:0.97 [[ 9.99319828e-01 -3.66708972e-02 -3.88932811e-03 2.83107162e+02] [ 3.66706303e-02 9.99327396e-01 -1.39932306e-04 4.33212790e+00] [ 3.89184358e-03 -2.78698543e-06 9.99992427e-01 9.68758178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.14, Y:4.33, Z:0.97 [[ 9.99206837e-01 -3.96304184e-02 -3.88932811e-03 2.83138805e+02] [ 3.96301740e-02 9.99214406e-01 -1.39932306e-04 4.33393135e+00] [ 3.89181826e-03 -1.43134329e-05 9.99992427e-01 9.69238099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.17, Y:4.34, Z:0.97 [[ 9.99105849e-01 -4.20996002e-02 -3.88933716e-03 2.83170565e+02] [ 4.20993754e-02 9.99113419e-01 -1.39680502e-04 4.33511294e+00] [ 3.89176943e-03 -2.41830587e-05 9.99992427e-01 9.68309540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.20, Y:4.34, Z:0.97 [[ 9.99024700e-01 -4.39831894e-02 -3.88934617e-03 2.83201463e+02] [ 4.39829798e-02 9.99032271e-01 -1.39428935e-04 4.33642030e+00] [ 3.89171487e-03 -3.17720842e-05 9.99992427e-01 9.68879650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.23, Y:4.34, Z:0.97 [[ 9.98896252e-01 -4.68097335e-02 -3.88935502e-03 2.83233861e+02] [ 4.68095463e-02 9.98903823e-01 -1.39181830e-04 4.33741725e+00] [ 3.89160666e-03 -4.30307355e-05 9.99992427e-01 9.68832879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.27, Y:4.34, Z:0.97 [[ 9.98864415e-01 -4.74842376e-02 -3.88941614e-03 2.83265649e+02] [ 4.74840623e-02 9.98871986e-01 -1.37452350e-04 4.33797567e+00] [ 3.89155564e-03 -4.73890167e-05 9.99992427e-01 9.69866790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.30, Y:4.34, Z:0.97 [[ 9.98768035e-01 -4.94700296e-02 -3.88947651e-03 2.83297925e+02] [ 4.94698761e-02 9.98775607e-01 -1.35722148e-04 4.33690139e+00] [ 3.89142844e-03 -5.68569778e-05 9.99992427e-01 9.69910689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:283.33, Y:4.34, Z:0.97 [[ 9.98730667e-01 -5.02187927e-02 -3.88953576e-03 2.83329754e+02] [ 5.02186516e-02 9.98738239e-01 -1.34002370e-04 4.33779164e+00] [ 3.89135753e-03 -6.14949646e-05 9.99992427e-01 9.69844795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:4.34, Z:0.97 [[ 9.98703510e-01 -5.07559949e-02 -3.88959354e-03 2.83361543e+02] [ 5.07558644e-02 9.98711082e-01 -1.32303739e-04 4.33977263e+00] [ 3.89129538e-03 -6.52874744e-05 9.99992427e-01 9.70377213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.39, Y:4.34, Z:0.97 [[ 9.98740874e-01 -5.00153738e-02 -3.88965067e-03 2.83393272e+02] [ 5.00152444e-02 9.98748446e-01 -1.30602370e-04 4.34149311e+00] [ 3.89131468e-03 -6.41039034e-05 9.99992427e-01 9.70454672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.43, Y:4.34, Z:0.97 [[ 9.98760498e-01 -4.96219569e-02 -3.88970723e-03 2.83425394e+02] [ 4.96218311e-02 9.98768070e-01 -1.28895553e-04 4.34247342e+00] [ 3.89131143e-03 -6.42786081e-05 9.99992427e-01 9.69611644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.46, Y:4.34, Z:0.97 [[ 9.98792370e-01 -4.89762281e-02 -3.88976286e-03 2.83457560e+02] [ 4.89761040e-02 9.98799942e-01 -1.27194136e-04 4.34484993e+00] [ 3.89132441e-03 -6.34648983e-05 9.99992427e-01 9.71247000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.49, Y:4.35, Z:0.97 [[ 9.98824518e-01 -4.83161715e-02 -3.88981788e-03 2.83489342e+02] [ 4.83160491e-02 9.98832090e-01 -1.25488623e-04 4.34727960e+00] [ 3.89133805e-03 -6.25995185e-05 9.99992427e-01 9.71431607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.52, Y:4.35, Z:0.97 [[ 9.98843738e-01 -4.79171916e-02 -3.88983232e-03 2.83521499e+02] [ 4.79170679e-02 9.98851310e-01 -1.25039628e-04 4.34827845e+00] [ 3.89135565e-03 -6.14943100e-05 9.99992427e-01 9.71282550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.55, Y:4.35, Z:0.97 [[ 9.98907542e-01 -4.65681374e-02 -3.88988676e-03 2.83554004e+02] [ 4.65680102e-02 9.98915114e-01 -1.23322439e-04 4.34894365e+00] [ 3.89140957e-03 -5.79565712e-05 9.99992427e-01 9.71384353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.59, Y:4.35, Z:0.97 [[ 9.98967612e-01 -4.52612278e-02 -3.88994048e-03 2.83586652e+02] [ 4.52610974e-02 9.98975184e-01 -1.21603856e-04 4.35090767e+00] [ 3.89145795e-03 -5.45846613e-05 9.99992427e-01 9.72177019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.62, Y:4.36, Z:0.97 [[ 9.99039927e-01 -4.36358977e-02 -3.88999311e-03 2.83619189e+02] [ 4.36357616e-02 9.99047499e-01 -1.19896237e-04 4.35501052e+00] [ 3.89151967e-03 -4.99616844e-05 9.99992427e-01 9.71893320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.65, Y:4.36, Z:0.97 [[ 9.99046678e-01 -4.34810709e-02 -3.89004508e-03 2.83650427e+02] [ 4.34809403e-02 9.99054250e-01 -1.18185854e-04 4.35560452e+00] [ 3.89150491e-03 -5.10696327e-05 9.99992427e-01 9.71880824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:4.35, Z:0.97 [[ 9.99083100e-01 -4.26359810e-02 -3.89005249e-03 2.83681975e+02] [ 4.26358449e-02 9.99090672e-01 -1.17941263e-04 4.35415611e+00] [ 3.89154370e-03 -4.80225525e-05 9.99992427e-01 9.70814163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.71, Y:4.36, Z:0.97 [[ 9.99117730e-01 -4.18166141e-02 -3.89005995e-03 2.83713182e+02] [ 4.18164727e-02 9.99125302e-01 -1.17694711e-04 4.35540049e+00] [ 3.89157892e-03 -4.50777132e-05 9.99992427e-01 9.71386224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.74, Y:4.36, Z:0.97 [[ 9.99164897e-01 -4.06740210e-02 -3.89006735e-03 2.83744794e+02] [ 4.06738719e-02 9.99172469e-01 -1.17449756e-04 4.35624175e+00] [ 3.89162535e-03 -4.08724282e-05 9.99992427e-01 9.71296281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:4.36, Z:0.97 [[ 9.99242399e-01 -3.87233116e-02 -3.89007472e-03 2.83775997e+02] [ 3.87231487e-02 9.99249971e-01 -1.17204981e-04 4.35511443e+00] [ 3.89169562e-03 -3.35197555e-05 9.99992427e-01 9.69809434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.81, Y:4.36, Z:0.97 [[ 9.99311065e-01 -3.69088407e-02 -3.89008209e-03 2.83807343e+02] [ 3.69086650e-02 9.99318636e-01 -1.16959981e-04 4.35557824e+00] [ 3.89174839e-03 -2.66983339e-05 9.99992427e-01 9.70496463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.84, Y:4.36, Z:0.97 [[ 9.99458971e-01 -3.26593394e-02 -3.89008953e-03 2.83837226e+02] [ 3.26591326e-02 9.99466541e-01 -1.16711997e-04 4.36029641e+00] [ 3.89182606e-03 -1.03980974e-05 9.99992427e-01 9.71991332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.87, Y:4.36, Z:0.97 [[ 9.99542049e-01 -3.00093219e-02 -3.89009325e-03 2.83867329e+02] [ 3.00090954e-02 9.99549619e-01 -1.16587931e-04 4.36274055e+00] [ 3.89183995e-03 -2.03639709e-07 9.99992427e-01 9.71070370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.90, Y:4.37, Z:0.97 [[ 9.99635929e-01 -2.66997591e-02 -3.89009325e-03 2.83897472e+02] [ 2.66995076e-02 9.99643498e-01 -1.16587931e-04 4.36576355e+00] [ 3.89181929e-03 1.26819109e-05 9.99992427e-01 9.70341666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.93, Y:4.37, Z:0.97 [[ 9.99761815e-01 -2.14751286e-02 -3.89009325e-03 2.83927375e+02] [ 2.14748375e-02 9.99769382e-01 -1.16587931e-04 4.37187624e+00] [ 3.89169986e-03 3.30210415e-05 9.99992427e-01 9.70712979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.96, Y:4.38, Z:0.97 [[ 9.99783847e-01 -2.04236958e-02 -3.89009325e-03 2.83957260e+02] [ 2.04233967e-02 9.99791414e-01 -1.16587931e-04 4.37675287e+00] [ 3.89166298e-03 3.71138127e-05 9.99992427e-01 9.69584503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:283.99, Y:4.38, Z:0.97 [[ 9.99811092e-01 -1.90433208e-02 -3.89008573e-03 2.83986803e+02] [ 1.90430104e-02 9.99818659e-01 -1.16838090e-04 4.38060551e+00] [ 3.89160529e-03 4.27370749e-05 9.99992427e-01 9.70069785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.02, Y:4.39, Z:0.97 [[ 9.99787474e-01 -2.02453247e-02 -3.89007827e-03 2.84016726e+02] [ 2.02450224e-02 9.99795042e-01 -1.17086231e-04 4.38646347e+00] [ 3.89165141e-03 3.83066252e-05 9.99992427e-01 9.69569014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.05, Y:4.39, Z:0.97 [[ 9.99765197e-01 -2.13170789e-02 -3.89007065e-03 2.84046354e+02] [ 2.13167837e-02 9.99772765e-01 -1.17338630e-04 4.38975088e+00] [ 3.89168801e-03 3.43872845e-05 9.99992427e-01 9.69780768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.08, Y:4.40, Z:0.97 [[ 9.99676263e-01 -2.51443048e-02 -3.89006310e-03 2.84076921e+02] [ 2.51440376e-02 9.99683832e-01 -1.17588363e-04 4.39532075e+00] [ 3.89178987e-03 1.97384024e-05 9.99992427e-01 9.69143396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:4.40, Z:0.97 [[ 9.99628382e-01 -2.69808178e-02 -3.89006310e-03 2.84107731e+02] [ 2.69805645e-02 9.99635951e-01 -1.17588363e-04 4.39808214e+00] [ 3.89181956e-03 1.25885669e-05 9.99992427e-01 9.68739462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.14, Y:4.40, Z:0.97 [[ 9.99515421e-01 -3.08834898e-02 -3.89006688e-03 2.84138465e+02] [ 3.08832665e-02 9.99522991e-01 -1.17463305e-04 4.40332975e+00] [ 3.89183896e-03 -2.73158770e-06 9.99992427e-01 9.68819453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:284.17, Y:4.41, Z:0.99 [[ 9.99528240e-01 -3.04658086e-02 -3.89007439e-03 2.84170144e+02] [ 3.04655832e-02 9.99535810e-01 -1.17213920e-04 4.40673740e+00] [ 3.89183968e-03 -1.35476211e-06 9.99992427e-01 9.85478522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.20, Y:4.41, Z:0.97 [[ 9.99458651e-01 -3.26690765e-02 -3.89066268e-03 2.84200129e+02] [ 3.26689443e-02 9.99466223e-01 -9.75361517e-05 4.40896048e+00] [ 3.89177235e-03 -2.96204919e-05 9.99992427e-01 9.68399629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:284.23, Y:4.41, Z:0.99 [[ 9.99381690e-01 -3.49443086e-02 -3.89011393e-03 2.84231276e+02] [ 3.49441220e-02 9.99389261e-01 -1.15947289e-04 4.41270250e+00] [ 3.89178978e-03 -2.00610174e-05 9.99992427e-01 9.85007833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:4.42, Z:0.97 [[ 9.99276634e-01 -3.78295236e-02 -3.89040040e-03 2.84261662e+02] [ 3.78293964e-02 9.99284207e-01 -1.06298197e-04 4.41524826e+00] [ 3.89163689e-03 -4.09501949e-05 9.99992427e-01 9.66092977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:284.29, Y:4.42, Z:0.97 [[ 9.99228961e-01 -3.90685252e-02 -3.89015284e-03 2.84293318e+02] [ 3.90683747e-02 9.99236533e-01 -1.14695017e-04 4.41733390e+00] [ 3.89166380e-03 -3.73753660e-05 9.99992427e-01 9.65250412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.33, Y:4.42, Z:0.96 [[ 9.99110250e-01 -4.19949353e-02 -3.89018036e-03 2.84325915e+02] [ 4.19948106e-02 9.99117822e-01 -1.13753923e-04 4.41927129e+00] [ 3.89152561e-03 -4.97146773e-05 9.99992427e-01 9.63737562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:284.36, Y:4.42, Z:0.98 [[ 9.99110404e-01 -4.19912683e-02 -3.89022874e-03 2.84356633e+02] [ 4.19911502e-02 9.99117976e-01 -1.12074364e-04 4.42067285e+00] [ 3.89150361e-03 -5.13805164e-05 9.99992427e-01 9.81048388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:284.39, Y:4.42, Z:0.98 [[ 9.99110074e-01 -4.19991456e-02 -3.88989084e-03 2.84389000e+02] [ 4.19989818e-02 9.99117646e-01 -1.23838696e-04 4.42152783e+00] [ 3.89165970e-03 -3.96429661e-05 9.99992427e-01 9.80634907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.42, Y:4.42, Z:0.96 [[ 9.99139839e-01 -4.12849940e-02 -3.88988965e-03 2.84421051e+02] [ 4.12848245e-02 9.99147411e-01 -1.23880638e-04 4.42192515e+00] [ 3.89168758e-03 -3.68193308e-05 9.99992427e-01 9.62717003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.45, Y:4.42, Z:0.96 [[ 9.99258512e-01 -3.83052323e-02 -3.89029326e-03 2.84453137e+02] [ 3.83050961e-02 9.99266084e-01 -1.09547485e-04 4.42211694e+00] [ 3.89163436e-03 -3.95518005e-05 9.99992427e-01 9.61993128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.49, Y:4.42, Z:0.96 [[ 9.99312646e-01 -3.68659731e-02 -3.89034031e-03 2.84485191e+02] [ 3.68658326e-02 9.99320218e-01 -1.07850536e-04 4.42309359e+00] [ 3.89167174e-03 -3.56442298e-05 9.99992427e-01 9.61973589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.52, Y:4.42, Z:0.96 [[ 9.99352226e-01 -3.57770076e-02 -3.89038694e-03 2.84517807e+02] [ 3.57768654e-02 9.99359797e-01 -1.06141361e-04 4.42395424e+00] [ 3.89169372e-03 -3.31132442e-05 9.99992427e-01 9.61214914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.55, Y:4.42, Z:0.97 [[ 9.99419561e-01 -3.38438515e-02 -3.89043251e-03 2.84550340e+02] [ 3.38437014e-02 9.99427132e-01 -1.04443703e-04 4.42344876e+00] [ 3.89173859e-03 -2.72835562e-05 9.99992427e-01 9.70130110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:4.42, Z:0.97 [[ 9.99393479e-01 -3.46053814e-02 -3.89117117e-03 2.84581343e+02] [ 3.46053455e-02 9.99401053e-01 -7.65603088e-05 4.42354589e+00] [ 3.89148996e-03 -5.81414495e-05 9.99992426e-01 9.71207476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.61, Y:4.42, Z:0.96 [[ 9.99344664e-01 -3.59875423e-02 -3.89091674e-03 2.84611437e+02] [ 3.59874794e-02 9.99352237e-01 -8.61877462e-05 4.42320454e+00] [ 3.89149803e-03 -5.38930218e-05 9.99992427e-01 9.58959765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:284.64, Y:4.42, Z:0.98 [[ 9.99423835e-01 -3.37173999e-02 -3.89046286e-03 2.84642426e+02] [ 3.37172533e-02 9.99431406e-01 -1.03284267e-04 4.42321873e+00] [ 3.89173324e-03 -2.79509630e-05 9.99992427e-01 9.76951344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:284.67, Y:4.42, Z:0.98 [[ 9.99471598e-01 -3.22705138e-02 -3.89076311e-03 2.84674316e+02] [ 3.22704003e-02 9.99479171e-01 -9.19716312e-05 4.42416041e+00] [ 3.89170466e-03 -3.36334498e-05 9.99992427e-01 9.76176045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:4.43, Z:0.96 [[ 9.99468249e-01 -3.23741195e-02 -3.89057646e-03 2.84704888e+02] [ 3.23739790e-02 9.99475820e-01 -9.90848689e-05 4.42522888e+00] [ 3.89174489e-03 -2.69212604e-05 9.99992427e-01 9.56882930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:284.74, Y:4.43, Z:0.98 [[ 9.99492405e-01 -3.16195545e-02 -3.89050454e-03 2.84735228e+02] [ 3.16193976e-02 9.99499977e-01 -1.01832769e-04 4.42622414e+00] [ 3.89177910e-03 -2.12343310e-05 9.99992427e-01 9.75526859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:4.43, Z:0.96 [[ 9.99500829e-01 -3.13521777e-02 -3.89022262e-03 2.84766367e+02] [ 3.13519769e-02 9.99508400e-01 -1.12603166e-04 4.42642031e+00] [ 3.89184054e-03 -9.41921187e-06 9.99992427e-01 9.55753802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.80, Y:4.43, Z:0.96 [[ 9.99499224e-01 -3.14032698e-02 -3.89051673e-03 2.84797323e+02] [ 3.14031133e-02 9.99506795e-01 -1.01308449e-04 4.42720411e+00] [ 3.89177933e-03 -2.09166221e-05 9.99992427e-01 9.56455561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.83, Y:4.43, Z:0.96 [[ 9.99511449e-01 -3.10117397e-02 -3.89052316e-03 2.84829025e+02] [ 3.10115812e-02 9.99519020e-01 -1.01060854e-04 4.42850577e+00] [ 3.89178597e-03 -1.96397947e-05 9.99992427e-01 9.55742183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:284.86, Y:4.43, Z:0.97 [[ 9.99565148e-01 -2.92297450e-02 -3.89052957e-03 2.84859377e+02] [ 2.92295740e-02 9.99572720e-01 -1.00813444e-04 4.43069700e+00] [ 3.89181398e-03 -1.29489166e-05 9.99992427e-01 9.74605176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:4.43, Z:0.95 [[ 9.99638930e-01 -2.65870931e-02 -3.89043419e-03 2.84890539e+02] [ 2.65868878e-02 9.99646501e-01 -1.04495240e-04 4.43397986e+00] [ 3.89183715e-03 1.02297238e-06 9.99992427e-01 9.54764957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:284.92, Y:4.44, Z:0.95 [[ 9.99719991e-01 -2.33410003e-02 -3.89055771e-03 2.84921581e+02] [ 2.33407892e-02 9.99727562e-01 -9.96738873e-05 4.43601059e+00] [ 3.89182426e-03 8.83729039e-06 9.99992427e-01 9.54654107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:284.95, Y:4.44, Z:0.97 [[ 9.99754089e-01 -2.18317374e-02 -3.89056403e-03 2.84951521e+02] [ 2.18315157e-02 9.99761659e-01 -9.94267055e-05 4.43764738e+00] [ 3.89180741e-03 1.44653455e-05 9.99992427e-01 9.72755210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:284.98, Y:4.44, Z:0.97 [[ 9.99776583e-01 -2.07761839e-02 -3.89020191e-03 2.84981813e+02] [ 2.07758989e-02 9.99784151e-01 -1.13658699e-04 4.43905040e+00] [ 3.89172361e-03 3.28108638e-05 9.99992427e-01 9.72736997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:285.01, Y:4.44, Z:0.97 [[ 9.99760985e-01 -2.15136220e-02 -3.89064949e-03 2.85012510e+02] [ 2.15134117e-02 9.99768555e-01 -9.59016506e-05 4.44013252e+00] [ 3.89181221e-03 1.21775846e-05 9.99992427e-01 9.71836170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:285.04, Y:4.44, Z:0.95 [[ 9.99761540e-01 -2.14878846e-02 -3.89033587e-03 2.85043011e+02] [ 2.14876255e-02 9.99769108e-01 -1.08386765e-04 4.44178591e+00] [ 3.89176662e-03 2.47668389e-05 9.99992427e-01 9.52569723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.07, Y:4.44, Z:0.95 [[ 9.99766690e-01 -2.12468519e-02 -3.89061013e-03 2.85073022e+02] [ 2.12466336e-02 9.99774260e-01 -9.74353487e-05 4.44234539e+00] [ 3.89180206e-03 1.47502479e-05 9.99992427e-01 9.53584510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.10, Y:4.44, Z:0.95 [[ 9.99766690e-01 -2.12468517e-02 -3.89061188e-03 2.85103991e+02] [ 2.12466336e-02 9.99774260e-01 -9.73656518e-05 4.44312035e+00] [ 3.89180232e-03 1.46805302e-05 9.99992427e-01 9.53705065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:4.44, Z:0.95 [[ 9.99764360e-01 -2.13562280e-02 -3.89061188e-03 2.85134526e+02] [ 2.13560108e-02 9.99771930e-01 -9.73656518e-05 4.44223019e+00] [ 3.89180391e-03 1.42547591e-05 9.99992427e-01 9.53605780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:285.17, Y:4.44, Z:0.97 [[ 9.99752150e-01 -2.19203539e-02 -3.89061188e-03 2.85165050e+02] [ 2.19201409e-02 9.99759720e-01 -9.73656518e-05 4.44280601e+00] [ 3.89181133e-03 1.20587591e-05 9.99992427e-01 9.71142957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:285.20, Y:4.44, Z:0.95 [[ 9.99727662e-01 -2.30101338e-02 -3.89044930e-03 2.85196158e+02] [ 2.30099036e-02 9.99735232e-01 -1.03925413e-04 4.44340883e+00] [ 3.89181057e-03 1.43782466e-05 9.99992427e-01 9.53430657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:285.23, Y:4.44, Z:0.97 [[ 9.99719323e-01 -2.33695990e-02 -3.89063868e-03 2.85226727e+02] [ 2.33694013e-02 9.99726894e-01 -9.62720216e-05 4.44498469e+00] [ 3.89182596e-03 5.32310371e-06 9.99992427e-01 9.69690059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:4.44, Z:0.95 [[ 9.99658464e-01 -2.58421788e-02 -3.89077422e-03 2.85257816e+02] [ 2.58420213e-02 9.99666035e-01 -9.07513636e-05 4.44381894e+00] [ 3.89182005e-03 -9.82510150e-06 9.99992427e-01 9.51858753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.29, Y:4.44, Z:0.95 [[ 9.99631674e-01 -2.68585060e-02 -3.89067084e-03 2.85287890e+02] [ 2.68583397e-02 9.99639245e-01 -9.49859791e-05 4.44331613e+00] [ 3.89181844e-03 -9.54596580e-06 9.99992427e-01 9.51765578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864000000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:285.32, Y:4.44, Z:0.95 [[ 9.99580402e-01 -2.87033498e-02 -3.89067084e-03 2.85319302e+02] [ 2.87031975e-02 9.99587974e-01 -9.49859791e-05 4.44373558e+00] [ 3.89179419e-03 -1.67285704e-05 9.99992427e-01 9.52588622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.35, Y:4.45, Z:0.95 [[ 9.99525237e-01 -3.05640784e-02 -3.89067679e-03 2.85350695e+02] [ 3.05639411e-02 9.99532809e-01 -9.47415729e-05 4.44545441e+00] [ 3.89175479e-03 -2.42178231e-05 9.99992427e-01 9.52262076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:285.38, Y:4.45, Z:0.95 [[ 9.99414676e-01 -3.39877676e-02 -3.89068276e-03 2.85381611e+02] [ 3.39876573e-02 9.99422248e-01 -9.44957608e-05 4.44536369e+00] [ 3.89164661e-03 -3.77947420e-05 9.99992427e-01 9.50039161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.41, Y:4.44, Z:0.95 [[ 9.99378021e-01 -3.50490218e-02 -3.89068866e-03 2.85413888e+02] [ 3.50489204e-02 9.99385593e-01 -9.42522986e-05 4.44477089e+00] [ 3.89160164e-03 -4.21707615e-05 9.99992427e-01 9.49126261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:285.45, Y:4.44, Z:0.96 [[ 9.99353773e-01 -3.57337312e-02 -3.89072908e-03 2.85445183e+02] [ 3.57336416e-02 9.99361345e-01 -9.25531709e-05 4.44325769e+00] [ 3.89155151e-03 -4.65365579e-05 9.99992427e-01 9.63709047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:4.44, Z:0.95 [[ 9.99374945e-01 -3.51366197e-02 -3.89064594e-03 2.85476990e+02] [ 3.51365119e-02 9.99382518e-01 -9.60774216e-05 4.44407680e+00] [ 3.89161937e-03 -4.06863594e-05 9.99992427e-01 9.49787294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:4.44, Z:0.95 [[ 9.99513561e-01 -3.09435424e-02 -3.89077174e-03 2.85509133e+02] [ 3.09434238e-02 9.99521133e-01 -9.06796411e-05 4.44450274e+00] [ 3.89171453e-03 -2.97582681e-05 9.99992427e-01 9.47567860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63864 meters Centerline goodness : 0.933514 Centerline is valid? [True, False] Translation: X:285.51, Y:4.45, Z:0.95 [[ 9.99798771e-01 -1.91081310e-02 -6.10717504e-03 2.85509730e+02] [ 1.90572210e-02 9.99784040e-01 -8.28832442e-03 4.45095193e+00] [ 6.26423053e-03 8.17027078e-03 9.99947002e-01 9.48750216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:285.51, Y:4.46, Z:0.95 [[ 9.99985664e-01 -5.35303460e-03 -1.32345851e-04 2.85506347e+02] [ 5.35080841e-03 9.99897718e-01 -1.32635925e-02 4.45594803e+00] [ 2.03332784e-04 1.32626942e-02 9.99912026e-01 9.48282325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:285.54, Y:4.44, Z:0.96 [[ 9.99998038e-01 -1.97588398e-03 -1.41130367e-04 2.85537196e+02] [ 1.97588398e-03 9.99998048e-01 -9.33396181e-08 4.44406359e+00] [ 1.41130276e-04 -1.85517798e-07 9.99999990e-01 9.62294432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:285.57, Y:4.44, Z:0.94 [[ 9.99996428e-01 -2.66901394e-03 -1.41130587e-04 2.85567712e+02] [ 2.66901401e-03 9.99996438e-01 2.86332959e-07 4.44333939e+00] [ 1.41129320e-04 -6.63011451e-07 9.99999990e-01 9.44735504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:285.60, Y:4.44, Z:0.96 [[ 9.99999739e-01 -7.08026741e-04 -1.41130467e-04 2.85598404e+02] [ 7.08026741e-04 9.99999749e-01 -5.03012416e-08 4.43981272e+00] [ 1.41130467e-04 -4.96229166e-08 9.99999990e-01 9.60364377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:4.44, Z:0.94 [[ 9.99999923e-01 -3.64936310e-04 -1.41130386e-04 2.85628699e+02] [ 3.64936286e-04 9.99999933e-01 -1.94995823e-07 4.43959074e+00] [ 1.41130448e-04 1.43492209e-07 9.99999990e-01 9.43405368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:285.66, Y:4.44, Z:0.96 [[ 9.99999802e-01 6.13695459e-04 -1.41130453e-04 2.85658814e+02] [-6.13695478e-04 9.99999812e-01 -8.96446927e-08 4.43903292e+00] [ 1.41130371e-04 1.76255795e-07 9.99999990e-01 9.60506359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:285.69, Y:4.44, Z:0.96 [[ 9.99997853e-01 2.06724798e-03 -1.41130373e-04 2.85689040e+02] [-2.06724803e-03 9.99997863e-01 -2.15312696e-07 4.43646595e+00] [ 1.41129627e-04 5.07063719e-07 9.99999990e-01 9.59762256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:4.44, Z:0.94 [[ 9.99998301e-01 1.83808650e-03 -1.41130487e-04 2.85719380e+02] [-1.83808653e-03 9.99998311e-01 -6.22824561e-08 4.43530236e+00] [ 1.41130134e-04 3.21692397e-07 9.99999990e-01 9.43104371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.75, Y:4.43, Z:0.96 [[ 9.99992637e-01 3.83471904e-03 -1.41130458e-04 2.85749218e+02] [-3.83471910e-03 9.99992647e-01 -1.02560831e-07 4.43435667e+00] [ 1.41129027e-04 6.43755737e-07 9.99999990e-01 9.57741646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:285.78, Y:4.43, Z:0.96 [[ 9.99985308e-01 5.41877921e-03 -1.41130212e-04 2.85778813e+02] [-5.41877932e-03 9.99985318e-01 -3.87668310e-07 4.43440136e+00] [ 1.41126039e-04 1.15241609e-06 9.99999990e-01 9.57096796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.81, Y:4.44, Z:0.96 [[ 9.99965812e-01 8.26775918e-03 -1.41130884e-04 2.85808849e+02] [-8.26775923e-03 9.99965821e-01 2.26512799e-07 4.43542016e+00] [ 1.41127933e-04 9.40331115e-07 9.99999990e-01 9.55738968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.84, Y:4.44, Z:0.96 [[ 9.99912951e-01 1.31935623e-02 -1.41130906e-04 2.85838322e+02] [-1.31935624e-02 9.99912961e-01 2.44663606e-07 4.43813980e+00] [ 1.41121851e-04 1.61737712e-06 9.99999990e-01 9.56572324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:285.87, Y:4.44, Z:0.96 [[ 9.99871616e-01 1.60228634e-02 -1.41130451e-04 2.85866780e+02] [-1.60228636e-02 9.99871626e-01 -6.84547184e-08 4.44028810e+00] [ 1.41111237e-04 2.32975990e-06 9.99999990e-01 9.57150688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:285.90, Y:4.45, Z:0.96 [[ 9.99813986e-01 1.92865987e-02 -1.41130838e-04 2.85895564e+02] [-1.92865989e-02 9.99813996e-01 1.41623092e-07 4.44708833e+00] [ 1.41107318e-04 2.58033711e-06 9.99999990e-01 9.55383097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:285.93, Y:4.45, Z:0.96 [[ 9.99789459e-01 2.05186952e-02 -1.41130590e-04 2.85925397e+02] [-2.05186954e-02 9.99789469e-01 3.63580741e-08 4.45020653e+00] [ 1.41101624e-04 2.85946517e-06 9.99999990e-01 9.56657869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:285.95, Y:4.45, Z:0.95 [[ 9.99811662e-01 1.94067169e-02 -1.41130691e-04 2.85953898e+02] [-1.94067171e-02 9.99811672e-01 7.70317981e-08 4.45274852e+00] [ 1.41105607e-04 2.66186611e-06 9.99999990e-01 9.54503299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:285.98, Y:4.46, Z:0.95 [[ 9.99837157e-01 1.80455083e-02 -1.41129760e-04 2.85984322e+02] [-1.80455085e-02 9.99837167e-01 -2.55180283e-07 4.45926763e+00] [ 1.41102174e-04 2.80189701e-06 9.99999990e-01 9.54505672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:4.46, Z:0.94 [[ 9.99893973e-01 1.45610242e-02 -1.41131873e-04 2.86012725e+02] [-1.45610243e-02 9.99893983e-01 4.19598159e-07 4.46356077e+00] [ 1.41123020e-04 1.63547095e-06 9.99999990e-01 9.38289109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:286.04, Y:4.47, Z:0.95 [[ 9.99970645e-01 7.66091824e-03 -1.41128850e-04 2.86043505e+02] [-7.66091839e-03 9.99970655e-01 -4.76247195e-07 4.46849844e+00] [ 1.41121060e-04 1.55740981e-06 9.99999990e-01 9.53888166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:4.47, Z:0.94 [[ 9.99997405e-01 2.27393768e-03 -1.41130764e-04 2.86072908e+02] [-2.27393770e-03 9.99997415e-01 6.85778144e-08 4.46939487e+00] [ 1.41130555e-04 2.52344928e-07 9.99999990e-01 9.35094699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:286.10, Y:4.47, Z:0.95 [[ 9.99999990e-01 -5.95782489e-06 -1.41128746e-04 2.86103402e+02] [ 5.95775432e-06 1.00000000e+00 -5.00467566e-07 4.47038720e+00] [ 1.41128749e-04 4.99626751e-07 9.99999990e-01 9.54340347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:4.47, Z:0.93 [[ 9.99960856e-01 -8.84680681e-03 -1.41131153e-04 2.86133595e+02] [ 8.84680693e-03 9.99960866e-01 2.16695510e-07 4.47141960e+00] [ 1.41123713e-04 -1.46524709e-06 9.99999990e-01 9.34379128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:286.16, Y:4.47, Z:0.95 [[ 9.99940725e-01 -1.08869983e-02 -1.41128969e-04 2.86163698e+02] [ 1.08869984e-02 9.99940735e-01 -4.57396014e-07 4.47179844e+00] [ 1.41125584e-04 -1.07910195e-06 9.99999990e-01 9.52171145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:286.20, Y:4.47, Z:0.95 [[ 9.99911565e-01 -1.32981738e-02 -1.41128211e-04 2.86196084e+02] [ 1.32981739e-02 9.99911575e-01 -7.05854641e-07 4.47238384e+00] [ 1.41125118e-04 -1.17095527e-06 9.99999990e-01 9.51860142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:286.23, Y:4.47, Z:0.95 [[ 9.99896596e-01 -1.43797870e-02 -1.41130355e-04 2.86227361e+02] [ 1.43797871e-02 9.99896606e-01 3.86950641e-08 4.47183606e+00] [ 1.41115207e-04 -2.06811553e-06 9.99999990e-01 9.48146160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:286.26, Y:4.47, Z:0.95 [[ 9.99908337e-01 -1.35387237e-02 -1.41130261e-04 2.86258735e+02] [ 1.35387239e-02 9.99908347e-01 5.90498075e-09 4.47138830e+00] [ 1.41117246e-04 -1.91662808e-06 9.99999990e-01 9.51168202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:286.29, Y:4.47, Z:0.93 [[ 9.99895779e-01 -1.44364309e-02 -1.41130739e-04 2.86288839e+02] [ 1.44364311e-02 9.99895789e-01 1.81000859e-07 4.46919357e+00] [ 1.41113418e-04 -2.21840618e-06 9.99999990e-01 9.30599335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:286.32, Y:4.47, Z:0.95 [[ 9.99927652e-01 -1.20279574e-02 -1.41129140e-04 2.86320349e+02] [ 1.20279574e-02 9.99927662e-01 -3.92985806e-07 4.46812631e+00] [ 1.41123658e-04 -1.30453792e-06 9.99999990e-01 9.47690681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:286.35, Y:4.47, Z:0.95 [[ 9.99940172e-01 -1.09376554e-02 -1.41129894e-04 2.86350947e+02] [ 1.09376555e-02 9.99940182e-01 -1.02010722e-07 4.46837826e+00] [ 1.41122568e-04 -1.44162554e-06 9.99999990e-01 9.51940709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:286.38, Y:4.47, Z:0.94 [[ 9.99951601e-01 -9.83742903e-03 -1.41129276e-04 2.86382740e+02] [ 9.83742908e-03 9.99951611e-01 -3.60283150e-07 4.46880186e+00] [ 1.41125991e-04 -1.02808353e-06 9.99999990e-01 9.44285305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56864 meters Centerline goodness : 0.874148 Centerline is valid? [True, False] Translation: X:286.40, Y:4.47, Z:0.95 [[ 9.99985245e-01 -3.04336987e-03 -4.49970098e-03 2.86404363e+02] [ 3.03440652e-03 9.99993401e-01 -1.99747578e-03 4.47010260e+00] [ 4.50575035e-03 1.98379239e-03 9.99987881e-01 9.48326369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:286.43, Y:4.47, Z:0.95 [[ 9.99947718e-01 3.01975204e-03 -9.76950880e-03 2.86425707e+02] [-3.06194992e-03 9.99986036e-01 -4.30727555e-03 4.47251499e+00] [ 9.75636548e-03 4.33696411e-03 9.99943000e-01 9.52468767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:286.46, Y:4.47, Z:0.97 [[ 9.99947743e-01 3.16521892e-03 -9.72075197e-03 2.86455171e+02] [-3.16432282e-03 9.99994988e-01 1.07563195e-04 4.46695950e+00] [ 9.72104371e-03 -7.67979768e-05 9.99952747e-01 9.71846025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:286.45, Y:4.44, Z:0.96 [[ 9.98941231e-01 -4.49657889e-02 -9.72086485e-03 2.86453436e+02] [ 4.49688567e-02 9.98988385e-01 9.71316981e-05 4.44181280e+00] [ 9.70666347e-03 -5.34165036e-04 9.99952747e-01 9.61172941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:286.51, Y:4.46, Z:0.97 [[ 9.99943415e-01 4.29192407e-03 -9.73380622e-03 2.86512782e+02] [-4.30329429e-03 9.99990082e-01 -1.14747332e-03 4.46470979e+00] [ 9.72878482e-03 1.18929582e-03 9.99951967e-01 9.71966721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:286.55, Y:4.47, Z:0.96 [[ 9.99141264e-01 4.02787494e-02 -9.71374220e-03 2.86551053e+02] [-4.02796129e-02 9.99188441e-01 1.06805559e-04 4.47326922e+00] [ 9.71016092e-03 2.84551934e-04 9.99952815e-01 9.56620365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:4.45, Z:0.95 [[ 9.99948170e-01 3.07076815e-03 -9.70706322e-03 2.86572336e+02] [-3.06592542e-03 9.99995168e-01 5.13728640e-04 4.45399923e+00] [ 9.70859385e-03 -4.83940882e-04 9.99952753e-01 9.51119995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:286.60, Y:4.45, Z:0.97 [[ 9.99925432e-01 7.40253907e-03 -9.71255037e-03 2.86602249e+02] [-7.40148752e-03 9.99972598e-01 1.44207756e-04 4.45048374e+00] [ 9.71335173e-03 -7.23096821e-05 9.99952822e-01 9.68710635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:286.63, Y:4.45, Z:0.96 [[ 9.99837318e-01 1.51987900e-02 -9.71258010e-03 2.86631567e+02] [-1.51981257e-02 9.99884492e-01 1.42205853e-04 4.45072277e+00] [ 9.71361957e-03 5.43029530e-06 9.99952822e-01 9.61247401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83864 meters Centerline goodness : 0.906720 Centerline is valid? [True, False] Translation: X:286.62, Y:4.45, Z:0.96 [[ 9.99993162e-01 2.79817921e-03 2.41794863e-03 2.86621784e+02] [-2.80668472e-03 9.99989861e-01 3.52144984e-03 4.44504341e+00] [-2.40807047e-03 -3.52821218e-03 9.99990876e-01 9.59611384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:286.65, Y:4.46, Z:0.96 [[ 9.99991157e-01 -2.58737769e-03 -3.31533270e-03 2.86645624e+02] [ 2.54504119e-03 9.99915972e-01 -1.27111188e-02 4.45557712e+00] [ 3.34794258e-03 1.27025687e-02 9.99913714e-01 9.63588841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:286.67, Y:4.45, Z:0.96 [[ 9.99993436e-01 1.15451101e-03 -3.43430473e-03 2.86673998e+02] [-1.15450106e-03 9.99999334e-01 4.87964794e-06 4.44742685e+00] [ 3.43430808e-03 -9.14707468e-07 9.99994103e-01 9.62332446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:286.70, Y:4.45, Z:0.96 [[ 9.99947206e-01 9.68473290e-03 -3.43393948e-03 2.86703915e+02] [-9.68490349e-03 9.99953100e-01 -3.30516272e-05 4.45194836e+00] [ 3.43345833e-03 6.63072547e-05 9.99994103e-01 9.58537532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:286.73, Y:4.45, Z:0.94 [[ 9.99906447e-01 1.32402293e-02 -3.43403226e-03 2.86731613e+02] [-1.32403882e-02 9.99912342e-01 -2.35358527e-05 4.45229821e+00] [ 3.43341962e-03 6.90015712e-05 9.99994103e-01 9.42676169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:286.76, Y:4.45, Z:0.96 [[ 9.99882458e-01 1.49424984e-02 -3.43392555e-03 2.86761053e+02] [-1.49427040e-02 9.99888351e-01 -3.42388268e-05 4.45328806e+00] [ 3.43303054e-03 8.55469355e-05 9.99994103e-01 9.59685253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.79, Y:4.46, Z:0.94 [[ 9.99881429e-01 1.50111737e-02 -3.43404265e-03 2.86789755e+02] [-1.50113397e-02 9.99887323e-01 -2.25508264e-05 4.45699913e+00] [ 3.43331720e-03 7.40977331e-05 9.99994103e-01 9.42372177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:286.82, Y:4.46, Z:0.94 [[ 9.99898614e-01 1.38191597e-02 -3.43390109e-03 2.86818775e+02] [-1.38193649e-02 9.99904507e-01 -3.60393336e-05 4.45994699e+00] [ 3.43307514e-03 8.34900119e-05 9.99994103e-01 9.42182282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:286.85, Y:4.46, Z:0.94 [[ 9.99905594e-01 1.33045781e-02 -3.43388417e-03 2.86847171e+02] [-1.33047856e-02 9.99911487e-01 -3.75852636e-05 4.45998064e+00] [ 3.43308017e-03 8.32688078e-05 9.99994103e-01 9.42280015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:286.88, Y:4.46, Z:0.96 [[ 9.99943805e-01 1.00297435e-02 -3.43386391e-03 2.86876829e+02] [-1.00299377e-02 9.99949698e-01 -3.93524321e-05 4.46334994e+00] [ 3.43329649e-03 7.37916619e-05 9.99994103e-01 9.59109331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:286.91, Y:4.46, Z:0.96 [[ 9.99959903e-01 8.27040958e-03 -3.43400387e-03 2.86906220e+02] [-8.27055185e-03 9.99965798e-01 -2.72296583e-05 4.46454311e+00] [ 3.43366122e-03 5.56296734e-05 9.99994103e-01 9.62303530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:286.94, Y:4.47, Z:0.96 [[ 9.99970618e-01 6.85349494e-03 -3.43400399e-03 2.86936561e+02] [-6.85362881e-03 9.99976513e-01 -2.72188441e-05 4.46594862e+00] [ 3.43373680e-03 5.07534331e-05 9.99994103e-01 9.58895161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19864 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:286.98, Y:4.50, Z:0.94 [[ 9.97056169e-01 7.65976751e-02 -3.43399982e-03 2.86978213e+02] [-7.65982211e-02 9.97062040e-01 -2.75698076e-05 4.49992917e+00] [ 3.42179908e-03 2.90526924e-04 9.99994103e-01 9.36588899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:286.99, Y:4.46, Z:0.96 [[ 9.99954793e-01 -8.86577736e-03 -3.43660708e-03 2.86993817e+02] [ 8.86643623e-03 9.99960677e-01 1.76533217e-04 4.46416970e+00] [ 3.43490684e-03 -2.06995694e-04 9.99994079e-01 9.56916646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:287.02, Y:4.46, Z:0.96 [[ 9.99908227e-01 -1.31053947e-02 -3.43303182e-03 2.87023549e+02] [ 1.31052769e-02 9.99914121e-01 -5.67835720e-05 4.46310732e+00] [ 3.43348116e-03 1.17875281e-05 9.99994106e-01 9.56303913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:287.05, Y:4.46, Z:0.95 [[ 9.99846488e-01 -1.71817877e-02 -3.43303434e-03 2.87053506e+02] [ 1.71816946e-02 9.99852382e-01 -5.66190682e-05 4.46114571e+00] [ 3.43350038e-03 -2.37497115e-06 9.99994106e-01 9.54882895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.08, Y:4.46, Z:0.94 [[ 9.99762630e-01 -2.15150564e-02 -3.43304752e-03 2.87084504e+02] [ 2.15149918e-02 9.99768524e-01 -5.57640765e-05 4.46013690e+00] [ 3.43345262e-03 -1.81111495e-05 9.99994106e-01 9.38408801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:287.11, Y:4.46, Z:0.95 [[ 9.99650351e-01 -2.62181239e-02 -3.43310451e-03 2.87114794e+02] [ 2.62180999e-02 9.99656245e-01 -5.20015114e-05 4.45622037e+00] [ 3.43328775e-03 -3.80261481e-05 9.99994106e-01 9.54599801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:287.15, Y:4.45, Z:0.95 [[ 9.99599653e-01 -2.80846698e-02 -3.43287042e-03 2.87145698e+02] [ 2.80846034e-02 9.99605547e-01 -6.75725886e-05 4.45214385e+00] [ 3.43341407e-03 -2.88652679e-05 9.99994105e-01 9.53723978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.18, Y:4.45, Z:0.94 [[ 9.99621111e-01 -2.73102650e-02 -3.43279469e-03 2.87177701e+02] [ 2.73101763e-02 9.99627005e-01 -7.27321691e-05 4.45102382e+00] [ 3.43350061e-03 -2.10456166e-05 9.99994105e-01 9.38092258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:4.45, Z:0.95 [[ 9.99641593e-01 -2.65499352e-02 -3.43313435e-03 2.87208867e+02] [ 2.65499239e-02 9.99647487e-01 -4.88718139e-05 4.45100324e+00] [ 3.43322167e-03 -4.22951578e-05 9.99994106e-01 9.52483743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:287.24, Y:4.45, Z:0.96 [[ 9.99584029e-01 -2.86352964e-02 -3.43335217e-03 2.87238255e+02] [ 2.86353505e-02 9.99589924e-01 -3.34113905e-05 4.45039761e+00] [ 3.43290098e-03 -6.49177504e-05 9.99994105e-01 9.55770461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:4.45, Z:0.94 [[ 9.99528195e-01 -3.05221568e-02 -3.43287926e-03 2.87270644e+02] [ 3.05221072e-02 9.99534090e-01 -6.68516090e-05 4.44841626e+00] [ 3.43332031e-03 -3.79586407e-05 9.99994105e-01 9.38412831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters Centerline goodness : 0.985600 Centerline is valid? [True, True] Translation: X:287.34, Y:4.43, Z:0.93 [[ 9.98185085e-01 -6.01227854e-02 -3.43314490e-03 2.87335430e+02] [ 6.01229760e-02 9.98190976e-01 -4.77547166e-05 4.42569240e+00] [ 3.42980541e-03 -1.58742843e-04 9.99994106e-01 9.30901488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:4.44, Z:0.94 [[ 9.99284832e-01 -3.76563782e-02 -3.43828236e-03 2.87324582e+02] [ 3.76584722e-02 9.99290519e-01 5.46322348e-04 4.44017558e+00] [ 3.41527045e-03 -6.75412097e-04 9.99993940e-01 9.37575318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.36, Y:4.44, Z:0.94 [[ 9.99225823e-01 -3.91917933e-02 -3.42901187e-03 2.87357039e+02] [ 3.91918419e-02 9.99231703e-01 -5.30408590e-05 4.43992679e+00] [ 3.42845614e-03 -8.13894952e-05 9.99994120e-01 9.37013100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:4.44, Z:0.94 [[ 9.99179224e-01 -4.03623507e-02 -3.42903390e-03 2.87388956e+02] [ 4.03624112e-02 9.99185105e-01 -5.15765036e-05 4.43825968e+00] [ 3.42832134e-03 -8.68699055e-05 9.99994120e-01 9.37549116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:287.42, Y:4.44, Z:0.95 [[ 9.99152881e-01 -4.10092886e-02 -3.42905509e-03 2.87417400e+02] [ 4.10093579e-02 9.99158761e-01 -5.01267933e-05 4.43708565e+00] [ 3.42822610e-03 -9.05390176e-05 9.99994120e-01 9.50760748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:4.44, Z:0.94 [[ 9.99282216e-01 -3.77266246e-02 -3.42859360e-03 2.87450419e+02] [ 3.77265670e-02 9.99288096e-01 -8.14956200e-05 4.43849261e+00] [ 3.42922733e-03 -4.79119425e-05 9.99994119e-01 9.38013882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:287.47, Y:4.44, Z:0.95 [[ 9.99037738e-01 -4.37245772e-02 -3.42906035e-03 2.87473906e+02] [ 4.37246681e-02 9.99043618e-01 -4.84858267e-05 4.43895042e+00] [ 3.42790088e-03 -1.01495355e-04 9.99994120e-01 9.54198155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:4.44, Z:0.94 [[ 9.99357491e-01 -3.56771333e-02 -3.42751878e-03 2.87510307e+02] [ 3.56768156e-02 9.99363368e-01 -1.53811173e-04 4.44027212e+00] [ 3.43082426e-03 3.14293927e-05 9.99994114e-01 9.39117329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:4.44, Z:0.94 [[ 9.99401364e-01 -3.44260808e-02 -3.42897632e-03 2.87541423e+02] [ 3.44261234e-02 9.99407244e-01 -4.66290271e-05 4.43813096e+00] [ 3.42854903e-03 -7.14452486e-05 9.99994120e-01 9.37142436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:287.57, Y:4.44, Z:0.95 [[ 9.99439148e-01 -3.33111466e-02 -3.42897919e-03 2.87571876e+02] [ 3.33111833e-02 9.99445027e-01 -4.64173370e-05 4.43733663e+00] [ 3.42862241e-03 -6.78320506e-05 9.99994120e-01 9.52800540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:287.60, Y:4.43, Z:0.95 [[ 9.99461185e-01 -3.26432692e-02 -3.42880204e-03 2.87603344e+02] [ 3.26432568e-02 9.99467065e-01 -5.95811876e-05 4.43475320e+00] [ 3.42891964e-03 -5.23781813e-05 9.99994120e-01 9.49340896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:4.43, Z:0.94 [[ 9.99476187e-01 -3.21806581e-02 -3.42887920e-03 2.87634766e+02] [ 3.21806633e-02 9.99482067e-01 -5.36871376e-05 4.43352798e+00] [ 3.42883095e-03 -5.66845913e-05 9.99994120e-01 9.37577228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:4.43, Z:0.94 [[ 9.99485335e-01 -3.18952364e-02 -3.42899951e-03 2.87666358e+02] [ 3.18952717e-02 9.99491215e-01 -4.43937957e-05 4.43079611e+00] [ 3.42867084e-03 -6.49979234e-05 9.99994120e-01 9.37033599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:287.70, Y:4.43, Z:0.94 [[ 9.99569692e-01 -2.91319775e-02 -3.42900227e-03 2.87697126e+02] [ 2.91319973e-02 9.99575572e-01 -4.41797740e-05 4.42792952e+00] [ 3.42883395e-03 -5.57329219e-05 9.99994120e-01 9.37289136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94864 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:287.76, Y:4.44, Z:0.95 [[ 9.99851922e-01 1.68634461e-02 -3.42900227e-03 2.87756529e+02] [-1.68636967e-02 9.99857797e-01 -4.41797740e-05 4.44451107e+00] [ 3.42776963e-03 1.01998886e-04 9.99994120e-01 9.49944867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.75, Y:4.42, Z:0.95 [[ 9.99703874e-01 -2.40910168e-02 -3.43315253e-03 2.87751205e+02] [ 2.40927469e-02 9.99709620e-01 4.63475354e-04 4.42189362e+00] [ 3.42099002e-03 -5.46052182e-04 9.99993999e-01 9.52344460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:287.78, Y:4.42, Z:0.95 [[ 9.99791164e-01 -2.01467765e-02 -3.42568218e-03 2.87782717e+02] [ 2.01466287e-02 9.99797033e-01 -7.76528225e-05 4.42076440e+00] [ 3.42655134e-03 8.62065882e-06 9.99994129e-01 9.51087101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:4.42, Z:0.94 [[ 9.99872809e-01 -1.55765402e-02 -3.42601864e-03 2.87813481e+02] [ 1.55764509e-02 9.99878678e-01 -5.27357415e-05 4.41985173e+00] [ 3.42642443e-03 -6.36177355e-07 9.99994130e-01 9.38665278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:287.84, Y:4.42, Z:0.95 [[ 9.99883624e-01 -1.48660965e-02 -3.42611320e-03 2.87842216e+02] [ 1.48660273e-02 9.99889493e-01 -4.56366976e-05 4.42060089e+00] [ 3.42641303e-03 -5.30130601e-06 9.99994130e-01 9.53728562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:4.42, Z:0.94 [[ 9.99935321e-01 -1.08451527e-02 -3.42572363e-03 2.87874665e+02] [ 1.08449607e-02 9.99941189e-01 -7.46015420e-05 4.42094057e+00] [ 3.42633122e-03 3.74448787e-05 9.99994129e-01 9.38062377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:287.90, Y:4.42, Z:0.95 [[ 9.99925527e-01 -1.17133660e-02 -3.42611288e-03 2.87902925e+02] [ 1.17132809e-02 9.99931396e-01 -4.48994509e-05 4.42139825e+00] [ 3.42640376e-03 4.76508458e-06 9.99994130e-01 9.53382618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:4.42, Z:0.94 [[ 9.99933763e-01 -1.09878521e-02 -3.42574814e-03 2.87934865e+02] [ 1.09876686e-02 9.99939631e-01 -7.23737436e-05 4.42219726e+00] [ 3.42633656e-03 3.47279645e-05 9.99994129e-01 9.37763128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:287.96, Y:4.42, Z:0.95 [[ 9.99885356e-01 -1.47490900e-02 -3.42611165e-03 2.87963122e+02] [ 1.47490251e-02 9.99891226e-01 -4.41895066e-05 4.42383164e+00] [ 3.42639074e-03 -6.34736643e-06 9.99994130e-01 9.53225790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:287.99, Y:4.42, Z:0.95 [[ 9.99862262e-01 -1.62394926e-02 -3.42579707e-03 2.87993280e+02] [ 1.62393524e-02 9.99868131e-01 -6.87333971e-05 4.42345397e+00] [ 3.42646151e-03 1.30912039e-05 9.99994130e-01 9.52661561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:288.02, Y:4.42, Z:0.95 [[ 9.99810283e-01 -1.91745109e-02 -3.42580964e-03 2.88024173e+02] [ 1.91743913e-02 9.99816152e-01 -6.77353438e-05 4.42150980e+00] [ 3.42647861e-03 2.03467847e-06 9.99994130e-01 9.52141549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.06, Y:4.42, Z:0.94 [[ 9.99784078e-01 -2.04953877e-02 -3.42596607e-03 2.88055405e+02] [ 2.04953188e-02 9.99789947e-01 -5.52225648e-05 4.42163938e+00] [ 3.42637824e-03 -1.50056257e-05 9.99994130e-01 9.38025945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:288.08, Y:4.42, Z:0.95 [[ 9.99717661e-01 -2.35129860e-02 -3.42613115e-03 2.88083994e+02] [ 2.35129813e-02 9.99723531e-01 -4.16386987e-05 4.42180409e+00] [ 3.42616298e-03 -3.89316154e-05 9.99994130e-01 9.51564032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:288.11, Y:4.42, Z:0.95 [[ 9.99569573e-01 -2.91364507e-02 -3.42581402e-03 2.88114536e+02] [ 2.91363895e-02 9.99575443e-01 -6.77638326e-05 4.42124292e+00] [ 3.42633397e-03 -3.20811866e-05 9.99994130e-01 9.51868499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.15, Y:4.42, Z:0.95 [[ 9.99346075e-01 -3.59956141e-02 -3.42604608e-03 2.88145130e+02] [ 3.59956601e-02 9.99351945e-01 -4.82404015e-05 4.41710974e+00] [ 3.42556226e-03 -7.51139345e-05 9.99994130e-01 9.50259339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.18, Y:4.41, Z:0.95 [[ 9.99210472e-01 -3.95815033e-02 -3.42589296e-03 2.88175543e+02] [ 3.95815253e-02 9.99216342e-01 -6.13876305e-05 4.41490486e+00] [ 3.42563805e-03 -7.42629056e-05 9.99994130e-01 9.50087367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864000000003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.21, Y:4.41, Z:0.95 [[ 9.99124221e-01 -4.17019740e-02 -3.42576456e-03 2.88207191e+02] [ 4.17019698e-02 9.99130092e-01 -7.26889888e-05 4.41230379e+00] [ 3.42581574e-03 -7.02358009e-05 9.99994129e-01 9.49297550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:4.41, Z:0.94 [[ 9.99041874e-01 -4.36302349e-02 -3.42585569e-03 2.88239825e+02] [ 4.36302706e-02 9.99047744e-01 -6.43368232e-05 4.40915441e+00] [ 3.42540043e-03 -8.51958303e-05 9.99994130e-01 9.36234442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.27, Y:4.40, Z:0.95 [[ 9.98837231e-01 -4.80879062e-02 -3.42615259e-03 2.88268860e+02] [ 4.80880639e-02 9.98843099e-01 -3.63620676e-05 4.40136119e+00] [ 3.42393745e-03 -1.28437258e-04 9.99994130e-01 9.50518614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.30, Y:4.39, Z:0.95 [[ 9.98770134e-01 -4.94619391e-02 -3.42590288e-03 2.88299266e+02] [ 4.94620231e-02 9.98776003e-01 -6.02604182e-05 4.39119218e+00] [ 3.42469018e-03 -1.09265781e-04 9.99994130e-01 9.50338930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.33, Y:4.39, Z:0.95 [[ 9.98811776e-01 -4.86137830e-02 -3.42583956e-03 2.88329442e+02] [ 4.86138407e-02 9.98817646e-01 -6.64871108e-05 4.38643574e+00] [ 3.42502119e-03 -1.00135109e-04 9.99994130e-01 9.49858347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.36, Y:4.38, Z:0.95 [[ 9.98781891e-01 -4.92239478e-02 -3.42592471e-03 2.88359705e+02] [ 4.92240383e-02 9.98787761e-01 -5.79214395e-05 4.38197171e+00] [ 3.42462279e-03 -1.10786965e-04 9.99994130e-01 9.49768696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:4.37, Z:0.94 [[ 9.98849959e-01 -4.78228306e-02 -3.42583356e-03 2.88392446e+02] [ 4.78228807e-02 9.98855829e-01 -6.73161466e-05 4.37345040e+00] [ 3.42513307e-03 -9.65944993e-05 9.99994130e-01 9.35143931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:4.37, Z:0.95 [[ 9.98875323e-01 -4.72900731e-02 -3.42616353e-03 2.88420998e+02] [ 4.72902407e-02 9.98881190e-01 -3.21329540e-05 4.36855861e+00] [ 3.42384988e-03 -1.29927283e-04 9.99994130e-01 9.47639896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.45, Y:4.36, Z:0.95 [[ 9.99197065e-01 -3.99185169e-02 -3.42591260e-03 2.88451623e+02] [ 3.99185495e-02 9.99202935e-01 -5.88711181e-05 4.35944632e+00] [ 3.42553197e-03 -7.79336132e-05 9.99994130e-01 9.49800455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.48, Y:4.36, Z:0.95 [[ 9.99363199e-01 -3.55170075e-02 -3.42605435e-03 2.88483157e+02] [ 3.55170678e-02 9.99369069e-01 -4.32621739e-05 4.35616544e+00] [ 3.42542929e-03 -7.84487803e-05 9.99994130e-01 9.47507326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:288.51, Y:4.35, Z:0.95 [[ 9.99473641e-01 -3.22599065e-02 -3.42626865e-03 2.88512261e+02] [ 3.22600281e-02 9.99479510e-01 -1.97738916e-05 4.35406107e+00] [ 3.42512321e-03 -9.07680394e-05 9.99994130e-01 9.47880495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.54, Y:4.35, Z:0.95 [[ 9.99672582e-01 -2.53572537e-02 -3.42622224e-03 2.88541385e+02] [ 2.53573174e-02 9.99678451e-01 -2.48514219e-05 4.35192335e+00] [ 3.42575070e-03 -6.20365196e-05 9.99994130e-01 9.50507852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:4.35, Z:0.94 [[ 9.99765564e-01 -2.13794038e-02 -3.42611481e-03 2.88571775e+02] [ 2.13794040e-02 9.99771434e-01 -3.65843472e-05 4.35089135e+00] [ 3.42611387e-03 -3.66725222e-05 9.99994130e-01 9.38242229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:4.35, Z:0.94 [[ 9.99912794e-01 -1.27540821e-02 -3.42616648e-03 2.88600245e+02] [ 1.27540512e-02 9.99918663e-01 -3.08454614e-05 4.35011444e+00] [ 3.42628121e-03 -1.28547313e-05 9.99994130e-01 9.37284399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:288.63, Y:4.35, Z:0.95 [[ 9.99960031e-01 -8.25818844e-03 -3.42616031e-03 2.88629662e+02] [ 8.25812893e-03 9.99965901e-01 -3.15157879e-05 4.35180517e+00] [ 3.42630375e-03 3.22085466e-06 9.99994130e-01 9.49554034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.66, Y:4.35, Z:0.95 [[ 9.99985808e-01 -4.07998282e-03 -3.42612941e-03 2.88658681e+02] [ 4.07988720e-03 9.99991677e-01 -3.48983645e-05 4.35389855e+00] [ 3.42624328e-03 2.09196477e-05 9.99994130e-01 9.46360352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters Centerline goodness : 0.829899 Centerline is valid? [True, False] Translation: X:288.63, Y:4.37, Z:0.94 [[ 9.99992891e-01 -3.36693062e-03 1.69754455e-03 2.88632720e+02] [ 3.38706784e-03 9.99922229e-01 -1.20026275e-02 4.36655181e+00] [-1.65700052e-03 1.20082919e-02 9.99926525e-01 9.44556662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:288.61, Y:4.37, Z:0.94 [[ 9.99985599e-01 1.01427619e-03 5.27003574e-03 2.88610311e+02] [-9.13282253e-04 9.99816569e-01 -1.91309973e-02 4.37405847e+00] [-5.28847317e-03 1.91259088e-02 9.99803096e-01 9.41524200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.64, Y:4.37, Z:0.94 [[ 9.99969591e-01 6.00524666e-03 4.97544076e-03 2.88642807e+02] [-6.00559108e-03 9.99981965e-01 5.42866936e-05 4.36560411e+00] [-4.97502502e-03 -8.41655054e-05 9.99987621e-01 9.39915722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:288.67, Y:4.37, Z:0.94 [[ 9.99967369e-01 6.36453619e-03 4.97531235e-03 2.88674148e+02] [-6.36492636e-03 9.99979742e-01 6.25907344e-05 4.36994784e+00] [-4.97481320e-03 -9.42561887e-05 9.99987621e-01 9.41411224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:288.71, Y:4.37, Z:0.94 [[ 9.99967591e-01 6.32942649e-03 4.97539154e-03 2.88705811e+02] [-6.32979102e-03 9.99979965e-01 5.75223002e-05 4.37040913e+00] [-4.97492777e-03 -8.90136246e-05 9.99987621e-01 9.41253851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:288.74, Y:4.38, Z:0.94 [[ 9.99978948e-01 4.16527196e-03 4.97538644e-03 2.88736344e+02] [-4.16561132e-03 9.99991322e-01 5.78479495e-05 4.37770492e+00] [-4.97510231e-03 -7.85722577e-05 9.99987621e-01 9.41932411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08864 meters Centerline goodness : 0.981862 Centerline is valid? [True, True] Translation: X:288.81, Y:4.41, Z:0.94 [[ 9.98560671e-01 5.34025464e-02 4.97531637e-03 2.88814298e+02] [-5.34035172e-02 9.98573012e-01 6.23663611e-05 4.40834177e+00] [-4.96488614e-03 -3.27975989e-04 9.99987621e-01 9.37969362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:288.79, Y:4.38, Z:0.94 [[ 9.99953694e-01 -8.22821333e-03 4.99062688e-03 2.88785647e+02] [ 8.23443057e-03 9.99965344e-01 -1.22651819e-03 4.37787041e+00] [-4.98036187e-03 1.26755636e-03 9.99986795e-01 9.39914861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14864 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:288.82, Y:4.38, Z:0.94 [[ 9.99883723e-01 -1.44198252e-02 4.96079966e-03 2.88817179e+02] [ 1.44195041e-02 9.99896028e-01 1.00486580e-04 4.38206883e+00] [-4.96173288e-03 -2.89426249e-05 9.99987690e-01 9.40118565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17864000000003 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:288.85, Y:4.38, Z:0.94 [[ 9.99854489e-01 -1.63215394e-02 4.96071016e-03 2.88848984e+02] [ 1.63212218e-02 9.99866795e-01 1.04511334e-04 4.38498205e+00] [-4.96175516e-03 -2.35312759e-05 9.99987690e-01 9.40763823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.88, Y:4.39, Z:0.93 [[ 9.99747610e-01 -2.19113161e-02 4.96092064e-03 2.88879992e+02] [ 2.19111147e-02 9.99759918e-01 9.49618276e-05 4.38795171e+00] [-4.96181035e-03 1.37614409e-05 9.99987690e-01 9.30036825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:288.91, Y:4.39, Z:0.94 [[ 9.99723350e-01 -2.29916443e-02 4.96059741e-03 2.88912328e+02] [ 2.29913836e-02 9.99735657e-01 1.09592769e-04 4.38944616e+00] [-4.96180583e-03 4.48854720e-06 9.99987690e-01 9.41053808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:288.94, Y:4.39, Z:0.94 [[ 9.99608854e-01 -2.75231539e-02 4.96128620e-03 2.88943665e+02] [ 2.75231058e-02 9.99621165e-01 7.79822490e-05 4.39235658e+00] [-4.96155301e-03 5.85982584e-05 9.99987690e-01 9.37668738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.97, Y:4.39, Z:0.93 [[ 9.99528818e-01 -3.02907078e-02 4.96131438e-03 2.88972956e+02] [ 3.02907002e-02 9.99541129e-01 7.66952393e-05 4.39489041e+00] [-4.96136093e-03 7.36225845e-05 9.99987690e-01 9.29116607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:288.97, Y:4.38, Z:0.94 [[ 9.97247454e-01 -7.39791100e-02 4.96059552e-03 2.88970861e+02] [ 7.39794790e-02 9.97259758e-01 1.09316301e-04 4.37677800e+00] [-4.95508941e-03 2.57966869e-04 9.99987690e-01 9.40342823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:289.03, Y:4.40, Z:0.94 [[ 9.99599875e-01 -2.78504964e-02 4.94364075e-03 2.89029580e+02] [ 2.78470838e-02 9.99611908e-01 7.57802437e-04 4.39934972e+00] [-4.96282733e-03 -6.19833244e-04 9.99987493e-01 9.44747964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:289.06, Y:4.40, Z:0.94 [[ 9.99622204e-01 -2.70346610e-02 4.95740698e-03 2.89061862e+02] [ 2.70345963e-02 9.99634495e-01 8.00801086e-05 4.40180848e+00] [-4.95775997e-03 5.39716416e-05 9.99987709e-01 9.40384666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:289.09, Y:4.40, Z:0.94 [[ 9.99575791e-01 -2.86994441e-02 4.95782442e-03 2.89090883e+02] [ 2.86995023e-02 9.99588083e-01 5.94205237e-05 4.40330294e+00] [-4.95748755e-03 8.28917766e-05 9.99987708e-01 9.42579920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:4.40, Z:0.94 [[ 9.99556580e-01 -2.93610474e-02 4.95701615e-03 2.89121487e+02] [ 2.93609155e-02 9.99568870e-01 9.93924371e-05 4.40497739e+00] [-4.95779730e-03 4.61941678e-05 9.99987709e-01 9.38727904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.15, Y:4.41, Z:0.93 [[ 9.99462598e-01 -3.24028254e-02 4.95706833e-03 2.89151714e+02] [ 3.24027438e-02 9.99474889e-01 9.68024757e-05 4.40662631e+00] [-4.95760199e-03 6.38721612e-05 9.99987709e-01 9.30655961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:289.18, Y:4.41, Z:0.94 [[ 9.99525416e-01 -3.04034732e-02 4.95700835e-03 2.89184319e+02] [ 3.04033522e-02 9.99537706e-01 9.97821720e-05 4.40796350e+00] [-4.95775048e-03 5.09748539e-05 9.99987709e-01 9.39913565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:289.22, Y:4.41, Z:0.94 [[ 9.99469829e-01 -3.21789146e-02 4.95769805e-03 2.89215051e+02] [ 3.21789877e-02 9.99482120e-01 6.50381323e-05 4.40810581e+00] [-4.95722342e-03 9.45300539e-05 9.99987708e-01 9.43107227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.25, Y:4.41, Z:0.93 [[ 9.99438516e-01 -3.31373319e-02 4.95685738e-03 2.89246617e+02] [ 3.31372080e-02 9.99450806e-01 1.07151641e-04 4.40800549e+00] [-4.95768582e-03 5.71649366e-05 9.99987709e-01 9.28332882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:289.28, Y:4.41, Z:0.94 [[ 9.99449473e-01 -3.28051486e-02 4.95704460e-03 2.89277645e+02] [ 3.28050677e-02 9.99461764e-01 9.76475477e-05 4.40735242e+00] [-4.95757988e-03 6.50223937e-05 9.99987709e-01 9.41831772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:4.41, Z:0.93 [[ 9.99400060e-01 -3.42775331e-02 4.95698208e-03 2.89309677e+02] [ 3.42774544e-02 9.99412350e-01 1.00837862e-04 4.40512656e+00] [-4.95752559e-03 6.91353622e-05 9.99987709e-01 9.29060305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.34, Y:4.40, Z:0.93 [[ 9.99416754e-01 -3.37872626e-02 4.95706728e-03 2.89342552e+02] [ 3.37871997e-02 9.99429045e-01 9.64593193e-05 4.40489823e+00] [-4.95749612e-03 7.10823625e-05 9.99987709e-01 9.29453875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:4.40, Z:0.93 [[ 9.99464734e-01 -3.23368498e-02 4.95711540e-03 2.89375002e+02] [ 3.23367817e-02 9.99477025e-01 9.39199317e-05 4.40335465e+00] [-4.95756002e-03 6.64274986e-05 9.99987709e-01 9.30399649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:4.40, Z:0.93 [[ 9.99515712e-01 -3.07208147e-02 4.95715634e-03 2.89407747e+02] [ 3.07207377e-02 9.99528003e-01 9.17067291e-05 4.40260206e+00] [-4.95763388e-03 6.06251829e-05 9.99987709e-01 9.30165057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:289.44, Y:4.40, Z:0.94 [[ 9.99553400e-01 -2.94690842e-02 4.95720224e-03 2.89437641e+02] [ 2.94690044e-02 9.99565691e-01 8.91548131e-05 4.40132385e+00] [-4.95767659e-03 5.69688181e-05 9.99987709e-01 9.38591597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:289.47, Y:4.40, Z:0.94 [[ 9.99607492e-01 -2.75733520e-02 4.95694872e-03 2.89467682e+02] [ 2.75731792e-02 9.99619782e-01 1.03210867e-04 4.39892416e+00] [-4.95790987e-03 3.35084797e-05 9.99987709e-01 9.43971255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:289.50, Y:4.40, Z:0.94 [[ 9.99677941e-01 -2.48886813e-02 4.95659767e-03 2.89499516e+02] [ 2.48883781e-02 9.99690229e-01 1.22869641e-04 4.40003912e+00] [-4.95812032e-03 5.31607186e-07 9.99987708e-01 9.43898798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.53, Y:4.40, Z:0.93 [[ 9.99792307e-01 -1.97679930e-02 4.95666435e-03 2.89531924e+02] [ 1.97676456e-02 9.99804594e-01 1.19092885e-04 4.40215559e+00] [-4.95805001e-03 -2.10865665e-05 9.99987709e-01 9.31550242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:289.56, Y:4.40, Z:0.94 [[ 9.99800662e-01 -1.93406786e-02 4.95725287e-03 2.89561985e+02] [ 1.93404968e-02 9.99812952e-01 8.46130124e-05 4.40250227e+00] [-4.95796210e-03 1.12795874e-05 9.99987709e-01 9.44987159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:289.59, Y:4.40, Z:0.95 [[ 9.99830274e-01 -1.77441427e-02 4.95669882e-03 2.89594158e+02] [ 1.77437797e-02 9.99842560e-01 1.17192843e-04 4.40204706e+00] [-4.95799792e-03 -2.92223802e-05 9.99987709e-01 9.46458745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864000000003 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:289.63, Y:4.40, Z:0.94 [[ 9.99843266e-01 -1.69962846e-02 4.95680728e-03 2.89626319e+02] [ 1.69959452e-02 9.99855552e-01 1.10578168e-04 4.40343997e+00] [-4.95797070e-03 -2.63152114e-05 9.99987709e-01 9.44597044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:289.66, Y:4.40, Z:0.93 [[ 9.99856757e-01 -1.61831494e-02 4.95697338e-03 2.89658253e+02] [ 1.61828515e-02 9.99869044e-01 1.00203359e-04 4.40491348e+00] [-4.95794584e-03 -1.99710416e-05 9.99987709e-01 9.31823763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:289.69, Y:4.40, Z:0.94 [[ 9.99810904e-01 -1.88037453e-02 4.95732929e-03 2.89688123e+02] [ 1.88035926e-02 9.99823194e-01 7.74115081e-05 4.40329822e+00] [-4.95790843e-03 1.58187302e-05 9.99987709e-01 9.44546524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01864 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:289.72, Y:4.40, Z:0.94 [[ 9.99799604e-01 -1.93953166e-02 4.95712026e-03 2.89720307e+02] [ 1.93951050e-02 9.99811893e-01 9.07660859e-05 4.40177910e+00] [-4.95794822e-03 5.39597089e-06 9.99987709e-01 9.40508119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:289.75, Y:4.40, Z:0.95 [[ 9.99697834e-01 -2.40761944e-02 4.95765296e-03 2.89750655e+02] [ 2.40762129e-02 9.99710124e-01 5.59704126e-05 4.39888263e+00] [-4.95756342e-03 6.34080078e-05 9.99987709e-01 9.45325378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:289.78, Y:4.40, Z:0.93 [[ 9.99676476e-01 -2.49473058e-02 4.95730245e-03 2.89781466e+02] [ 2.49472209e-02 9.99688767e-01 7.89841955e-05 4.39831680e+00] [-4.95773002e-03 4.47122770e-05 9.99987709e-01 9.31477896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:289.81, Y:4.40, Z:0.93 [[ 9.99679360e-01 -2.48314763e-02 4.95735962e-03 2.89814444e+02] [ 2.48314086e-02 9.99691650e-01 7.52163715e-05 4.39765473e+00] [-4.95769876e-03 4.79059682e-05 9.99987709e-01 9.31576157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13864 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:289.85, Y:4.40, Z:0.93 [[ 9.99690053e-01 -2.43971930e-02 4.95739753e-03 2.89846347e+02] [ 2.43971328e-02 9.99702343e-01 7.26290731e-05 4.39641447e+00] [-4.95769387e-03 4.83397238e-05 9.99987709e-01 9.32148305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:289.88, Y:4.40, Z:0.93 [[ 9.99722829e-01 -2.30149858e-02 4.95742933e-03 2.89879012e+02] [ 2.30149197e-02 9.99735119e-01 7.03893684e-05 4.39714719e+00] [-4.95773621e-03 4.37249792e-05 9.99987709e-01 9.32634999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19864 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:289.91, Y:4.40, Z:0.95 [[ 9.99741646e-01 -2.21825357e-02 4.95746446e-03 2.89909941e+02] [ 2.21824721e-02 9.99753936e-01 6.78212341e-05 4.39706707e+00] [-4.95774906e-03 4.21651050e-05 9.99987709e-01 9.46075667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:289.94, Y:4.40, Z:0.94 [[ 9.99731193e-01 -2.26487566e-02 4.95729842e-03 2.89940921e+02] [ 2.26486386e-02 9.99743483e-01 7.99369064e-05 4.39579548e+00] [-4.95783726e-03 3.23606416e-05 9.99987709e-01 9.44592324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25864 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:289.97, Y:4.39, Z:0.93 [[ 9.99739648e-01 -2.22724403e-02 4.95730565e-03 2.89971997e+02] [ 2.22723204e-02 9.99751938e-01 7.94048101e-05 4.39410799e+00] [-4.95784447e-03 3.10265628e-05 9.99987709e-01 9.33122411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:290.01, Y:4.39, Z:0.94 [[ 9.99722957e-01 -2.30093984e-02 4.95747783e-03 2.90005069e+02] [ 2.30093511e-02 9.99735248e-01 6.65854594e-05 4.39201092e+00] [-4.95769742e-03 4.75013355e-05 9.99987709e-01 9.35734227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:290.04, Y:4.39, Z:0.94 [[ 9.99739639e-01 -2.22728059e-02 4.95751097e-03 2.90037860e+02] [ 2.22727623e-02 9.99751929e-01 6.40196191e-05 4.38997266e+00] [-4.95770705e-03 4.64145123e-05 9.99987709e-01 9.35921962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:290.07, Y:4.39, Z:0.95 [[ 9.99748691e-01 -2.18627160e-02 4.95754286e-03 2.90069749e+02] [ 2.18626800e-02 9.99760981e-01 6.14462415e-05 4.38879836e+00] [-4.95770130e-03 4.69543739e-05 9.99987709e-01 9.45735078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37864 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:290.10, Y:4.39, Z:0.94 [[ 9.99744641e-01 -2.20471048e-02 4.95771749e-03 2.90099751e+02] [ 2.20471412e-02 9.99756931e-01 4.73066622e-05 4.38758330e+00] [-4.95755540e-03 6.20089155e-05 9.99987709e-01 9.36456084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:290.13, Y:4.39, Z:0.94 [[ 9.99801815e-01 -1.92809060e-02 4.95754087e-03 2.90131916e+02] [ 1.92808379e-02 9.99814105e-01 6.15355583e-05 4.38746124e+00] [-4.95780575e-03 3.40621790e-05 9.99987709e-01 9.37631979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43864 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:290.16, Y:4.39, Z:0.95 [[ 9.99868488e-01 -1.54411703e-02 4.95756778e-03 2.90164419e+02] [ 1.54410662e-02 9.99880778e-01 5.92856154e-05 4.38778197e+00] [-4.95789217e-03 1.72723135e-05 9.99987709e-01 9.50670960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:290.20, Y:4.39, Z:0.95 [[ 9.99937529e-01 -1.00178959e-02 4.95784657e-03 2.90197539e+02] [ 1.00178435e-02 9.99949820e-01 3.54083186e-05 4.38819399e+00] [-4.95795250e-03 1.42608244e-05 9.99987709e-01 9.52434618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49864 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:290.23, Y:4.39, Z:0.95 [[ 9.99957907e-01 -7.72025965e-03 4.95797287e-03 2.90230014e+02] [ 7.72023339e-03 9.99970198e-01 2.44347041e-05 4.38964456e+00] [-4.95801376e-03 1.38430322e-05 9.99987709e-01 9.52633520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52864 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:290.26, Y:4.39, Z:0.95 [[ 9.99970554e-01 -5.85740215e-03 4.95801120e-03 2.90262197e+02] [ 5.85736977e-03 9.99982845e-01 2.10514511e-05 4.39235034e+00] [-4.95804946e-03 7.99007375e-06 9.99987709e-01 9.53793028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55864 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:290.29, Y:4.40, Z:0.95 [[ 9.99975608e-01 -4.91948953e-03 4.95803373e-03 2.90293972e+02] [ 4.91945572e-03 9.99987899e-01 1.90133945e-05 4.39636873e+00] [-4.95806727e-03 5.37789664e-06 9.99987709e-01 9.54567456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58864 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:290.33, Y:4.40, Z:0.95 [[ 9.99971551e-01 -5.68454466e-03 4.95806575e-03 2.90326388e+02] [ 5.68453473e-03 9.99983843e-01 1.60956625e-05 4.39682745e+00] [-4.95807714e-03 1.20890923e-05 9.99987709e-01 9.53782745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:290.36, Y:4.39, Z:0.94 [[ 9.99891548e-01 -1.38675187e-02 4.95818480e-03 2.90355888e+02] [ 1.38676633e-02 9.99903839e-01 5.22817216e-06 4.39499370e+00] [-4.95778052e-03 6.35308321e-05 9.99987708e-01 9.42064159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64864 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:290.39, Y:4.39, Z:0.94 [[ 9.99836794e-01 -1.73726285e-02 4.95762728e-03 2.90388424e+02] [ 1.73725681e-02 9.99849084e-01 5.52529950e-05 4.39427633e+00] [-4.95783899e-03 3.08827400e-05 9.99987709e-01 9.42585433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67864000000003 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:290.42, Y:4.39, Z:0.95 [[ 9.99744654e-01 -2.20465278e-02 4.95765346e-03 2.90421361e+02] [ 2.20465370e-02 9.99756944e-01 5.27950527e-05 4.39071174e+00] [-4.95761242e-03 5.65175189e-05 9.99987709e-01 9.51768168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70864 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:290.45, Y:4.39, Z:0.94 [[ 9.99598817e-01 -2.78858620e-02 4.95822922e-03 2.90449511e+02] [ 2.78862220e-02 9.99611104e-01 -3.48555480e-06 4.38875570e+00] [-4.95620378e-03 1.41750437e-04 9.99987708e-01 9.42071707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73864 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:290.48, Y:4.39, Z:0.95 [[ 9.99628799e-01 -2.67896732e-02 4.95763687e-03 2.90481180e+02] [ 2.67897423e-02 9.99641089e-01 5.24764435e-05 4.38676321e+00] [-4.95726335e-03 8.03568498e-05 9.99987709e-01 9.50673532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76864 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:290.51, Y:4.38, Z:0.94 [[ 9.99563591e-01 -2.91212286e-02 4.95799343e-03 2.90510589e+02] [ 2.91214970e-02 9.99575879e-01 1.80548596e-05 4.38497692e+00] [-4.95641642e-03 1.26337211e-04 9.99987709e-01 9.42915473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79864 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:290.54, Y:4.39, Z:0.94 [[ 9.99618290e-01 -2.71789535e-02 4.95763268e-03 2.90543345e+02] [ 2.71790284e-02 9.99630581e-01 5.22707674e-05 4.38545454e+00] [-4.95722190e-03 8.24928245e-05 9.99987709e-01 9.42864687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82864 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:290.58, Y:4.39, Z:0.95 [[ 9.99793106e-01 -1.97272915e-02 4.95765825e-03 2.90575612e+02] [ 1.97272875e-02 9.99805397e-01 4.97214498e-05 4.38636482e+00] [-4.95767434e-03 4.80899867e-05 9.99987710e-01 9.52812554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85864 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:290.61, Y:4.39, Z:0.95 [[ 9.99822862e-01 -1.81566038e-02 4.95805282e-03 2.90606522e+02] [ 1.81567772e-02 9.99835152e-01 1.00346051e-05 4.38651735e+00] [-4.95741769e-03 7.99894330e-05 9.99987709e-01 9.53761906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88864 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:290.64, Y:4.39, Z:0.95 [[ 9.99826796e-01 -1.79386989e-02 4.95796468e-03 2.90638207e+02] [ 1.79388263e-02 9.99839086e-01 1.87878267e-05 4.38701481e+00] [-4.95750390e-03 7.01554943e-05 9.99987709e-01 9.53604603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91864 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:290.67, Y:4.39, Z:0.95 [[ 9.99830868e-01 -1.77102985e-02 4.95797787e-03 2.90667456e+02] [ 1.77104297e-02 9.99843158e-01 1.74443182e-05 4.38730240e+00] [-4.95750920e-03 7.03665509e-05 9.99987709e-01 9.45196473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94864 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:290.70, Y:4.39, Z:0.95 [[ 9.99863986e-01 -1.57299215e-02 4.95765625e-03 2.90700787e+02] [ 1.57298690e-02 9.99876277e-01 4.95948230e-05 4.38971771e+00] [-4.95782300e-03 2.83952058e-05 9.99987710e-01 9.45597567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97864 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:290.73, Y:4.39, Z:0.95 [[ 9.99893304e-01 -1.37405515e-02 4.95768093e-03 2.90733618e+02] [ 1.37404874e-02 9.99905594e-01 4.69914681e-05 4.39257862e+00] [-4.95785858e-03 2.11344980e-05 9.99987710e-01 9.45393117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00864 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:290.77, Y:4.40, Z:0.96 [[ 9.99950697e-01 -8.60381702e-03 4.95770445e-03 2.90765517e+02] [ 8.60370281e-03 9.99962986e-01 4.43629420e-05 4.39899353e+00] [-4.95790264e-03 -1.70613904e-06 9.99987710e-01 9.56718503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03864 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:290.80, Y:4.40, Z:0.96 [[ 9.99962498e-01 -7.10070044e-03 4.95799182e-03 2.90797483e+02] [ 7.10072856e-03 9.99974789e-01 1.19318511e-05 4.40244685e+00] [-4.95795155e-03 2.32739505e-05 9.99987709e-01 9.56666167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06864 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:290.83, Y:4.41, Z:0.95 [[ 9.99957823e-01 -7.73118510e-03 4.95802066e-03 2.90827004e+02] [ 7.73123756e-03 9.99970113e-01 8.58489299e-06 4.40561126e+00] [-4.95793886e-03 2.97471047e-05 9.99987709e-01 9.46082115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09864 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:290.86, Y:4.41, Z:0.95 [[ 9.99976651e-01 -4.70298884e-03 4.95771385e-03 2.90859595e+02] [ 4.70283083e-03 9.99988941e-01 4.35292403e-05 4.41009130e+00] [-4.95786374e-03 -2.02129344e-05 9.99987710e-01 9.47233108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12864 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:290.89, Y:4.42, Z:0.95 [[ 9.99987689e-01 -2.06565509e-04 4.95773563e-03 2.90892059e+02] [ 2.06365328e-04 9.99999978e-01 4.08891331e-05 4.41625030e+00] [-4.95774396e-03 -3.98655249e-05 9.99987710e-01 9.47499555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15864 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:290.92, Y:4.42, Z:0.96 [[ 9.99980295e-01 3.85113621e-03 4.95774102e-03 2.90923663e+02] [-3.85138296e-03 9.99992583e-01 4.02240555e-05 4.42032545e+00] [-4.95754934e-03 -5.93174221e-05 9.99987710e-01 9.58208778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:290.95, Y:4.42, Z:0.95 [[ 9.99971373e-01 5.71597486e-03 4.95795224e-03 2.90953815e+02] [-5.71611328e-03 9.99983663e-01 1.37484667e-05 4.42297203e+00] [-4.95779265e-03 -4.20882897e-05 9.99987709e-01 9.48398224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:290.99, Y:4.42, Z:0.95 [[ 9.99954781e-01 8.11523337e-03 4.95774364e-03 2.90985735e+02] [-8.11553021e-03 9.99967068e-01 3.97590355e-05 4.42492754e+00] [-4.95725772e-03 -7.99919559e-05 9.99987710e-01 9.48496831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:291.02, Y:4.43, Z:0.95 [[ 9.99911048e-01 1.23821245e-02 4.95774890e-03 2.91018192e+02] [-1.23824704e-02 9.99923334e-01 3.90922485e-05 4.42966981e+00] [-4.95688476e-03 -1.00477950e-04 9.99987710e-01 9.48807694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:291.05, Y:4.44, Z:0.96 [[ 9.99871171e-01 1.52663569e-02 4.95775402e-03 2.91050206e+02] [-1.52667350e-02 9.99883456e-01 3.84322420e-05 4.43591453e+00] [-4.95658950e-03 -1.14116008e-04 9.99987710e-01 9.57682386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:291.08, Y:4.44, Z:0.95 [[ 9.99840876e-01 1.71359299e-02 4.95799642e-03 2.91079879e+02] [-1.71361736e-02 9.99853165e-01 6.67310449e-06 4.43764462e+00] [-4.95715406e-03 -9.16331301e-05 9.99987709e-01 9.48433921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:291.11, Y:4.44, Z:0.95 [[ 9.99826285e-01 1.79672152e-02 4.95774811e-03 2.91111973e+02] [-1.79676273e-02 9.99838568e-01 3.85811201e-05 4.43821417e+00] [-4.95625458e-03 -1.27653388e-04 9.99987710e-01 9.48792252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:291.14, Y:4.44, Z:0.95 [[ 9.99777095e-01 2.05227167e-02 4.95775312e-03 2.91144236e+02] [-2.05231569e-02 9.99789377e-01 3.79266140e-05 4.44131242e+00] [-4.95593054e-03 -1.39666905e-04 9.99987710e-01 9.48627547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:291.18, Y:4.44, Z:0.96 [[ 9.99790858e-01 1.98408774e-02 4.95775804e-03 2.91175439e+02] [-1.98413060e-02 9.99803141e-01 3.72721073e-05 4.44381175e+00] [-4.95604255e-03 -1.35632706e-04 9.99987710e-01 9.57749261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864000000003 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:291.21, Y:4.45, Z:0.95 [[ 9.99778863e-01 2.04363847e-02 4.95780282e-03 2.91206393e+02] [-2.04367916e-02 9.99791146e-01 3.14104977e-05 4.44554045e+00] [-4.95612545e-03 -1.32725134e-04 9.99987710e-01 9.49011098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:291.24, Y:4.45, Z:0.96 [[ 9.99820770e-01 1.82715066e-02 4.95775498e-03 2.91237138e+02] [-1.82719180e-02 9.99833054e-01 3.77012485e-05 4.44532504e+00] [-4.95623844e-03 -1.28282184e-04 9.99987710e-01 9.60403287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:291.27, Y:4.45, Z:0.95 [[ 9.99799716e-01 1.93894120e-02 4.95772345e-03 2.91267861e+02] [-1.93898571e-02 9.99811998e-01 4.17236200e-05 4.44610777e+00] [-4.95598239e-03 -1.37844812e-04 9.99987710e-01 9.49854080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:291.30, Y:4.45, Z:0.95 [[ 9.99825278e-01 1.80231545e-02 4.95774822e-03 2.91299926e+02] [-1.80235670e-02 9.99837562e-01 3.85367960e-05 4.44712826e+00] [-4.95624834e-03 -1.27886370e-04 9.99987710e-01 9.50393025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:291.33, Y:4.45, Z:0.96 [[ 9.99853232e-01 1.63992578e-02 4.95775324e-03 2.91331993e+02] [-1.63996471e-02 9.99865516e-01 3.78799894e-05 4.44692810e+00] [-4.95646530e-03 -1.19179833e-04 9.99987710e-01 9.59206442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:291.36, Y:4.44, Z:0.95 [[ 9.99900323e-01 1.32198111e-02 4.95794738e-03 2.91361775e+02] [-1.32200381e-02 9.99912611e-01 1.30115260e-05 4.44476310e+00] [-4.95734210e-03 -7.85544822e-05 9.99987709e-01 9.49071646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:4.44, Z:0.95 [[ 9.99902312e-01 1.30685438e-02 4.95773061e-03 2.91394220e+02] [-1.30689023e-02 9.99914597e-01 3.99273418e-05 4.44457143e+00] [-4.95678542e-03 -1.04715539e-04 9.99987710e-01 9.49921804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:291.43, Y:4.45, Z:0.95 [[ 9.99915645e-01 1.20051588e-02 4.95773586e-03 2.91426351e+02] [-1.20055010e-02 9.99927931e-01 3.92644815e-05 4.44513770e+00] [-4.95690718e-03 -9.87812720e-05 9.99987710e-01 9.49897999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:291.46, Y:4.44, Z:0.96 [[ 9.99942932e-01 9.46331048e-03 4.95774100e-03 2.91457333e+02] [-9.46361816e-03 9.99955218e-01 3.86043358e-05 4.44466197e+00] [-4.95715366e-03 -8.55203005e-05 9.99987710e-01 9.59816410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:291.49, Y:4.44, Z:0.95 [[ 9.99973062e-01 5.41257534e-03 4.95780979e-03 2.91487966e+02] [-5.41279036e-03 9.99985350e-01 2.99531279e-05 4.44256892e+00] [-4.95757504e-03 -5.67879060e-05 9.99987710e-01 9.50306174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:291.52, Y:4.44, Z:0.96 [[ 9.99986134e-01 1.77554677e-03 4.95774460e-03 2.91518812e+02] [-1.77575885e-03 9.99998423e-01 3.83759528e-05 4.44150246e+00] [-4.95766864e-03 -4.71791795e-05 9.99987710e-01 9.61080735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:291.55, Y:4.44, Z:0.95 [[ 9.99987654e-01 3.35753409e-04 4.95770182e-03 2.91550911e+02] [-3.35975841e-04 9.99999943e-01 4.40332665e-05 4.44069574e+00] [-4.95768675e-03 -4.56983909e-05 9.99987710e-01 9.49294634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:291.58, Y:4.44, Z:0.96 [[ 9.99981877e-01 -3.41569321e-03 4.95776038e-03 2.91581230e+02] [ 3.41555691e-03 9.99994166e-01 3.59591100e-05 4.43791395e+00] [-4.95785429e-03 -1.90249455e-05 9.99987710e-01 9.61434075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:291.61, Y:4.44, Z:0.95 [[ 9.99977945e-01 -4.41926008e-03 4.95773151e-03 2.91612452e+02] [ 4.41911598e-03 9.99990235e-01 4.00216794e-05 4.43614587e+00] [-4.95785996e-03 -1.81120062e-05 9.99987710e-01 9.49314700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:291.64, Y:4.43, Z:0.96 [[ 9.99959103e-01 -7.56392076e-03 4.95777490e-03 2.91643406e+02] [ 7.56384702e-03 9.99971393e-01 3.36243589e-05 4.43261052e+00] [-4.95788740e-03 3.87686714e-06 9.99987710e-01 9.60743154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:291.67, Y:4.43, Z:0.96 [[ 9.99946145e-01 -9.11748442e-03 4.95771277e-03 2.91674478e+02] [ 9.11738252e-03 9.99958435e-01 4.31558093e-05 4.43162025e+00] [-4.95790018e-03 2.04787861e-06 9.99987710e-01 9.59355801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:291.71, Y:4.43, Z:0.96 [[ 9.99946916e-01 -9.03248960e-03 4.95770240e-03 2.91706169e+02] [ 9.03237847e-03 9.99959206e-01 4.48056484e-05 4.43146914e+00] [-4.95790486e-03 -2.34255941e-08 9.99987710e-01 9.60491978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:4.43, Z:0.95 [[ 9.99960089e-01 -7.43247251e-03 4.95775698e-03 2.91737198e+02] [ 7.43238635e-03 9.99972379e-01 3.58022349e-05 4.43148400e+00] [-4.95788614e-03 1.04715927e-06 9.99987710e-01 9.50461183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:291.77, Y:4.43, Z:0.96 [[ 9.99962969e-01 -7.03425453e-03 4.95779822e-03 2.91767814e+02] [ 7.03419884e-03 9.99975259e-01 2.86697637e-05 4.43084260e+00] [-4.95787724e-03 6.20543651e-06 9.99987710e-01 9.61936266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:291.80, Y:4.43, Z:0.96 [[ 9.99971727e-01 -5.65388219e-03 4.95778783e-03 2.91798958e+02] [ 5.65380045e-03 9.99984017e-01 3.05012739e-05 4.43121172e+00] [-4.95788104e-03 -2.47006842e-06 9.99987710e-01 9.61115154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:4.43, Z:0.95 [[ 9.99978761e-01 -4.23057170e-03 4.95780638e-03 2.91830298e+02] [ 4.23048977e-03 9.99991051e-01 2.70128138e-05 4.43180656e+00] [-4.95787629e-03 -6.03829093e-06 9.99987710e-01 9.50720217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:4.43, Z:0.95 [[ 9.99983719e-01 -2.82524250e-03 4.95781146e-03 2.91863502e+02] [ 2.82514809e-03 9.99996009e-01 2.60457600e-05 4.43042908e+00] [-4.95786525e-03 -1.20387844e-05 9.99987710e-01 9.50634545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:291.90, Y:4.43, Z:0.95 [[ 9.99984076e-01 -2.69589339e-03 4.95782397e-03 2.91897022e+02] [ 2.69581054e-03 9.99996366e-01 2.33933488e-05 4.43035271e+00] [-4.95786902e-03 -1.00276221e-05 9.99987710e-01 9.50826036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:291.93, Y:4.43, Z:0.96 [[ 9.99984694e-01 -2.45604888e-03 4.95783500e-03 2.91927481e+02] [ 2.45597615e-03 9.99996984e-01 2.07580822e-05 4.43061722e+00] [-4.95787103e-03 -8.58143991e-06 9.99987710e-01 9.63445977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:291.96, Y:4.43, Z:0.96 [[ 9.99987017e-01 -1.17706477e-03 4.95782070e-03 2.91957895e+02] [ 1.17695908e-03 9.99999307e-01 2.42359885e-05 4.43210057e+00] [-4.95784579e-03 -1.84005217e-05 9.99987710e-01 9.63747694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17864000000003 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:291.99, Y:4.43, Z:0.96 [[ 9.99987357e-01 8.40549080e-04 4.95781863e-03 2.91990836e+02] [-8.40682095e-04 9.99999646e-01 2.47455031e-05 4.43280539e+00] [-4.95779607e-03 -2.89131396e-05 9.99987710e-01 9.63722708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:292.02, Y:4.43, Z:0.96 [[ 9.99975888e-01 4.86235948e-03 4.95786675e-03 2.92022624e+02] [-4.86247867e-03 9.99988178e-01 1.19875874e-05 4.43380392e+00] [-4.95774985e-03 -3.60948196e-05 9.99987710e-01 9.64089689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:292.05, Y:4.43, Z:0.96 [[ 9.99963799e-01 6.91524293e-03 4.95787810e-03 2.92054483e+02] [-6.91537209e-03 9.99976088e-01 8.90886870e-06 4.43449144e+00] [-4.95769795e-03 -4.31941181e-05 9.99987710e-01 9.62022685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:292.09, Y:4.43, Z:0.96 [[ 9.99962656e-01 7.07854003e-03 4.95790781e-03 2.92085666e+02] [-7.07862904e-03 9.99974946e-01 4.05055865e-07 4.43483454e+00] [-4.95778073e-03 -3.55002309e-05 9.99987709e-01 9.62719020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:292.12, Y:4.44, Z:0.96 [[ 9.99941620e-01 9.60087323e-03 4.95784597e-03 2.92115666e+02] [-9.60108273e-03 9.99953908e-01 1.84552845e-05 4.43775708e+00] [-4.95744027e-03 -6.60548963e-05 9.99987710e-01 9.62221338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:292.15, Y:4.44, Z:0.96 [[ 9.99907528e-01 1.26631770e-02 4.95781093e-03 2.92148011e+02] [-1.26634730e-02 9.99919815e-01 2.83127397e-05 4.44072809e+00] [-4.95705486e-03 -9.10932264e-05 9.99987710e-01 9.61464689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:292.18, Y:4.45, Z:0.96 [[ 9.99843269e-01 1.69957772e-02 4.95789913e-03 2.92180365e+02] [-1.69959901e-02 9.99855558e-01 8.20414199e-07 4.44651426e+00] [-4.95716906e-03 -8.50846902e-05 9.99987710e-01 9.63041299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.21, Y:4.45, Z:0.95 [[ 9.99803580e-01 1.91890602e-02 4.95790925e-03 2.92210554e+02] [-1.91892848e-02 9.99815869e-01 -2.27079018e-06 4.44924884e+00] [-4.95703991e-03 -9.28683883e-05 9.99987709e-01 9.54807902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:292.24, Y:4.46, Z:0.96 [[ 9.99778690e-01 2.04448301e-02 4.95784929e-03 2.92242272e+02] [-2.04451614e-02 9.99790976e-01 1.61432856e-05 4.45521682e+00] [-4.95648293e-03 -1.17503742e-04 9.99987710e-01 9.64145973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:292.27, Y:4.46, Z:0.96 [[ 9.99825427e-01 1.80148483e-02 4.95792798e-03 2.92273450e+02] [-1.80150358e-02 9.99837716e-01 -6.82961543e-06 4.45822383e+00] [-4.95724642e-03 -8.24888270e-05 9.99987709e-01 9.63971597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:292.31, Y:4.46, Z:0.96 [[ 9.99863038e-01 1.57900214e-02 4.95789175e-03 2.92305809e+02] [-1.57902311e-02 9.99875327e-01 3.15487463e-06 4.46037930e+00] [-4.95722381e-03 -8.14406990e-05 9.99987710e-01 9.63115694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:292.34, Y:4.46, Z:0.96 [[ 9.99955040e-01 8.08308790e-03 4.95791056e-03 2.92337509e+02] [-8.08317796e-03 9.99967331e-01 -1.87328530e-06 4.46413355e+00] [-4.95776373e-03 -3.82024722e-05 9.99987709e-01 9.63983214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:292.37, Y:4.47, Z:0.95 [[ 9.99979977e-01 3.93258895e-03 4.95788327e-03 2.92368979e+02] [-3.93266511e-03 9.99992267e-01 5.61313631e-06 4.46565339e+00] [-4.95782286e-03 -2.51107185e-05 9.99987710e-01 9.53577291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:292.40, Y:4.47, Z:0.96 [[ 9.99979569e-01 -4.03507229e-03 4.95784707e-03 2.92400537e+02] [ 4.03504010e-03 9.99991859e-01 1.64948381e-05 4.46625158e+00] [-4.95787327e-03 3.51061065e-06 9.99987710e-01 9.62200039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:292.43, Y:4.47, Z:0.96 [[ 9.99958297e-01 -7.66964490e-03 4.95787697e-03 2.92432696e+02] [ 7.66970450e-03 9.99970587e-01 6.99045594e-06 4.46522226e+00] [-4.95778476e-03 3.10352869e-05 9.99987710e-01 9.62775646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:4.46, Z:0.95 [[ 9.99911460e-01 -1.23487117e-02 4.95788174e-03 2.92464181e+02] [ 1.23488375e-02 9.99923750e-01 5.23351125e-06 4.46365870e+00] [-4.95756833e-03 5.59910283e-05 9.99987710e-01 9.51654109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:4.46, Z:0.95 [[ 9.99861386e-01 -1.58942957e-02 4.95786429e-03 2.92497480e+02] [ 1.58944302e-02 9.99873675e-01 1.22796857e-05 4.46177284e+00] [-4.95743317e-03 6.65244442e-05 9.99987710e-01 9.53171545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.53, Y:4.46, Z:0.95 [[ 9.99859026e-01 -1.60420720e-02 4.95786927e-03 2.92530522e+02] [ 1.60422209e-02 9.99871315e-01 9.74890081e-06 4.46151413e+00] [-4.95738766e-03 6.97877075e-05 9.99987710e-01 9.54229046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:292.56, Y:4.46, Z:0.97 [[ 9.99888071e-01 -1.41161093e-02 4.95787296e-03 2.92561671e+02] [ 1.41162471e-02 9.99900361e-01 7.21532224e-06 4.45897716e+00] [-4.95748081e-03 6.27720449e-05 9.99987710e-01 9.65894587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:4.46, Z:0.95 [[ 9.99887507e-01 -1.41560081e-02 4.95788152e-03 2.92592076e+02] [ 1.41561805e-02 9.99899796e-01 3.21761774e-07 4.45774632e+00] [-4.95738928e-03 6.98629399e-05 9.99987710e-01 9.54735628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.62, Y:4.46, Z:0.95 [[ 9.99906553e-01 -1.27398923e-02 4.95787549e-03 2.92624799e+02] [ 1.27400210e-02 9.99918843e-01 5.63147407e-06 4.45692042e+00] [-4.95754487e-03 5.75324899e-05 9.99987710e-01 9.54355125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:292.66, Y:4.46, Z:0.95 [[ 9.99936131e-01 -1.01564795e-02 4.95787707e-03 2.92657592e+02] [ 1.01565891e-02 9.99948421e-01 3.08828811e-06 4.45546863e+00] [-4.95765272e-03 4.72670292e-05 9.99987710e-01 9.54611415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:292.69, Y:4.46, Z:0.95 [[ 9.99941195e-01 -9.64502752e-03 4.95787735e-03 2.92691143e+02] [ 9.64514334e-03 9.99953485e-01 5.48510208e-07 4.45577948e+00] [-4.95765203e-03 4.72709598e-05 9.99987710e-01 9.54445261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:4.45, Z:0.95 [[ 9.99949120e-01 -8.78509060e-03 4.95787634e-03 2.92723231e+02] [ 8.78520843e-03 9.99961409e-01 -1.98733012e-06 4.45455115e+00] [-4.95766755e-03 4.55432060e-05 9.99987710e-01 9.54156235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:292.75, Y:4.45, Z:0.96 [[ 9.99930501e-01 -1.06964307e-02 4.95787446e-03 2.92753606e+02] [ 1.06965830e-02 9.99942790e-01 -4.20267585e-06 4.44915344e+00] [-4.95754587e-03 5.72346993e-05 9.99987710e-01 9.64928832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.79, Y:4.45, Z:0.95 [[ 9.99925065e-01 -1.11930315e-02 4.95789907e-03 2.92785766e+02] [ 1.11930767e-02 9.99937355e-01 1.86322183e-05 4.44700887e+00] [-4.95779704e-03 3.68633223e-05 9.99987709e-01 9.52100999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:4.45, Z:0.95 [[ 9.99921894e-01 -1.14727794e-02 4.95786238e-03 2.92818376e+02] [ 1.14729555e-02 9.99934183e-01 -7.07569662e-06 4.44533043e+00] [-4.95745490e-03 6.39564784e-05 9.99987710e-01 9.51699302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:292.85, Y:4.44, Z:0.95 [[ 9.99909470e-01 -1.25088872e-02 4.95785752e-03 2.92850679e+02] [ 1.25090885e-02 9.99921758e-01 -9.59196939e-06 4.44131688e+00] [-4.95734962e-03 7.16093793e-05 9.99987710e-01 9.52358380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:292.88, Y:4.44, Z:0.95 [[ 9.99909808e-01 -1.24818299e-02 4.95785227e-03 2.92884042e+02] [ 1.24820418e-02 9.99922096e-01 -1.17983269e-05 4.43882926e+00] [-4.95731877e-03 7.36813820e-05 9.99987710e-01 9.52262965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.92, Y:4.43, Z:0.95 [[ 9.99911523e-01 -1.23436894e-02 4.95784491e-03 2.92916233e+02] [ 1.23439122e-02 9.99923811e-01 -1.43414963e-05 4.43316168e+00] [-4.95729015e-03 7.55394297e-05 9.99987710e-01 9.52619333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.95, Y:4.43, Z:0.95 [[ 9.99917126e-01 -1.18811153e-02 4.95783757e-03 2.92948872e+02] [ 1.18813433e-02 9.99929414e-01 -1.65425021e-05 4.43058003e+00] [-4.95729107e-03 7.54469013e-05 9.99987710e-01 9.52312421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:292.98, Y:4.43, Z:0.95 [[ 9.99919533e-01 -1.16768014e-02 4.95782786e-03 2.92982014e+02] [ 1.16770394e-02 9.99931821e-01 -1.90659920e-05 4.42758979e+00] [-4.95726721e-03 7.69572091e-05 9.99987710e-01 9.51274036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:4.42, Z:0.95 [[ 9.99931113e-01 -1.06390474e-02 4.95781689e-03 2.93013765e+02] [ 1.06392852e-02 9.99943401e-01 -2.15861206e-05 4.41900534e+00] [-4.95730663e-03 7.43322614e-05 9.99987710e-01 9.50581855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:293.05, Y:4.42, Z:0.95 [[ 9.99950864e-01 -8.58421687e-03 4.95780635e-03 2.93046873e+02] [ 8.58444028e-03 9.99963153e-01 -2.37835521e-05 4.41519402e+00] [-4.95741950e-03 6.63423760e-05 9.99987710e-01 9.50804734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:293.08, Y:4.41, Z:0.95 [[ 9.99974469e-01 -5.14598161e-03 4.95779286e-03 2.93078742e+02] [ 5.14617536e-03 9.99986758e-01 -2.63244217e-05 4.41033679e+00] [-4.95759174e-03 5.18374211e-05 9.99987710e-01 9.51946644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:293.11, Y:4.41, Z:0.97 [[ 9.99982714e-01 -3.16101837e-03 4.95778935e-03 2.93110263e+02] [ 3.16119092e-03 9.99995003e-01 -2.69682018e-05 4.40816228e+00] [-4.95767933e-03 4.26402543e-05 9.99987710e-01 9.65302554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:293.14, Y:4.41, Z:0.95 [[ 9.99986692e-01 -1.42714010e-03 4.95781022e-03 2.93141936e+02] [ 1.42727291e-03 9.99998981e-01 -2.32500717e-05 4.40501934e+00] [-4.95777199e-03 3.03259105e-05 9.99987710e-01 9.52472129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:293.17, Y:4.40, Z:0.96 [[ 9.99984578e-01 2.50276689e-03 4.95778430e-03 2.93173976e+02] [-2.50265951e-03 9.99996868e-01 -2.78619363e-05 4.39997451e+00] [-4.95783851e-03 1.54538606e-05 9.99987710e-01 9.64271352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:293.21, Y:4.40, Z:0.96 [[ 9.99980687e-01 3.74782241e-03 4.95766722e-03 2.93206590e+02] [-3.74762752e-03 9.99992976e-01 -4.86005767e-05 4.39851609e+00] [-4.95781455e-03 3.00201480e-05 9.99987710e-01 9.64968034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:293.24, Y:4.39, Z:0.95 [[ 9.99968784e-01 6.15252850e-03 4.95766114e-03 2.93237681e+02] [-6.15235779e-03 9.99981073e-01 -4.96836052e-05 4.39459489e+00] [-4.95787299e-03 1.91807490e-05 9.99987709e-01 9.51741975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:293.27, Y:4.39, Z:0.96 [[ 9.99947197e-01 9.00128993e-03 4.95778327e-03 2.93270708e+02] [-9.00126047e-03 9.99959487e-01 -2.82543620e-05 4.39228949e+00] [-4.95783674e-03 -1.63734285e-05 9.99987710e-01 9.64591270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:4.39, Z:0.95 [[ 9.99943316e-01 9.42270235e-03 4.95750544e-03 2.93300744e+02] [-9.42244552e-03 9.99955605e-01 -7.51591100e-05 4.39136812e+00] [-4.95799355e-03 2.84430248e-05 9.99987709e-01 9.51494126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:293.33, Y:4.39, Z:0.97 [[ 9.99890374e-01 1.39520497e-02 4.95777267e-03 2.93333731e+02] [-1.39520812e-02 9.99902665e-01 -2.82323108e-05 4.39414357e+00] [-4.95768400e-03 -4.09420311e-05 9.99987710e-01 9.65240829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:293.36, Y:4.40, Z:0.95 [[ 9.99881831e-01 1.45515425e-02 4.95750636e-03 2.93363724e+02] [-1.45513581e-02 9.99894121e-01 -7.32575400e-05 4.39575924e+00] [-4.95804748e-03 1.11043272e-06 9.99987709e-01 9.50284299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:293.40, Y:4.40, Z:0.96 [[ 9.99851441e-01 1.65080915e-02 4.95776235e-03 2.93395513e+02] [-1.65081550e-02 9.99863731e-01 -2.81096607e-05 4.39585605e+00] [-4.95755080e-03 -5.37380248e-05 9.99987710e-01 9.64009321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:293.43, Y:4.40, Z:0.95 [[ 9.99844105e-01 1.69466254e-02 4.95763019e-03 2.93425020e+02] [-1.69465777e-02 9.99856395e-01 -5.16234708e-05 4.39755985e+00] [-4.95779309e-03 -3.23994422e-05 9.99987710e-01 9.48973411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:293.46, Y:4.40, Z:0.95 [[ 9.99849110e-01 1.66486783e-02 4.95776447e-03 2.93457201e+02] [-1.66487515e-02 9.99861400e-01 -2.65088653e-05 4.39926365e+00] [-4.95751866e-03 -5.60357233e-05 9.99987710e-01 9.48902856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:293.49, Y:4.40, Z:0.95 [[ 9.99853151e-01 1.64041820e-02 4.95776083e-03 2.93488926e+02] [-1.64042488e-02 9.99865441e-01 -2.71746099e-05 4.40123937e+00] [-4.95753949e-03 -5.41577229e-05 9.99987710e-01 9.48296003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:293.52, Y:4.40, Z:0.95 [[ 9.99879958e-01 1.46796031e-02 4.95775711e-03 2.93521416e+02] [-1.46796455e-02 9.99892248e-01 -2.78369567e-05 4.40467971e+00] [-4.95763153e-03 -4.49445019e-05 9.99987710e-01 9.48466968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:293.55, Y:4.41, Z:0.95 [[ 9.99900465e-01 1.32090966e-02 4.95775332e-03 2.93553904e+02] [-1.32091176e-02 9.99912755e-01 -2.84959400e-05 4.40649094e+00] [-4.95769719e-03 -3.69944431e-05 9.99987710e-01 9.47853916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67864000000003 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:293.59, Y:4.41, Z:0.95 [[ 9.99912265e-01 1.22834469e-02 4.95774940e-03 2.93586340e+02] [-1.22834533e-02 9.99924555e-01 -2.91615390e-05 4.41160235e+00] [-4.95773357e-03 -3.17393026e-05 9.99987710e-01 9.48605940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:293.62, Y:4.41, Z:0.96 [[ 9.99914192e-01 1.21255749e-02 4.95774543e-03 2.93618825e+02] [-1.21255761e-02 9.99926482e-01 -2.98221985e-05 4.41255613e+00] [-4.95774256e-03 -3.02958799e-05 9.99987710e-01 9.60976098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:293.65, Y:4.41, Z:0.96 [[ 9.99925453e-01 1.11583794e-02 4.95762347e-03 2.93651157e+02] [-1.11582688e-02 9.99937743e-01 -4.99751530e-05 4.41246276e+00] [-4.95787247e-03 -5.34706776e-06 9.99987710e-01 9.61184402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:293.68, Y:4.41, Z:0.95 [[ 9.99934824e-01 1.02843882e-02 4.95767107e-03 2.93682136e+02] [-1.02843069e-02 9.99947114e-01 -4.18879103e-05 4.41375315e+00] [-4.95783967e-03 -9.10103042e-06 9.99987710e-01 9.48382395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:293.71, Y:4.42, Z:0.96 [[ 9.99931543e-01 1.05985468e-02 4.95774714e-03 2.93714002e+02] [-1.05985344e-02 9.99943834e-01 -2.87849419e-05 4.41683968e+00] [-4.95777376e-03 -2.37618820e-05 9.99987710e-01 9.62813572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:293.75, Y:4.42, Z:0.96 [[ 9.99937523e-01 1.00185591e-02 4.95762668e-03 2.93746664e+02] [-1.00184364e-02 9.99949813e-01 -4.95862776e-05 4.42000764e+00] [-4.95787466e-03 -8.44879766e-08 9.99987710e-01 9.62388642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:293.78, Y:4.42, Z:0.95 [[ 9.99943435e-01 9.40997578e-03 4.95766591e-03 2.93776939e+02] [-9.40988022e-03 9.99955725e-01 -4.26015100e-05 4.42176213e+00] [-4.95784729e-03 -4.05194211e-06 9.99987710e-01 9.48469716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88864 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:293.81, Y:4.42, Z:0.96 [[ 9.99970183e-01 5.92059572e-03 4.95774971e-03 2.93807324e+02] [-5.92053221e-03 9.99982473e-01 -2.74880328e-05 4.42127025e+00] [-4.95782556e-03 -1.86530361e-06 9.99987710e-01 9.61935701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:293.84, Y:4.42, Z:0.95 [[ 9.99972997e-01 5.42449359e-03 4.95785264e-03 2.93840365e+02] [-5.42451441e-03 9.99985287e-01 -9.24745941e-06 4.42159602e+00] [-4.95782986e-03 -1.76467334e-05 9.99987710e-01 9.47746756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:293.87, Y:4.42, Z:0.95 [[ 9.99985059e-01 2.30293325e-03 4.95773951e-03 2.93872994e+02] [-2.30281900e-03 9.99997348e-01 -2.87538278e-05 4.42120919e+00] [-4.95779258e-03 1.73366214e-05 9.99987710e-01 9.46547741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:293.91, Y:4.42, Z:0.95 [[ 9.99986424e-01 1.60408024e-03 4.95772299e-03 2.93905856e+02] [-1.60394446e-03 9.99998713e-01 -3.13637486e-05 4.41927005e+00] [-4.95776692e-03 2.34114105e-05 9.99987710e-01 9.46945573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:293.94, Y:4.42, Z:0.95 [[ 9.99986925e-01 1.25318046e-03 4.95771663e-03 2.93938600e+02] [-1.25303553e-03 9.99999214e-01 -3.23398706e-05 4.41756475e+00] [-4.95775326e-03 2.61272527e-05 9.99987710e-01 9.47080413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:293.97, Y:4.42, Z:0.95 [[ 9.99986155e-01 1.76401141e-03 4.95771000e-03 2.93970550e+02] [-1.76386786e-03 9.99998444e-01 -3.33261565e-05 4.41720863e+00] [-4.95776107e-03 2.45809498e-05 9.99987710e-01 9.46106665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:294.00, Y:4.42, Z:0.95 [[ 9.99966013e-01 6.58740470e-03 4.95770559e-03 2.94002757e+02] [-6.58731724e-03 9.99978303e-01 -3.39699257e-05 4.41869057e+00] [-4.95782179e-03 1.31079170e-06 9.99987710e-01 9.47434669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:294.03, Y:4.42, Z:0.96 [[ 9.99943659e-01 9.38613140e-03 4.95770105e-03 2.94033383e+02] [-9.38607511e-03 9.99955949e-01 -3.46195115e-05 4.41940176e+00] [-4.95780760e-03 -1.19157935e-05 9.99987710e-01 9.59547191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:294.07, Y:4.42, Z:0.96 [[ 9.99868371e-01 1.54486373e-02 4.95783770e-03 2.94065278e+02] [-1.54487513e-02 9.99880661e-01 -1.53144575e-05 4.42122234e+00] [-4.95748262e-03 -6.12799598e-05 9.99987710e-01 9.60667763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:294.10, Y:4.42, Z:0.95 [[ 9.99799812e-01 1.93844356e-02 4.95783046e-03 2.94097479e+02] [-1.93845931e-02 9.99812101e-01 -1.63034396e-05 4.42264017e+00] [-4.95721492e-03 -7.98053499e-05 9.99987710e-01 9.48667929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18864 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:294.13, Y:4.42, Z:0.96 [[ 9.99784124e-01 2.01773841e-02 4.95767654e-03 2.94127912e+02] [-2.01774489e-02 9.99796414e-01 -3.69533834e-05 4.42397330e+00] [-4.95741285e-03 -6.30878591e-05 9.99987710e-01 9.61651601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:294.16, Y:4.43, Z:0.95 [[ 9.99751591e-01 2.17296264e-02 4.95779221e-03 2.94159209e+02] [-2.17297870e-02 9.99763880e-01 -2.14841605e-05 4.42528267e+00] [-4.95708842e-03 -8.62529450e-05 9.99987710e-01 9.47691097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24864 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:294.19, Y:4.43, Z:0.96 [[ 9.99814244e-01 1.86252083e-02 4.95766973e-03 2.94189549e+02] [-1.86252507e-02 9.99826534e-01 -3.76232417e-05 4.42536879e+00] [-4.95751049e-03 -5.47215885e-05 9.99987710e-01 9.59245246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27864 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:294.22, Y:4.43, Z:0.96 [[ 9.99888531e-01 1.40834848e-02 4.95786867e-03 2.94220553e+02] [-1.40836007e-02 9.99900821e-01 -1.15544181e-05 4.42603893e+00] [-4.95753969e-03 -5.82715124e-05 9.99987710e-01 9.60443691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:294.25, Y:4.43, Z:0.94 [[ 9.99905471e-01 1.28244998e-02 4.95790362e-03 2.94252937e+02] [-1.28246226e-02 9.99917761e-01 -7.01380238e-06 4.42589753e+00] [-4.95758584e-03 -5.65701036e-05 9.99987709e-01 9.44777517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:294.29, Y:4.42, Z:0.94 [[ 9.99936748e-01 1.00956354e-02 4.95764837e-03 2.94285236e+02] [-1.00955649e-02 9.99949038e-01 -3.92528433e-05 4.42491131e+00] [-4.95779200e-03 -1.07999002e-05 9.99987710e-01 9.44130472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:294.32, Y:4.42, Z:0.95 [[ 9.99949926e-01 8.69293678e-03 4.95764309e-03 2.94317873e+02] [-8.69284576e-03 9.99962216e-01 -3.99083437e-05 4.42369505e+00] [-4.95780269e-03 -3.18968133e-06 9.99987710e-01 9.45153353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:294.35, Y:4.42, Z:0.95 [[ 9.99961994e-01 7.17164178e-03 4.95763769e-03 2.94349945e+02] [-7.17152879e-03 9.99974283e-01 -4.05683347e-05 4.42240686e+00] [-4.95780114e-03 5.01295144e-06 9.99987710e-01 9.45528252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864000000003 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:294.38, Y:4.42, Z:0.94 [[ 9.99960071e-01 7.43488018e-03 4.95763226e-03 2.94382479e+02] [-7.43476718e-03 9.99972361e-01 -4.12216804e-05 4.42189388e+00] [-4.95780171e-03 4.36119290e-06 9.99987710e-01 9.44476308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:294.41, Y:4.42, Z:0.94 [[ 9.99940307e-01 9.73676593e-03 4.95762671e-03 2.94414369e+02] [-9.73667797e-03 9.99952597e-01 -4.18783308e-05 4.42026630e+00] [-4.95779946e-03 -6.39498378e-06 9.99987710e-01 9.44681872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:294.44, Y:4.42, Z:0.96 [[ 9.99933509e-01 1.04115236e-02 4.95762109e-03 2.94444766e+02] [-1.04114407e-02 9.99945799e-01 -4.25338284e-05 4.41934377e+00] [-4.95779522e-03 -9.08497767e-06 9.99987710e-01 9.57421340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:294.48, Y:4.42, Z:0.95 [[ 9.99901741e-01 1.31121619e-02 4.95774132e-03 2.94477456e+02] [-1.31121820e-02 9.99914031e-01 -2.84480143e-05 4.41916803e+00] [-4.95768813e-03 -3.65615877e-05 9.99987710e-01 9.45786243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:294.51, Y:4.42, Z:0.95 [[ 9.99852642e-01 1.64352237e-02 4.95760914e-03 2.94509802e+02] [-1.64352100e-02 9.99864932e-01 -4.35099888e-05 4.42076153e+00] [-4.95765462e-03 -3.79757700e-05 9.99987710e-01 9.46803395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:294.54, Y:4.42, Z:0.95 [[ 9.99815629e-01 1.85507589e-02 4.95760327e-03 2.94541964e+02] [-1.85507679e-02 9.99827919e-01 -4.41684417e-05 4.42077003e+00] [-4.95756952e-03 -4.78070495e-05 9.99987710e-01 9.47453360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:294.57, Y:4.42, Z:0.95 [[ 9.99783871e-01 2.01899225e-02 4.95759733e-03 2.94574144e+02] [-2.01899484e-02 9.99796161e-01 -4.48257357e-05 4.42045604e+00] [-4.95749180e-03 -5.52775866e-05 9.99987710e-01 9.47046209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:294.61, Y:4.42, Z:0.96 [[ 9.99766216e-01 2.10460284e-02 4.95759127e-03 2.94605211e+02] [-2.10460615e-02 9.99778506e-01 -4.54862329e-05 4.42228591e+00] [-4.95745049e-03 -5.88621719e-05 9.99987710e-01 9.59003335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:294.64, Y:4.43, Z:0.96 [[ 9.99717603e-01 2.32408500e-02 4.95758776e-03 2.94637594e+02] [-2.32409083e-02 9.99729893e-01 -4.58652333e-05 4.42542377e+00] [-4.95731462e-03 -6.93665613e-05 9.99987710e-01 9.60024769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:294.67, Y:4.43, Z:0.95 [[ 9.99594439e-01 2.80424810e-02 4.95745563e-03 2.94668530e+02] [-2.80425287e-02 9.99606729e-01 -5.99071868e-05 4.43329079e+00] [-4.95718595e-03 -7.91367008e-05 9.99987710e-01 9.49905115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:294.70, Y:4.43, Z:0.95 [[ 9.99590698e-01 2.81754843e-02 4.95758207e-03 2.94701201e+02] [-2.81756006e-02 9.99602988e-01 -4.63959399e-05 4.43300338e+00] [-4.95692108e-03 -9.33059023e-05 9.99987710e-01 9.49742315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75864 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:294.73, Y:4.44, Z:0.96 [[ 9.99586077e-01 2.83389673e-02 4.95757581e-03 2.94730716e+02] [-2.83390824e-02 9.99598366e-01 -4.70559226e-05 4.43669750e+00] [-4.95691820e-03 -9.34567040e-05 9.99987710e-01 9.60085016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:294.76, Y:4.44, Z:0.96 [[ 9.99559001e-01 2.92783813e-02 4.95781032e-03 2.94761964e+02] [-2.92786305e-02 9.99571289e-01 -2.23323268e-05 4.44022379e+00] [-4.95633871e-03 -1.22835418e-04 9.99987710e-01 9.62204762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81864 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:294.79, Y:4.44, Z:0.96 [[ 9.99612848e-01 2.73783839e-02 4.95767063e-03 2.94793657e+02] [-2.73785383e-02 9.99625137e-01 -3.67344957e-05 4.44487739e+00] [-4.95681791e-03 -9.90135014e-05 9.99987710e-01 9.57962770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:294.83, Y:4.45, Z:0.96 [[ 9.99672284e-01 2.51146844e-02 4.95758739e-03 2.94825787e+02] [-2.51147682e-02 9.99684573e-01 -4.53676712e-05 4.44704791e+00] [-4.95716303e-03 -7.91558545e-05 9.99987710e-01 9.59288912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87864 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:294.86, Y:4.45, Z:0.96 [[ 9.99750178e-01 2.17945984e-02 4.95757530e-03 2.94857075e+02] [-2.17946352e-02 9.99762468e-01 -4.66051604e-05 4.44947673e+00] [-4.95741345e-03 -6.14550276e-05 9.99987710e-01 9.59546099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:294.89, Y:4.46, Z:0.95 [[ 9.99847618e-01 1.67380250e-02 4.95768334e-03 2.94889596e+02] [-1.67380541e-02 9.99859908e-01 -3.56332856e-05 4.45644814e+00] [-4.95758524e-03 -4.73541161e-05 9.99987710e-01 9.47968071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93864 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:294.92, Y:4.46, Z:0.96 [[ 9.99923706e-01 1.13139695e-02 4.95753770e-03 2.94919310e+02] [-1.13138604e-02 9.99935995e-01 -5.00575575e-05 4.45802844e+00] [-4.95778674e-03 -6.03515088e-06 9.99987710e-01 9.60063776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:294.95, Y:4.46, Z:0.95 [[ 9.99935796e-01 1.01894375e-02 4.95781753e-03 2.94951547e+02] [-1.01894511e-02 9.99948086e-01 -2.25107437e-05 4.45926086e+00] [-4.95778952e-03 -2.80081409e-05 9.99987710e-01 9.45454918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:294.98, Y:4.46, Z:0.94 [[ 9.99974683e-01 5.10454936e-03 4.95751107e-03 2.94983450e+02] [-5.10435515e-03 9.99986971e-01 -5.18260567e-05 4.46009640e+00] [-4.95771102e-03 2.65198475e-05 9.99987710e-01 9.44743994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02864 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:295.01, Y:4.46, Z:0.96 [[ 9.99986170e-01 1.75564982e-03 4.95748646e-03 2.95013122e+02] [-1.75540328e-03 9.99998458e-01 -5.40815486e-05 4.46032828e+00] [-4.95757376e-03 4.53784127e-05 9.99987710e-01 9.56437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:295.05, Y:4.46, Z:0.94 [[ 9.99986720e-01 1.40697329e-03 4.95784129e-03 2.95046094e+02] [-1.40687955e-03 9.99999010e-01 -2.23948473e-05 4.45986490e+00] [-4.95786789e-03 1.54194644e-05 9.99987710e-01 9.43856980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08864 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:295.08, Y:4.46, Z:0.95 [[ 9.99984923e-01 -2.36163174e-03 4.95745153e-03 2.95075549e+02] [ 2.36194115e-03 9.99997209e-01 -5.65585976e-05 4.45522799e+00] [-4.95730412e-03 6.82669536e-05 9.99987710e-01 9.54518059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:295.11, Y:4.45, Z:0.94 [[ 9.99985776e-01 -1.96656678e-03 4.95780294e-03 2.95108686e+02] [ 1.96672092e-03 9.99998066e-01 -2.62165658e-05 4.45279895e+00] [-4.95774179e-03 3.59668077e-05 9.99987710e-01 9.43417332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:295.14, Y:4.45, Z:0.94 [[ 9.99984925e-01 -2.36090264e-03 4.95740435e-03 2.95141451e+02] [ 2.36122638e-03 9.99997211e-01 -5.94527685e-05 4.45050827e+00] [-4.95725016e-03 7.11574262e-05 9.99987710e-01 9.43489665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17864000000003 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:295.17, Y:4.45, Z:0.94 [[ 9.99987301e-01 -9.06494587e-04 4.95737317e-03 2.95174568e+02] [ 9.06812829e-04 9.99999587e-01 -6.19484426e-05 4.44817156e+00] [-4.95731496e-03 6.64430655e-05 9.99987710e-01 9.42981490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20864 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:295.20, Y:4.44, Z:0.96 [[ 9.99981927e-01 -3.40158817e-03 4.95736119e-03 2.95202215e+02] [ 3.40194174e-03 9.99994211e-01 -6.28923078e-05 4.44476437e+00] [-4.95711856e-03 7.97558251e-05 9.99987710e-01 9.57181383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:295.24, Y:4.44, Z:0.94 [[ 9.99987479e-01 6.76056023e-04 4.95827680e-03 2.95237190e+02] [-6.76116045e-04 9.99999771e-01 1.04291997e-05 4.44090349e+00] [-4.95826862e-03 -1.37814396e-05 9.99987708e-01 9.42394309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26864 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:295.26, Y:4.44, Z:0.96 [[ 9.99987262e-01 -9.48847282e-04 4.95729592e-03 2.95264951e+02] [ 9.49179742e-04 9.99999547e-01 -6.47125415e-05 4.43550134e+00] [-4.95723227e-03 6.94170821e-05 9.99987710e-01 9.56416205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:295.30, Y:4.43, Z:0.94 [[ 9.99982151e-01 3.33360829e-03 4.95831002e-03 2.95299773e+02] [-3.33370646e-03 9.99994443e-01 1.15350803e-05 4.43412528e+00] [-4.95824402e-03 -2.80644246e-05 9.99987707e-01 9.44041712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:295.33, Y:4.43, Z:0.94 [[ 9.99972004e-01 5.60506686e-03 4.95721598e-03 2.95332121e+02] [-5.60479812e-03 9.99984291e-01 -6.81022176e-05 4.42986004e+00] [-4.95751982e-03 4.03161162e-05 9.99987711e-01 9.43029011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:295.36, Y:4.43, Z:0.94 [[ 9.99961151e-01 7.28856811e-03 4.95720712e-03 2.95364145e+02] [-7.28831689e-03 9.99973438e-01 -6.87410366e-05 4.42678963e+00] [-4.95757647e-03 3.26086697e-05 9.99987711e-01 9.43270617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:295.40, Y:4.42, Z:0.94 [[ 9.99946344e-01 9.09593799e-03 4.95719811e-03 2.95396174e+02] [-9.09570579e-03 9.99958631e-01 -6.93846063e-05 4.42457970e+00] [-4.95762416e-03 2.42916678e-05 9.99987711e-01 9.43927057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:295.43, Y:4.42, Z:0.95 [[ 9.99896817e-01 1.34826535e-02 4.95718897e-03 2.95428230e+02] [-1.34824720e-02 9.99909105e-01 -7.00318743e-05 4.42195431e+00] [-4.95768260e-03 3.18948650e-06 9.99987711e-01 9.45843313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:295.46, Y:4.42, Z:0.95 [[ 9.99871039e-01 1.52752045e-02 4.95717975e-03 2.95460080e+02] [-1.52750418e-02 9.99883327e-01 -7.06786489e-05 4.42038540e+00] [-4.95768101e-03 -5.05159388e-06 9.99987711e-01 9.46243951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:295.49, Y:4.42, Z:0.95 [[ 9.99847094e-01 1.67694894e-02 4.95717032e-03 2.95491758e+02] [-1.67693418e-02 9.99859382e-01 -7.13335821e-05 4.41853968e+00] [-4.95766949e-03 -1.18058088e-05 9.99987711e-01 9.45270845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50864 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:295.52, Y:4.42, Z:0.96 [[ 9.99895590e-01 1.35733305e-02 4.95716083e-03 2.95518961e+02] [-1.35731404e-02 9.99907878e-01 -7.19873679e-05 4.41591742e+00] [-4.95768128e-03 4.69561187e-06 9.99987711e-01 9.63896184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:295.55, Y:4.41, Z:0.95 [[ 9.99830009e-01 1.77585621e-02 4.95855523e-03 2.95552697e+02] [-1.77588862e-02 9.99842298e-01 2.13458722e-05 4.41469104e+00] [-4.95739419e-03 -1.09400662e-04 9.99987706e-01 9.45727451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56864 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:295.58, Y:4.41, Z:0.96 [[ 9.99895573e-01 1.35746551e-02 4.95705600e-03 2.95580582e+02] [-1.35744441e-02 9.99907860e-01 -7.61936835e-05 4.41268188e+00] [-4.95763356e-03 8.89644704e-06 9.99987711e-01 9.56299044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:295.61, Y:4.41, Z:0.95 [[ 9.99887355e-01 1.41666618e-02 4.95805918e-03 2.95612633e+02] [-1.41667848e-02 9.99899646e-01 -1.03153311e-05 4.40936361e+00] [-4.95770776e-03 -5.99255883e-05 9.99987709e-01 9.53962832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:295.65, Y:4.41, Z:0.94 [[ 9.99850509e-01 1.65644829e-02 4.95750955e-03 2.95645364e+02] [-1.65644598e-02 9.99862799e-01 -4.57124983e-05 4.40875446e+00] [-4.95758658e-03 -3.64128032e-05 9.99987710e-01 9.43437432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:295.68, Y:4.41, Z:0.94 [[ 9.99819294e-01 1.83522960e-02 4.95699651e-03 2.95677925e+02] [-1.83521337e-02 9.99831582e-01 -7.82238364e-05 4.40879014e+00] [-4.95759725e-03 -1.27617620e-05 9.99987711e-01 9.43336544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:295.71, Y:4.41, Z:0.94 [[ 9.99773327e-01 2.07056385e-02 4.95698613e-03 2.95709974e+02] [-2.07055019e-02 9.99785615e-01 -7.88759565e-05 4.40769842e+00] [-4.95755661e-03 -2.37788086e-05 9.99987711e-01 9.43644457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:295.74, Y:4.41, Z:0.95 [[ 9.99708333e-01 2.36363714e-02 4.95697558e-03 2.95740392e+02] [-2.36362676e-02 9.99720621e-01 -7.95336766e-05 4.40757202e+00] [-4.95747060e-03 -3.76539222e-05 9.99987711e-01 9.54565599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:295.77, Y:4.41, Z:0.96 [[ 9.99661969e-01 2.55220096e-02 4.95731767e-03 2.95771183e+02] [-2.55220362e-02 9.99674258e-01 -5.78990371e-05 4.40879636e+00] [-4.95718057e-03 -6.86413758e-05 9.99987711e-01 9.56484703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:295.80, Y:4.41, Z:0.95 [[ 9.99603815e-01 2.77062783e-02 4.95742356e-03 2.95803005e+02] [-2.77063649e-02 9.99616104e-01 -5.12097812e-05 4.41037782e+00] [-4.95693925e-03 -8.61626935e-05 9.99987711e-01 9.54810828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:295.83, Y:4.41, Z:0.95 [[ 9.99530878e-01 3.02233039e-02 4.95735868e-03 2.95834828e+02] [-3.02234014e-02 9.99543167e-01 -5.52567315e-05 4.41232433e+00] [-4.95676404e-03 -9.45974320e-05 9.99987711e-01 9.54650117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:295.87, Y:4.41, Z:0.94 [[ 9.99491134e-01 3.15103433e-02 4.95697070e-03 2.95866414e+02] [-3.15103368e-02 9.99503423e-01 -7.94213557e-05 4.41324691e+00] [-4.95701177e-03 -7.68148753e-05 9.99987711e-01 9.43052971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:295.90, Y:4.41, Z:0.94 [[ 9.99482370e-01 3.17871047e-02 4.95696022e-03 2.95898955e+02] [-3.17870984e-02 9.99494659e-01 -8.00698779e-05 4.41428124e+00] [-4.95700046e-03 -7.75389509e-05 9.99987711e-01 9.43311354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89864 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:295.93, Y:4.42, Z:0.96 [[ 9.99535597e-01 3.00669062e-02 4.95694941e-03 2.95930158e+02] [-3.00668754e-02 9.99547886e-01 -8.07338108e-05 4.41605269e+00] [-4.95713572e-03 -6.83436626e-05 9.99987711e-01 9.55915376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864000000003 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:295.96, Y:4.42, Z:0.95 [[ 9.99522218e-01 3.05084478e-02 4.95690400e-03 2.95961910e+02] [-3.05084086e-02 9.99534507e-01 -8.35229010e-05 4.41742771e+00] [-4.95714474e-03 -6.77442575e-05 9.99987711e-01 9.52617864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:295.99, Y:4.42, Z:0.94 [[ 9.99509158e-01 3.09333569e-02 4.95682686e-03 2.95992210e+02] [-3.09332994e-02 9.99521447e-01 -8.82686783e-05 4.42095822e+00] [-4.95718521e-03 -6.51056572e-05 9.99987711e-01 9.41065574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:296.02, Y:4.42, Z:0.95 [[ 9.99496294e-01 3.13462247e-02 4.95696562e-03 2.96023715e+02] [-3.13462152e-02 9.99508583e-01 -7.96315127e-05 4.42240214e+00] [-4.95702583e-03 -7.57907089e-05 9.99987711e-01 9.53568420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:296.05, Y:4.42, Z:0.94 [[ 9.99466293e-01 3.22887094e-02 4.95671713e-03 2.96054059e+02] [-3.22886352e-02 9.99478582e-01 -9.50135429e-05 4.42352101e+00] [-4.95720047e-03 -6.50827979e-05 9.99987711e-01 9.40508161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:296.08, Y:4.43, Z:0.95 [[ 9.99424538e-01 3.35562417e-02 4.95696129e-03 2.96084983e+02] [-3.35562582e-02 9.99436827e-01 -7.98581302e-05 4.42561087e+00] [-4.95684940e-03 -8.65248979e-05 9.99987711e-01 9.53820141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:296.12, Y:4.43, Z:0.94 [[ 9.99382398e-01 3.47887322e-02 4.95656691e-03 2.96115255e+02] [-3.47886416e-02 9.99394687e-01 -1.04525839e-04 4.42709610e+00] [-4.95720296e-03 -6.79709463e-05 9.99987711e-01 9.42599992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:296.15, Y:4.43, Z:0.96 [[ 9.99406527e-01 3.40884326e-02 4.95698070e-03 2.96146724e+02] [-3.40884632e-02 9.99418816e-01 -7.83454056e-05 4.42830759e+00] [-4.95677045e-03 -9.06769442e-05 9.99987711e-01 9.55282594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:296.18, Y:4.43, Z:0.94 [[ 9.99413413e-01 3.38860289e-02 4.95649003e-03 2.96176622e+02] [-3.38859039e-02 9.99425702e-01 -1.09218923e-04 4.43155556e+00] [-4.95734452e-03 -5.88002886e-05 9.99987711e-01 9.41888218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:296.21, Y:4.43, Z:0.95 [[ 9.99405276e-01 3.41250938e-02 4.95698134e-03 2.96208350e+02] [-3.41251265e-02 9.99417565e-01 -7.79932565e-05 4.43315489e+00] [-4.95675575e-03 -9.12107433e-05 9.99987711e-01 9.54545417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:296.24, Y:4.43, Z:0.95 [[ 9.99394346e-01 3.44437864e-02 4.95648192e-03 2.96239474e+02] [-3.44436663e-02 9.99406635e-01 -1.09604203e-04 4.43483753e+00] [-4.95731610e-03 -6.11815893e-05 9.99987711e-01 9.53670293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:296.27, Y:4.44, Z:0.94 [[ 9.99286365e-01 3.74458577e-02 4.95662269e-03 2.96269563e+02] [-3.74458194e-02 9.99298654e-01 -1.00556988e-04 4.43840648e+00] [-4.95691183e-03 -8.51195710e-05 9.99987711e-01 9.39391365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25864 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:296.30, Y:4.44, Z:0.95 [[ 9.99286564e-01 3.74405113e-02 4.95700144e-03 2.96300962e+02] [-3.74405958e-02 9.99298852e-01 -7.57832198e-05 4.43922413e+00] [-4.95636321e-03 -1.09863934e-04 9.99987711e-01 9.52793429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:296.33, Y:4.44, Z:0.95 [[ 9.99393522e-01 3.44676762e-02 4.95652163e-03 2.96332405e+02] [-3.44675677e-02 9.99405811e-01 -1.07328366e-04 4.44099013e+00] [-4.95727588e-03 -6.35759718e-05 9.99987711e-01 9.54513186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31864 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:296.36, Y:4.44, Z:0.95 [[ 9.99442683e-01 3.30114236e-02 4.95673420e-03 2.96364236e+02] [-3.30113671e-02 9.99454972e-01 -9.32344600e-05 4.44141392e+00] [-4.95711044e-03 -7.04460736e-05 9.99987711e-01 9.53492612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:296.40, Y:4.44, Z:0.95 [[ 9.99588252e-01 2.82623077e-02 4.95668152e-03 2.96395052e+02] [-2.82621753e-02 9.99600540e-01 -9.67688308e-05 4.44071840e+00] [-4.95743644e-03 -4.33576156e-05 9.99987711e-01 9.52428040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37864 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:296.43, Y:4.44, Z:0.95 [[ 9.99700189e-01 2.39783652e-02 4.95679877e-03 2.96426090e+02] [-2.39782200e-02 9.99712477e-01 -8.87218413e-05 4.43965777e+00] [-4.95750098e-03 -3.01599700e-05 9.99987711e-01 9.51824912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:296.46, Y:4.44, Z:0.94 [[ 9.99756870e-01 2.14855801e-02 4.95697670e-03 2.96458022e+02] [-2.14854651e-02 9.99769158e-01 -7.64391866e-05 4.43914329e+00] [-4.95747476e-03 -3.00823481e-05 9.99987711e-01 9.38846358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43864 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:296.49, Y:4.44, Z:0.95 [[ 9.99857382e-01 1.61444414e-02 4.95705082e-03 2.96488456e+02] [-1.61442864e-02 9.99869670e-01 -7.12848349e-05 4.43797212e+00] [-4.95755562e-03 -8.75337977e-06 9.99987711e-01 9.52025850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:296.52, Y:4.44, Z:0.95 [[ 9.99946050e-01 9.12804176e-03 4.95737701e-03 2.96520962e+02] [-9.12791383e-03 9.99958339e-01 -4.84305503e-05 4.43600976e+00] [-4.95761255e-03 3.17742737e-06 9.99987711e-01 9.51449077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:296.55, Y:4.43, Z:0.94 [[ 9.99960382e-01 7.39315201e-03 4.95737770e-03 2.96553614e+02] [-7.39300300e-03 9.99972670e-01 -4.83828300e-05 4.43465001e+00] [-4.95759992e-03 1.17310050e-05 9.99987711e-01 9.37149364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:296.59, Y:4.43, Z:0.94 [[ 9.99986956e-01 1.23095061e-03 4.95699359e-03 2.96586526e+02] [-1.23059849e-03 9.99999240e-01 -7.40841170e-05 4.43040113e+00] [-4.95708101e-03 6.79830819e-05 9.99987711e-01 9.36357612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:296.62, Y:4.43, Z:0.94 [[ 9.99987656e-01 -3.42344630e-04 4.95695434e-03 2.96618324e+02] [ 3.42728658e-04 9.99999938e-01 -7.66234221e-05 4.42833126e+00] [-4.95692780e-03 7.83213665e-05 9.99987711e-01 9.37900939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:296.65, Y:4.43, Z:0.94 [[ 9.99986041e-01 -1.82954420e-03 4.95692000e-03 2.96650996e+02] [ 1.82995720e-03 9.99998323e-01 -7.87838822e-05 4.42563477e+00] [-4.95676754e-03 8.78537339e-05 9.99987711e-01 9.37430604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:296.68, Y:4.42, Z:0.94 [[ 9.99986989e-01 -1.20437948e-03 4.95687914e-03 2.96683281e+02] [ 1.20479715e-03 9.99999271e-01 -8.12755061e-05 4.42031033e+00] [-4.95677764e-03 8.72464825e-05 9.99987711e-01 9.37731456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:296.72, Y:4.42, Z:0.94 [[ 9.99987467e-01 -7.03693567e-04 4.95686882e-03 2.96716828e+02] [ 7.04108185e-04 9.99999749e-01 -8.19005645e-05 4.42005792e+00] [-4.95680994e-03 8.53897100e-05 9.99987711e-01 9.37565191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:296.75, Y:4.42, Z:0.94 [[ 9.99987284e-01 9.28325665e-04 4.95682657e-03 2.96749392e+02] [-9.27918792e-04 9.99999566e-01 -8.43824248e-05 4.41661852e+00] [-4.95690275e-03 7.97818192e-05 9.99987711e-01 9.37399615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:296.78, Y:4.41, Z:0.95 [[ 9.99987336e-01 8.71049270e-04 4.95681585e-03 2.96778769e+02] [-8.70638597e-04 9.99999617e-01 -8.50073509e-05 4.41284670e+00] [-4.95688800e-03 8.06906792e-05 9.99987711e-01 9.50905019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:296.81, Y:4.41, Z:0.94 [[ 9.99958223e-01 7.67959370e-03 4.95752685e-03 2.96811902e+02] [-7.67947352e-03 9.99970511e-01 -4.32776167e-05 4.40730827e+00] [-4.95771302e-03 5.20461245e-06 9.99987710e-01 9.39031178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:296.84, Y:4.40, Z:0.95 [[ 9.99956758e-01 7.86844573e-03 4.95676915e-03 2.96841741e+02] [-7.86811296e-03 9.99969042e-01 -8.66315106e-05 4.40418030e+00] [-4.95729735e-03 4.76273449e-05 9.99987711e-01 9.51272542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:296.88, Y:4.40, Z:0.94 [[ 9.99857401e-01 1.61431232e-02 4.95750413e-03 2.96875448e+02] [-1.61431004e-02 9.99869691e-01 -4.46231014e-05 4.40174660e+00] [-4.95757847e-03 -3.54127486e-05 9.99987711e-01 9.38954329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:296.91, Y:4.40, Z:0.95 [[ 9.99820677e-01 1.82769200e-02 4.95671273e-03 2.96905195e+02] [-1.82767044e-02 9.99832963e-01 -8.87988910e-05 4.40153186e+00] [-4.95750774e-03 -1.80940595e-06 9.99987711e-01 9.51802167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:296.94, Y:4.40, Z:0.95 [[ 9.99721287e-01 2.30818463e-02 4.95748627e-03 2.96936970e+02] [-2.30819037e-02 9.99733576e-01 -4.56481846e-05 4.40205796e+00] [-4.95721913e-03 -6.87927590e-05 9.99987711e-01 9.52442292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88864 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:296.97, Y:4.41, Z:0.95 [[ 9.99449261e-01 3.28115833e-02 4.95734889e-03 2.96968024e+02] [-3.28117224e-02 9.99461549e-01 -5.32914732e-05 4.40529399e+00] [-4.95642817e-03 -1.09397032e-04 9.99987711e-01 9.53197114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91864 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:297.00, Y:4.41, Z:0.95 [[ 9.99269912e-01 3.78822833e-02 4.95730359e-03 2.96999273e+02] [-3.78824723e-02 9.99282200e-01 -5.57929881e-05 4.40600239e+00] [-4.95585880e-03 -1.32042662e-04 9.99987711e-01 9.52860615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94864 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:297.03, Y:4.41, Z:0.96 [[ 9.99181019e-01 4.01586941e-02 4.95692154e-03 2.97029384e+02] [-4.01588071e-02 9.99193307e-01 -7.67706745e-05 4.40960008e+00] [-4.95600583e-03 -1.22356255e-04 9.99987711e-01 9.58654448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:297.06, Y:4.41, Z:0.94 [[ 9.99044819e-01 4.34151514e-02 4.95729794e-03 2.97061524e+02] [-4.34154066e-02 9.99057105e-01 -5.61627185e-05 4.41200570e+00] [-4.95506204e-03 -1.59114033e-04 9.99987711e-01 9.44136620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:297.09, Y:4.41, Z:0.94 [[ 9.99103536e-01 4.20423223e-02 4.95665124e-03 2.97092742e+02] [-4.20423866e-02 9.99115824e-01 -9.12796192e-05 4.41409933e+00] [-4.95610630e-03 -1.17191658e-04 9.99987712e-01 9.43368422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:297.12, Y:4.42, Z:0.95 [[ 9.99349341e-01 3.57257206e-02 4.95664522e-03 2.97123646e+02] [-3.57257056e-02 9.99361629e-01 -9.16056109e-05 4.41506532e+00] [-4.95675372e-03 -8.55336409e-05 9.99987712e-01 9.52714716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:297.15, Y:4.42, Z:0.95 [[ 9.99440706e-01 3.30712038e-02 4.95692975e-03 2.97154450e+02] [-3.30712320e-02 9.99452994e-01 -7.63082114e-05 4.41599395e+00] [-4.95674189e-03 -8.76662412e-05 9.99987711e-01 9.54516956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:297.19, Y:4.42, Z:0.95 [[ 9.99536456e-01 3.00382729e-02 4.95728828e-03 2.97185394e+02] [-3.00383590e-02 9.99548745e-01 -5.71054854e-05 4.41896047e+00] [-4.95676663e-03 -9.18297906e-05 9.99987711e-01 9.52844561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.22, Y:4.42, Z:0.94 [[ 9.99472911e-01 3.20830223e-02 4.95778931e-03 2.97217856e+02] [-3.20832624e-02 9.99485199e-01 -3.11203424e-05 4.41869450e+00] [-4.95623547e-03 -1.27958116e-04 9.99987710e-01 9.40681008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.25, Y:4.42, Z:0.94 [[ 9.99530869e-01 3.02237640e-02 4.95650268e-03 2.97250524e+02] [-3.02236549e-02 9.99543156e-01 -9.69198391e-05 4.41813579e+00] [-4.95716761e-03 -5.29292557e-05 9.99987712e-01 9.40024409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:297.28, Y:4.42, Z:0.94 [[ 9.99598211e-01 2.79078817e-02 4.95648990e-03 2.97282255e+02] [-2.79077409e-02 9.99610498e-01 -9.75687702e-05 4.41994136e+00] [-4.95728228e-03 -4.07948680e-05 9.99987712e-01 9.39141676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:297.31, Y:4.42, Z:0.94 [[ 9.99612152e-01 2.74039953e-02 4.95648013e-03 2.97313999e+02] [-2.74038459e-02 9.99624439e-01 -9.80624470e-05 4.42165444e+00] [-4.95730598e-03 -3.78022043e-05 9.99987712e-01 9.39029872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:297.35, Y:4.42, Z:0.94 [[ 9.99605109e-01 2.76597262e-02 4.95647044e-03 2.97346157e+02] [-2.76595776e-02 9.99617396e-01 -9.85499409e-05 4.42283442e+00] [-4.95729994e-03 -3.85828543e-05 9.99987712e-01 9.38366191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:297.38, Y:4.42, Z:0.94 [[ 9.99632843e-01 2.66385577e-02 4.95645740e-03 2.97378553e+02] [-2.66383933e-02 9.99645130e-01 -9.92016291e-05 4.42251377e+00] [-4.95734109e-03 -3.28668549e-05 9.99987712e-01 9.39574528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30864 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:297.41, Y:4.42, Z:0.95 [[ 9.99699548e-01 2.40051446e-02 4.95644430e-03 2.97407925e+02] [-2.40049446e-02 9.99711835e-01 -9.98520438e-05 4.42253814e+00] [-4.95741298e-03 -1.91571276e-05 9.99987712e-01 9.49968006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:297.44, Y:4.42, Z:0.95 [[ 9.99729007e-01 2.27450845e-02 4.95712371e-03 2.97440211e+02] [-2.27450385e-02 9.99741296e-01 -6.56747532e-05 4.42434512e+00] [-4.95733506e-03 -4.70930137e-05 9.99987711e-01 9.46991760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36864 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:297.47, Y:4.42, Z:0.95 [[ 9.99804594e-01 1.91364812e-02 4.95660329e-03 2.97470071e+02] [-1.91362616e-02 9.99816881e-01 -9.17225275e-05 4.42253164e+00] [-4.95745089e-03 -3.14625305e-06 9.99987712e-01 9.50729817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39864 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:297.50, Y:4.42, Z:0.95 [[ 9.99807473e-01 1.89852915e-02 4.95739816e-03 2.97502741e+02] [-1.89852654e-02 9.99819762e-01 -5.23142457e-05 4.42027840e+00] [-4.95749785e-03 -4.18133462e-05 9.99987711e-01 9.50947500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:297.53, Y:4.42, Z:0.94 [[ 9.99828424e-01 1.78480496e-02 4.95676849e-03 2.97534873e+02] [-1.78478571e-02 9.99840711e-01 -8.30826262e-05 4.41788640e+00] [-4.95746180e-03 -5.39932440e-06 9.99987712e-01 9.35631795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:297.57, Y:4.42, Z:0.94 [[ 9.99843732e-01 1.69689557e-02 4.95636882e-03 2.97566901e+02] [-1.69686565e-02 9.99856017e-01 -1.02423168e-04 4.41802411e+00] [-4.95739320e-03 1.83042427e-05 9.99987712e-01 9.37218703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:297.60, Y:4.41, Z:0.93 [[ 9.99878011e-01 1.48120869e-02 4.95635550e-03 2.97599503e+02] [-1.48117580e-02 9.99890295e-01 -1.03063936e-04 4.41429593e+00] [-4.95733835e-03 2.96390253e-05 9.99987712e-01 9.34852355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:297.63, Y:4.41, Z:0.94 [[ 9.99909893e-01 1.24756375e-02 4.95633859e-03 2.97629837e+02] [-1.24752758e-02 9.99922175e-01 -1.03870848e-04 4.41084761e+00] [-4.95724872e-03 4.20297974e-05 9.99987712e-01 9.43831076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:297.66, Y:4.41, Z:0.95 [[ 9.99932294e-01 1.05279816e-02 4.95670817e-03 2.97661177e+02] [-1.05276831e-02 9.99944579e-01 -8.63112841e-05 4.40805921e+00] [-4.95734214e-03 3.41227876e-05 9.99987712e-01 9.47693771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57864 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:297.69, Y:4.41, Z:0.95 [[ 9.99932272e-01 1.05299343e-02 4.95701081e-03 2.97694021e+02] [-1.05297062e-02 9.99944559e-01 -7.21124896e-05 4.40697207e+00] [-4.95749533e-03 1.99117382e-05 9.99987711e-01 9.45099918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:297.72, Y:4.41, Z:0.95 [[ 9.99939509e-01 9.81896057e-03 4.95650809e-03 2.97724548e+02] [-9.81860789e-03 9.99951792e-01 -9.54843667e-05 4.40500546e+00] [-4.95720671e-03 4.68125812e-05 9.99987712e-01 9.46754800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:297.76, Y:4.40, Z:0.94 [[ 9.99927135e-01 1.10070787e-02 4.95663472e-03 2.97756589e+02] [-1.10067697e-02 9.99939420e-01 -8.96121488e-05 4.39876753e+00] [-4.95732081e-03 3.50490825e-05 9.99987712e-01 9.42689156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:297.79, Y:4.40, Z:0.94 [[ 9.99928712e-01 1.08631822e-02 4.95606054e-03 2.97788992e+02] [-1.08627411e-02 9.99940992e-01 -1.15905232e-04 4.39656090e+00] [-4.95702720e-03 6.20605667e-05 9.99987712e-01 9.42054064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69864 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:297.82, Y:4.40, Z:0.94 [[ 9.99920031e-01 1.16347169e-02 4.95633392e-03 2.97821366e+02] [-1.16343471e-02 9.99932313e-01 -1.03446061e-04 4.39545639e+00] [-4.95720201e-03 4.57740797e-05 9.99987712e-01 9.43971547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:297.85, Y:4.39, Z:0.93 [[ 9.99876075e-01 1.49422145e-02 4.95622967e-03 2.97852750e+02] [-1.49418618e-02 9.99888358e-01 -1.08188399e-04 4.39337970e+00] [-4.95729292e-03 3.41196924e-05 9.99987712e-01 9.29497725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:297.88, Y:4.39, Z:0.94 [[ 9.99879072e-01 1.47403180e-02 4.95620454e-03 2.97883468e+02] [-1.47399572e-02 9.99891355e-01 -1.09327832e-04 4.39030853e+00] [-4.95727760e-03 3.62603688e-05 9.99987712e-01 9.41696036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:297.91, Y:4.38, Z:0.93 [[ 9.99889906e-01 1.39861172e-02 4.95626627e-03 2.97914110e+02] [-1.39857609e-02 9.99902189e-01 -1.06540814e-04 4.38495678e+00] [-4.95727159e-03 3.72119291e-05 9.99987712e-01 9.28273051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:297.95, Y:4.38, Z:0.93 [[ 9.99904612e-01 1.28919715e-02 4.95619662e-03 2.97946226e+02] [-1.28915861e-02 9.99916894e-01 -1.09688236e-04 4.38308156e+00] [-4.95719883e-03 4.57845374e-05 9.99987712e-01 9.28965602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:297.98, Y:4.38, Z:0.93 [[ 9.99918396e-01 1.17744579e-02 4.95618242e-03 2.97978839e+02] [-1.17740557e-02 9.99930677e-01 -1.10325833e-04 4.38055235e+00] [-4.95713788e-03 5.19624619e-05 9.99987712e-01 9.28516733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87864 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:298.01, Y:4.38, Z:0.94 [[ 9.99948113e-01 8.89983126e-03 4.95616473e-03 2.98009038e+02] [-8.89938982e-03 9.99960393e-01 -1.11115204e-04 4.37544636e+00] [-4.95695734e-03 6.70025971e-05 9.99987712e-01 9.40099172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:298.04, Y:4.37, Z:0.93 [[ 9.99954359e-01 8.16804920e-03 4.95616413e-03 2.98040357e+02] [-8.16759865e-03 9.99966638e-01 -1.11141558e-04 4.37337463e+00] [-4.95690660e-03 7.06565263e-05 9.99987712e-01 9.27454251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:298.07, Y:4.37, Z:0.93 [[ 9.99958316e-01 7.66831913e-03 4.95615141e-03 2.98072912e+02] [-7.66785965e-03 9.99970595e-01 -1.11706035e-04 4.37142020e+00] [-4.95686228e-03 7.36983050e-05 9.99987712e-01 9.28477857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:298.10, Y:4.37, Z:0.93 [[ 9.99946950e-01 9.02959553e-03 4.95613709e-03 2.98104990e+02] [-9.02914963e-03 9.99959230e-01 -1.12338019e-04 4.36961052e+00] [-4.95694939e-03 6.75823563e-05 9.99987712e-01 9.29083481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99864 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:298.13, Y:4.37, Z:0.94 [[ 9.99950817e-01 8.59073903e-03 4.95612270e-03 2.98134613e+02] [-8.59028461e-03 9.99963096e-01 -1.12969063e-04 4.36835451e+00] [-4.95691029e-03 7.03890019e-05 9.99987712e-01 9.42329043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:298.17, Y:4.37, Z:0.93 [[ 9.99915947e-01 1.19802524e-02 4.95697085e-03 2.98167551e+02] [-1.19800255e-02 9.99928234e-01 -7.54689068e-05 4.36742282e+00] [-4.95751924e-03 1.60779263e-05 9.99987711e-01 9.29695967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:298.20, Y:4.37, Z:0.93 [[ 9.99913990e-01 1.21428431e-02 4.95611900e-03 2.98199758e+02] [-1.21424327e-02 9.99926272e-01 -1.12872937e-04 4.36625692e+00] [-4.95712419e-03 5.26838868e-05 9.99987712e-01 9.29096954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:298.23, Y:4.36, Z:0.93 [[ 9.99925280e-01 1.11745512e-02 4.95610440e-03 2.98232090e+02] [-1.11741258e-02 9.99937561e-01 -1.13510176e-04 4.36489606e+00] [-4.95706337e-03 5.81215606e-05 9.99987712e-01 9.30673150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:298.26, Y:4.36, Z:0.93 [[ 9.99948016e-01 8.91080634e-03 4.95608972e-03 2.98263809e+02] [-8.91035001e-03 9.99960296e-01 -1.14147761e-04 4.36231794e+00] [-4.95691009e-03 6.99813332e-05 9.99987712e-01 9.29286111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:298.30, Y:4.36, Z:0.93 [[ 9.99951065e-01 8.56182590e-03 4.95607503e-03 2.98296068e+02] [-8.56136214e-03 9.99963344e-01 -1.14781753e-04 4.36103894e+00] [-4.95687611e-03 7.23453831e-05 9.99987712e-01 9.29533047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17864000000003 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:298.33, Y:4.36, Z:0.93 [[ 9.99968819e-01 6.14799620e-03 4.95606040e-03 2.98327856e+02] [-6.14749969e-03 9.99981097e-01 -1.15410199e-04 4.36014660e+00] [-4.95667626e-03 8.49392209e-05 9.99987712e-01 9.30377442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20864 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:298.36, Y:4.36, Z:0.93 [[ 9.99974302e-01 5.18005685e-03 4.95604569e-03 2.98360278e+02] [-5.17954534e-03 9.99986579e-01 -1.16038643e-04 4.35834575e+00] [-4.95658026e-03 9.03655982e-05 9.99987712e-01 9.31803749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:298.39, Y:4.36, Z:0.93 [[ 9.99982139e-01 3.34059487e-03 4.95603084e-03 2.98392744e+02] [-3.34005765e-03 9.99994415e-01 -1.16669079e-04 4.35584937e+00] [-4.95639291e-03 1.00113566e-04 9.99987712e-01 9.31648557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26864 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:298.42, Y:4.35, Z:0.94 [[ 9.99984876e-01 2.38459087e-03 4.95601596e-03 2.98422294e+02] [-2.38403881e-03 9.99997151e-01 -1.17297985e-04 4.35368546e+00] [-4.95628155e-03 1.05480876e-04 9.99987712e-01 9.44058862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:298.46, Y:4.35, Z:0.93 [[ 9.99986031e-01 1.83573962e-03 4.95653042e-03 2.98455327e+02] [-1.83528847e-03 9.99998311e-01 -9.55678676e-05 4.35199181e+00] [-4.95669748e-03 8.64698695e-05 9.99987712e-01 9.31014129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:298.49, Y:4.35, Z:0.93 [[ 9.99987005e-01 1.19512210e-03 4.95600212e-03 2.98487839e+02] [-1.19455297e-03 9.99999280e-01 -1.17794999e-04 4.34934417e+00] [-4.95613933e-03 1.11873261e-04 9.99987712e-01 9.29612168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35864 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:298.52, Y:4.35, Z:0.95 [[ 9.99973458e-01 5.34053904e-03 4.95598733e-03 2.98520458e+02] [-5.34001773e-03 9.99985735e-01 -1.18413984e-04 4.34909564e+00] [-4.95654903e-03 9.19457804e-05 9.99987712e-01 9.47314848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38864 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:298.55, Y:4.35, Z:0.94 [[ 9.99987715e-01 1.29455239e-04 4.95509358e-03 2.98550385e+02] [-1.28685260e-04 9.99999980e-01 -1.55709986e-04 4.34619828e+00] [-4.95511364e-03 1.55070425e-04 9.99987711e-01 9.39187206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41864 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:298.58, Y:4.34, Z:0.93 [[ 9.99987398e-01 -8.00242518e-04 4.95625348e-03 2.98582970e+02] [ 8.00784015e-04 9.99999674e-01 -1.07271839e-04 4.34282524e+00] [-4.95616602e-03 1.11239376e-04 9.99987712e-01 9.30134688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44864 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:298.61, Y:4.34, Z:0.94 [[ 9.99984652e-01 -2.47689547e-03 4.95594369e-03 2.98613420e+02] [ 2.47752088e-03 9.99996924e-01 -1.20059957e-04 4.34036790e+00] [-4.95563107e-03 1.32336569e-04 9.99987712e-01 9.40401365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47864 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:298.65, Y:4.34, Z:0.93 [[ 9.99976707e-01 -4.69280267e-03 4.95605095e-03 2.98646322e+02] [ 4.69343348e-03 9.99988979e-01 -1.15656847e-04 4.33796958e+00] [-4.95545358e-03 1.38915048e-04 9.99987712e-01 9.31026342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50864 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:298.68, Y:4.33, Z:0.93 [[ 9.99957804e-01 -7.73495030e-03 4.95587872e-03 2.98678783e+02] [ 7.73565290e-03 9.99970072e-01 -1.22617987e-04 4.33217706e+00] [-4.95478196e-03 1.60949771e-04 9.99987712e-01 9.31427167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53864 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:298.71, Y:4.33, Z:0.93 [[ 9.99961496e-01 -7.24198751e-03 4.95582468e-03 2.98712307e+02] [ 7.24269469e-03 9.99973764e-01 -1.24764378e-04 4.33162810e+00] [-4.95479112e-03 1.60653099e-04 9.99987712e-01 9.31261015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56864 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:298.74, Y:4.33, Z:0.93 [[ 9.99939298e-01 -9.84075432e-03 4.95576197e-03 2.98744658e+02] [ 9.84150547e-03 9.99951563e-01 -1.27207460e-04 4.32666843e+00] [-4.95427012e-03 1.75971897e-04 9.99987712e-01 9.30976084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:298.78, Y:4.32, Z:0.93 [[ 9.99936129e-01 -1.01576769e-02 4.95570655e-03 2.98777003e+02] [ 1.01584425e-02 9.99948393e-01 -1.29331197e-04 4.32410852e+00] [-4.95413710e-03 1.79665196e-04 9.99987712e-01 9.30300154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:298.81, Y:4.32, Z:0.93 [[ 9.99940257e-01 -9.74290431e-03 4.95565088e-03 2.98809973e+02] [ 9.74367517e-03 9.99952521e-01 -1.31430364e-04 4.32128640e+00] [-4.95413507e-03 1.79708765e-04 9.99987712e-01 9.29302235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:298.84, Y:4.32, Z:0.93 [[ 9.99939717e-01 -9.79824026e-03 4.95558561e-03 2.98841581e+02] [ 9.79902375e-03 9.99951979e-01 -1.33846996e-04 4.31775480e+00] [-4.95403617e-03 1.82398828e-04 9.99987712e-01 9.29933026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:298.87, Y:4.31, Z:0.93 [[ 9.99958210e-01 -7.68251667e-03 4.95553217e-03 2.98874879e+02] [ 7.68328387e-03 9.99970474e-01 -1.35797133e-04 4.31308242e+00] [-4.95434258e-03 1.73866219e-04 9.99987712e-01 9.29417638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71864 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:298.91, Y:4.31, Z:0.93 [[ 9.99967257e-01 -6.39750237e-03 4.95546425e-03 2.98907285e+02] [ 6.39826586e-03 9.99979521e-01 -1.38231748e-04 4.30804351e+00] [-4.95447843e-03 1.69933600e-04 9.99987712e-01 9.29895563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74864 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:298.94, Y:4.30, Z:0.93 [[ 9.99978689e-01 -4.25046916e-03 4.95540403e-03 2.98940458e+02] [ 4.25121684e-03 9.99990954e-01 -1.40357857e-04 4.30445217e+00] [-4.95476262e-03 1.61421363e-04 9.99987712e-01 9.30695997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77864 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:298.97, Y:4.30, Z:0.94 [[ 9.99982910e-01 -3.10239195e-03 4.95533344e-03 2.98971232e+02] [ 3.10313768e-03 9.99995175e-01 -1.42807277e-04 4.30093606e+00] [-4.95486649e-03 1.58181919e-04 9.99987712e-01 9.39525019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80864 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:299.00, Y:4.30, Z:0.94 [[ 9.99983885e-01 -2.77008561e-03 4.95536351e-03 2.99003134e+02] [ 2.77082210e-03 9.99996151e-01 -1.41765910e-04 4.29807742e+00] [-4.95495174e-03 1.55494056e-04 9.99987712e-01 9.39209131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83864 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:299.03, Y:4.29, Z:0.94 [[ 9.99985988e-01 -1.86179319e-03 4.95561127e-03 2.99033320e+02] [ 1.86247664e-03 9.99998257e-01 -1.33302772e-04 4.29386887e+00] [-4.95535444e-03 1.42530614e-04 9.99987712e-01 9.39566404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86864 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:299.07, Y:4.29, Z:0.94 [[ 9.99986892e-01 1.28410484e-03 4.95656994e-03 2.99066004e+02] [-1.28362201e-03 9.99999171e-01 -1.00592105e-04 4.29203299e+00] [-4.95669500e-03 9.42284239e-05 9.99987711e-01 9.38564360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:299.10, Y:4.29, Z:0.93 [[ 9.99973825e-01 5.27147161e-03 4.95582693e-03 2.99098921e+02] [-5.27091443e-03 9.99986101e-01 -1.25482993e-04 4.29056009e+00] [-4.95641953e-03 9.93579689e-05 9.99987712e-01 9.29472709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864000000003 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:299.13, Y:4.29, Z:0.93 [[ 9.99961739e-01 7.20877456e-03 4.95513882e-03 2.99131040e+02] [-7.20812739e-03 9.99974010e-01 -1.48451484e-04 4.28906403e+00] [-4.95608019e-03 1.12728532e-04 9.99987712e-01 9.29721668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:299.16, Y:4.29, Z:0.93 [[ 9.99949530e-01 8.73977428e-03 4.95511996e-03 2.99162770e+02] [-8.73914280e-03 9.99961802e-01 -1.49078292e-04 4.28673533e+00] [-4.95623360e-03 1.05767268e-04 9.99987712e-01 9.29199451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:299.19, Y:4.28, Z:0.94 [[ 9.99919978e-01 1.16398124e-02 4.95510094e-03 2.99192522e+02] [-1.16392133e-02 9.99932251e-01 -1.49708014e-04 4.28232476e+00] [-4.95650780e-03 9.20225573e-05 9.99987712e-01 9.39595676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:299.22, Y:4.28, Z:0.93 [[ 9.99887759e-01 1.41390386e-02 4.95559211e-03 2.99224724e+02] [-1.41385507e-02 9.99900037e-01 -1.33468988e-04 4.28153659e+00] [-4.95698386e-03 6.33891169e-05 9.99987712e-01 9.29630242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:299.26, Y:4.28, Z:0.93 [[ 9.99842056e-01 1.70678001e-02 4.95507598e-03 2.99257080e+02] [-1.70672640e-02 9.99854332e-01 -1.50466009e-04 4.28230810e+00] [-4.95692231e-03 6.58726538e-05 9.99987712e-01 9.30066171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:299.29, Y:4.28, Z:0.93 [[ 9.99817892e-01 1.84290752e-02 4.95505612e-03 2.99288777e+02] [-1.84285526e-02 9.99830168e-01 -1.51117376e-04 4.28107684e+00] [-4.95699954e-03 5.97753437e-05 9.99987712e-01 9.29285240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:299.32, Y:4.28, Z:0.93 [[ 9.99796785e-01 1.95406464e-02 4.95503634e-03 2.99321359e+02] [-1.95401342e-02 9.99809062e-01 -1.51762888e-04 4.27915494e+00] [-4.95705578e-03 5.49099722e-05 9.99987712e-01 9.28962360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:299.35, Y:4.28, Z:0.93 [[ 9.99779550e-01 2.04034166e-02 4.95501646e-03 2.99353330e+02] [-2.04029118e-02 9.99791827e-01 -1.52409380e-04 4.27764750e+00] [-4.95709463e-03 5.12790178e-05 9.99987712e-01 9.29010882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:299.38, Y:4.28, Z:0.94 [[ 9.99807775e-01 1.89700048e-02 4.95499619e-03 2.99382677e+02] [-1.89694791e-02 9.99820052e-01 -1.53065682e-04 4.27631356e+00] [-4.95700820e-03 5.90425626e-05 9.99987712e-01 9.39036278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:299.41, Y:4.27, Z:0.93 [[ 9.99787827e-01 1.99934690e-02 4.95599021e-03 2.99414726e+02] [-1.99931147e-02 9.99800110e-01 -1.21024822e-04 4.27337213e+00] [-4.95741926e-03 2.19134635e-05 9.99987712e-01 9.28903996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:299.44, Y:4.27, Z:0.94 [[ 9.99838156e-01 1.72948210e-02 4.95494299e-03 2.99444538e+02] [-1.72942672e-02 9.99850431e-01 -1.54590378e-04 4.27144951e+00] [-4.95687550e-03 6.88732501e-05 9.99987712e-01 9.41376797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25864 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:299.48, Y:4.27, Z:0.94 [[ 9.99842934e-01 1.70159540e-02 4.95621238e-03 2.99476591e+02] [-1.70155984e-02 9.99855218e-01 -1.13911148e-04 4.27033544e+00] [-4.95743311e-03 2.95603367e-05 9.99987711e-01 9.41149592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:299.51, Y:4.27, Z:0.94 [[ 9.99825633e-01 1.80038837e-02 4.95619096e-03 2.99508648e+02] [-1.80035369e-02 9.99837917e-01 -1.14592250e-04 4.26986928e+00] [-4.95745075e-03 2.53433020e-05 9.99987711e-01 9.37783241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31864 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:299.54, Y:4.27, Z:0.94 [[ 9.99833298e-01 1.75733081e-02 4.95527844e-03 2.99539513e+02] [-1.75728139e-02 9.99845576e-01 -1.43261055e-04 4.26842106e+00] [-4.95703080e-03 5.61589872e-05 9.99987712e-01 9.39909434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:299.57, Y:4.27, Z:0.94 [[ 9.99823158e-01 1.81408150e-02 4.95610253e-03 2.99570592e+02] [-1.81404547e-02 9.99835441e-01 -1.17637540e-04 4.26567117e+00] [-4.95742100e-03 2.77107830e-05 9.99987712e-01 9.41280945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:299.60, Y:4.26, Z:0.93 [[ 9.99762711e-01 2.12122343e-02 4.95617695e-03 2.99603765e+02] [-2.12119231e-02 9.99774995e-01 -1.15339726e-04 4.26396381e+00] [-4.95750840e-03 1.01823127e-05 9.99987711e-01 9.29272329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:299.64, Y:4.26, Z:0.93 [[ 9.99757967e-01 2.14349855e-02 4.95464264e-03 2.99635566e+02] [-2.14344448e-02 9.99770243e-01 -1.62205904e-04 4.26252118e+00] [-4.95698116e-03 5.59666304e-05 9.99987713e-01 9.28933301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:299.67, Y:4.26, Z:0.93 [[ 9.99751728e-01 2.17240385e-02 4.95462114e-03 2.99667463e+02] [-2.17234981e-02 9.99764004e-01 -1.62859996e-04 4.26049616e+00] [-4.95698984e-03 5.51878598e-05 9.99987713e-01 9.29616336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:4.26, Z:0.93 [[ 9.99757964e-01 2.14351513e-02 4.95459979e-03 2.99699804e+02] [-2.14346042e-02 9.99770239e-01 -1.63506926e-04 4.25749202e+00] [-4.95696621e-03 5.72674665e-05 9.99987713e-01 9.29262551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:299.73, Y:4.25, Z:0.93 [[ 9.99762009e-01 2.12456292e-02 4.95457832e-03 2.99732237e+02] [-2.12450765e-02 9.99774284e-01 -1.64154976e-04 4.25433825e+00] [-4.95694757e-03 5.88555135e-05 9.99987713e-01 9.29332402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:299.76, Y:4.25, Z:0.94 [[ 9.99762771e-01 2.12097837e-02 4.95455669e-03 2.99762451e+02] [-2.12092274e-02 9.99775045e-01 -1.64805280e-04 4.25014916e+00] [-4.95693762e-03 5.96838643e-05 9.99987713e-01 9.41331993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:299.79, Y:4.25, Z:0.94 [[ 9.99739209e-01 2.22926182e-02 4.95520703e-03 2.99792971e+02] [-2.22921718e-02 9.99751488e-01 -1.45312619e-04 4.24820010e+00] [-4.95721500e-03 3.48123957e-05 9.99987712e-01 9.40584851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:299.82, Y:4.24, Z:0.94 [[ 9.99726956e-01 2.28355096e-02 4.95502431e-03 2.99823269e+02] [-2.28350427e-02 9.99739235e-01 -1.50789351e-04 4.24485650e+00] [-4.95717557e-03 3.75999875e-05 9.99987712e-01 9.42338498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61864 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:299.86, Y:4.24, Z:0.94 [[ 9.99658095e-01 2.56735560e-02 4.95593501e-03 2.99856369e+02] [-2.56732577e-02 9.99670380e-01 -1.23812031e-04 4.24219913e+00] [-4.95748013e-03 -3.46529799e-06 9.99987712e-01 9.42022691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:299.89, Y:4.24, Z:0.94 [[ 9.99508568e-01 3.09526975e-02 4.95517994e-03 2.99886919e+02] [-3.09523541e-02 9.99520850e-01 -1.46005140e-04 4.23951024e+00] [-4.95732492e-03 -7.44109599e-06 9.99987712e-01 9.41460037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67864000000003 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:299.92, Y:4.24, Z:0.94 [[ 9.99401112e-01 3.42470803e-02 4.95520457e-03 2.99918763e+02] [-3.42467809e-02 9.99413396e-01 -1.45286945e-04 4.23796718e+00] [-4.95727348e-03 -2.44998712e-05 9.99987712e-01 9.41374501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:299.95, Y:4.24, Z:0.94 [[ 9.99336371e-01 3.60869973e-02 4.95439182e-03 2.99949410e+02] [-3.60866032e-02 9.99348652e-01 -1.68945215e-04 4.23596265e+00] [-4.95726151e-03 -9.95407372e-06 9.99987713e-01 9.40979388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73864 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:299.98, Y:4.23, Z:0.94 [[ 9.99139003e-01 4.11910494e-02 4.95474668e-03 2.99980970e+02] [-4.11907694e-02 9.99151288e-01 -1.58603014e-04 4.23334971e+00] [-4.95707454e-03 -4.56233699e-05 9.99987713e-01 9.41422807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76864 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:300.01, Y:4.23, Z:0.94 [[ 9.99043613e-01 4.34432219e-02 4.95433046e-03 3.00012710e+02] [-4.34429099e-02 9.99055897e-01 -1.70636498e-04 4.23177991e+00] [-4.95706606e-03 -4.47572284e-05 9.99987713e-01 9.39987511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79864 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:300.05, Y:4.23, Z:0.94 [[ 9.98788625e-01 4.89565036e-02 4.95410583e-03 3.00045393e+02] [-4.89562271e-02 9.98800909e-01 -1.77124908e-04 4.23096256e+00] [-4.95683683e-03 -6.56239874e-05 9.99987713e-01 9.41639386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:300.08, Y:4.23, Z:0.94 [[ 9.98694201e-01 5.08464152e-02 4.95337416e-03 3.00077294e+02] [-5.08460567e-02 9.98706483e-01 -1.98357142e-04 4.23027672e+00] [-4.95705263e-03 -5.37614163e-05 9.99987712e-01 9.40732839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85864 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:300.11, Y:4.23, Z:0.94 [[ 9.98575601e-01 5.31246763e-02 4.95350548e-03 3.00110010e+02] [-5.31243647e-02 9.98587885e-01 -1.94554698e-04 4.22986872e+00] [-4.95684622e-03 -6.88742571e-05 9.99987712e-01 9.41749595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88864 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:300.14, Y:4.23, Z:0.94 [[ 9.98354124e-01 5.71359005e-02 4.95290510e-03 3.00142394e+02] [-5.71355516e-02 9.98366408e-01 -2.12011300e-04 4.23292676e+00] [-4.95692752e-03 -7.13246091e-05 9.99987712e-01 9.41621230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91864 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:300.17, Y:4.23, Z:0.94 [[ 9.98177966e-01 6.01349768e-02 4.95305425e-03 3.00173442e+02] [-6.01346864e-02 9.98190251e-01 -2.07672576e-04 4.23455824e+00] [-4.95657885e-03 -9.05561751e-05 9.99987712e-01 9.43190512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94864 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:300.21, Y:4.24, Z:0.94 [[ 9.97838105e-01 6.55330780e-02 4.95298667e-03 3.00205542e+02] [-6.55328442e-02 9.97850391e-01 -2.09651492e-04 4.23936844e+00] [-4.95607879e-03 -1.15385056e-04 9.99987712e-01 9.40869635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:300.23, Y:4.24, Z:0.93 [[ 9.97706925e-01 6.75008536e-02 4.95247190e-03 3.00234274e+02] [-6.75005688e-02 9.97719210e-01 -2.24824188e-04 4.24042732e+00] [-4.95635218e-03 -1.09986021e-04 9.99987711e-01 9.28518596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00864 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:300.27, Y:4.24, Z:0.94 [[ 9.97662860e-01 6.81488916e-02 4.95443764e-03 3.00268118e+02] [-6.81489054e-02 9.97675147e-01 -1.66239446e-04 4.24310833e+00] [-4.95424833e-03 -1.71788581e-04 9.99987713e-01 9.40237869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:300.30, Y:4.25, Z:0.94 [[ 9.97974112e-01 6.34282916e-02 4.95221313e-03 3.00299265e+02] [-6.34279206e-02 9.97986395e-01 -2.32092234e-04 4.24682385e+00] [-4.95696254e-03 -8.24865398e-05 9.99987711e-01 9.42716531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:300.33, Y:4.24, Z:0.93 [[ 9.98156501e-01 6.04902020e-02 4.95318082e-03 3.00328539e+02] [-6.04899387e-02 9.98168786e-01 -2.03091166e-04 4.24493311e+00] [-4.95639551e-03 -9.69008364e-05 9.99987712e-01 9.28575789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:300.36, Y:4.24, Z:0.93 [[ 9.98361691e-01 5.70034014e-02 4.95448224e-03 3.00360678e+02] [-5.70032905e-02 9.98373977e-01 -1.63703567e-04 4.24348632e+00] [-4.95575780e-03 -1.18986421e-04 9.99987713e-01 9.29044652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:300.39, Y:4.24, Z:0.94 [[ 9.98726348e-01 5.02109065e-02 4.95446096e-03 3.00391916e+02] [-5.02107089e-02 9.98738633e-01 -1.64345191e-04 4.24413435e+00] [-4.95646349e-03 -8.46311251e-05 9.99987713e-01 9.39663470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15864 meters Centerline goodness : 0.942030 Centerline is valid? [True, False] Translation: X:300.39, Y:4.24, Z:0.94 [[ 9.99277107e-01 3.69142101e-02 9.08875219e-03 3.00387348e+02] [-3.69694985e-02 9.99298429e-01 5.99216950e-03 4.23941550e+00] [-8.86117959e-03 -6.32384441e-03 9.99940742e-01 9.40738159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18864 meters Centerline goodness : 0.998431 Centerline is valid? [False, True] Translation: X:300.38, Y:4.23, Z:0.94 [[ 9.99599229e-01 2.28799678e-02 1.66699974e-02 3.00382518e+02] [-2.30578856e-02 9.99678358e-01 1.05600531e-02 4.23440338e+00] [-1.64230220e-02 -1.09401958e-02 9.99805279e-01 9.40634766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:300.42, Y:4.24, Z:0.94 [[ 9.99584908e-01 2.35645223e-02 1.65748011e-02 3.00415557e+02] [-2.35660680e-02 9.99722276e-01 -1.02081717e-04 4.24227970e+00] [-1.65726034e-02 -2.88563545e-04 9.99862623e-01 9.40919421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:300.45, Y:4.24, Z:0.94 [[ 9.99577637e-01 2.38713586e-02 1.65742379e-02 3.00447095e+02] [-2.38719474e-02 9.99715011e-01 -1.62343147e-04 4.24211223e+00] [-1.65733898e-02 -2.33384756e-04 9.99862625e-01 9.39415438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:300.48, Y:4.24, Z:0.94 [[ 9.99589919e-01 2.33513629e-02 1.65742900e-02 3.00476701e+02] [-2.33519714e-02 9.99727293e-01 -1.56848154e-04 4.24123516e+00] [-1.65734327e-02 -2.30258512e-04 9.99862625e-01 9.38826885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:300.51, Y:4.24, Z:0.93 [[ 9.99508060e-01 2.66252917e-02 1.65750577e-02 3.00509457e+02] [-2.66276645e-02 9.99645418e-01 -7.75583316e-05 4.23948374e+00] [-1.65712455e-02 -3.63834899e-04 9.99862621e-01 9.25946654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:300.54, Y:4.24, Z:0.93 [[ 9.99458267e-01 2.84336104e-02 1.65741524e-02 3.00542024e+02] [-2.84347445e-02 9.99595637e-01 -1.67273836e-04 4.23847785e+00] [-1.65722066e-02 -3.04098569e-04 9.99862625e-01 9.27377547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:300.57, Y:4.24, Z:0.94 [[ 9.99474361e-01 2.78621729e-02 1.65741298e-02 3.00573032e+02] [-2.78631920e-02 9.99611732e-01 -1.69474965e-04 4.24097976e+00] [-1.65724166e-02 -2.92422280e-04 9.99862625e-01 9.39702518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39864 meters Centerline goodness : 0.777767 Centerline is valid? [True, False] Translation: X:300.57, Y:4.24, Z:0.94 [[ 9.99597521e-01 1.69756027e-02 2.27293995e-02 3.00569898e+02] [-1.71630672e-02 9.99820070e-01 8.07813757e-03 4.23553200e+00] [-2.25881786e-02 -8.46499250e-03 9.99709017e-01 9.38980962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864000000003 meters Centerline goodness : 0.998922 Centerline is valid? [False, True] Translation: X:300.57, Y:4.23, Z:0.94 [[ 9.99871292e-01 8.25336022e-03 1.37579796e-02 3.00573812e+02] [-8.48222888e-03 9.99825219e-01 1.66608368e-02 4.22674937e+00] [-1.36180671e-02 -1.67753907e-02 9.99766540e-01 9.36938104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:300.61, Y:4.24, Z:0.94 [[ 9.99864019e-01 8.82744098e-03 1.39290893e-02 3.00605341e+02] [-8.82912462e-03 9.99961021e-01 5.93817445e-05 4.24052306e+00] [-1.39280222e-02 -1.82355335e-04 9.99902984e-01 9.36225186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:300.64, Y:4.24, Z:0.94 [[ 9.99870221e-01 8.09525713e-03 1.39286748e-02 3.00637367e+02] [-8.09745548e-03 9.99967210e-01 1.01438931e-04 4.24233664e+00] [-1.39273969e-02 -2.14212590e-04 9.99902986e-01 9.35774076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:300.67, Y:4.25, Z:0.93 [[ 9.99871861e-01 7.89043643e-03 1.39284739e-02 3.00669945e+02] [-7.89290687e-03 9.99968843e-01 1.22403711e-04 4.24542944e+00] [-1.39270741e-02 -2.32324173e-04 9.99902987e-01 9.33584388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:300.70, Y:4.25, Z:0.93 [[ 9.99876714e-01 7.24925490e-03 1.39285494e-02 3.00701960e+02] [-7.25154840e-03 9.99973701e-01 1.14164475e-04 4.24875380e+00] [-1.39273555e-02 -2.15153950e-04 9.99902987e-01 9.32751082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:300.73, Y:4.25, Z:0.93 [[ 9.99876091e-01 7.33549520e-03 1.39281283e-02 3.00734189e+02] [-7.33845197e-03 9.99973060e-01 1.61191133e-04 4.25258322e+00] [-1.39265706e-02 -2.63382060e-04 9.99902986e-01 9.31668470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:300.77, Y:4.25, Z:0.93 [[ 9.99872095e-01 7.86091761e-03 1.39283932e-02 3.00766108e+02] [-7.86349663e-03 9.99969074e-01 1.30406235e-04 4.25394362e+00] [-1.39269373e-02 -2.39915428e-04 9.99902987e-01 9.30572437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:300.80, Y:4.26, Z:0.92 [[ 9.99859544e-01 9.32118347e-03 1.39286489e-02 3.00797065e+02] [-9.32347839e-03 9.99956530e-01 9.98355615e-05 4.25762036e+00] [-1.39271129e-02 -2.29684996e-04 9.99902987e-01 9.21689147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:300.83, Y:4.26, Z:0.93 [[ 9.99872005e-01 7.87208598e-03 1.39285336e-02 3.00827918e+02] [-7.87443670e-03 9.99968990e-01 1.13934722e-04 4.26088771e+00] [-1.39272048e-02 -2.23599495e-04 9.99902987e-01 9.32458942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:300.86, Y:4.26, Z:0.93 [[ 9.99870594e-01 8.04941701e-03 1.39284555e-02 3.00860344e+02] [-8.05192000e-03 9.99967575e-01 1.23633176e-04 4.26347188e+00] [-1.39270087e-02 -2.35767986e-04 9.99902987e-01 9.31565916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:300.89, Y:4.27, Z:0.93 [[ 9.99844540e-01 1.08114881e-02 1.39286285e-02 3.00892319e+02] [-1.08139463e-02 9.99941522e-01 1.01184909e-04 4.26859453e+00] [-1.39267200e-02 -2.51792619e-04 9.99902987e-01 9.31733797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:300.92, Y:4.27, Z:0.93 [[ 9.99839775e-01 1.12435168e-02 1.39286690e-02 3.00923027e+02] [-1.12459392e-02 9.99936758e-01 9.56062703e-05 4.27032125e+00] [-1.39267132e-02 -2.52231917e-04 9.99902987e-01 9.31048192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:300.95, Y:4.28, Z:0.93 [[ 9.99842241e-01 1.10221465e-02 1.39285602e-02 3.00954151e+02] [-1.10247617e-02 9.99939219e-01 1.10987822e-04 4.27656973e+00] [-1.39264903e-02 -2.64529369e-04 9.99902987e-01 9.30746067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:300.99, Y:4.28, Z:0.93 [[ 9.99852800e-01 1.00191232e-02 1.39282064e-02 3.00985946e+02] [-1.00223599e-02 9.99949762e-01 1.62605881e-04 4.27904266e+00] [-1.39258775e-02 -3.02175444e-04 9.99902985e-01 9.30392305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:301.02, Y:4.28, Z:0.92 [[ 9.99872815e-01 7.76917698e-03 1.39281422e-02 3.01018237e+02] [-7.77233587e-03 9.99969780e-01 1.72682397e-04 4.27824766e+00] [-1.39263797e-02 -2.80914633e-04 9.99902984e-01 9.17895601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:301.05, Y:4.28, Z:0.93 [[ 9.99900477e-01 2.24251168e-03 1.39286773e-02 3.01048061e+02] [-2.24390897e-03 9.99997479e-01 8.46899119e-05 4.27829638e+00] [-1.39284522e-02 -1.15936167e-04 9.99902988e-01 9.29370746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:301.08, Y:4.28, Z:0.93 [[ 9.99902936e-01 3.47350061e-04 1.39283269e-02 3.01078922e+02] [-3.49396117e-04 9.99999929e-01 1.44465792e-04 4.27952367e+00] [-1.39282757e-02 -1.49318273e-04 9.99902986e-01 9.28581028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:301.11, Y:4.28, Z:0.93 [[ 9.99897370e-01 -3.35425723e-03 1.39283453e-02 3.01111034e+02] [ 3.35261571e-03 9.99994370e-01 1.41202267e-04 4.28206890e+00] [-1.39287406e-02 -9.44913860e-05 9.99902986e-01 9.29327846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:301.14, Y:4.28, Z:0.93 [[ 9.99893762e-01 -4.29729533e-03 1.39282920e-02 3.01142788e+02] [ 4.29560103e-03 9.99990762e-01 1.51559242e-04 4.28232757e+00] [-1.39288146e-02 -9.17127553e-05 9.99902985e-01 9.28691428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:301.17, Y:4.28, Z:0.93 [[ 9.99879992e-01 -6.78220900e-03 1.39285121e-02 3.01173371e+02] [ 6.78137578e-03 9.99977000e-01 1.07050708e-04 4.28195533e+00] [-1.39289178e-02 -1.25833866e-05 9.99902988e-01 9.27777574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:301.21, Y:4.28, Z:0.92 [[ 9.99887265e-01 -5.60872740e-03 1.39283357e-02 3.01206140e+02] [ 5.60725243e-03 9.99984269e-01 1.44946450e-04 4.28203690e+00] [-1.39289296e-02 -6.68304152e-05 9.99902986e-01 9.15087397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.24, Y:4.28, Z:0.91 [[ 9.99886362e-01 -5.76664799e-03 1.39287023e-02 3.01238964e+02] [ 5.76636645e-03 9.99983373e-01 6.03744476e-05 4.28224122e+00] [-1.39288189e-02 1.99504151e-05 9.99902989e-01 9.14354760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:301.27, Y:4.28, Z:0.91 [[ 9.99885202e-01 -5.96431155e-03 1.39287306e-02 3.01272133e+02] [ 5.96415279e-03 9.99982213e-01 5.29375432e-05 4.28086628e+00] [-1.39287986e-02 3.01416114e-05 9.99902989e-01 9.14519624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:301.30, Y:4.28, Z:0.91 [[ 9.99887513e-01 -5.56330918e-03 1.39287547e-02 3.01304802e+02] [ 5.56321417e-03 9.99984524e-01 4.55672805e-05 4.28045478e+00] [-1.39287927e-02 3.19264908e-05 9.99902989e-01 9.13805430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.34, Y:4.28, Z:0.91 [[ 9.99894507e-01 -4.11880884e-03 1.39287654e-02 3.01337988e+02] [ 4.11862296e-03 9.99991518e-01 4.20302875e-05 4.27896445e+00] [-1.39288204e-02 1.53414793e-05 9.99902989e-01 9.12794804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.37, Y:4.28, Z:0.91 [[ 9.99896791e-01 -3.52080421e-03 1.39287838e-02 3.01370359e+02] [ 3.52066381e-03 9.99993802e-01 3.46002710e-05 4.27819625e+00] [-1.39288193e-02 1.44418652e-05 9.99902989e-01 9.12904416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:301.40, Y:4.28, Z:0.92 [[ 9.99896052e-01 -3.72479873e-03 1.39287970e-02 3.01401269e+02] [ 3.72476896e-03 9.99993063e-01 2.80791367e-05 4.27752327e+00] [-1.39288050e-02 2.38053328e-05 9.99902989e-01 9.24432315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:301.43, Y:4.28, Z:0.93 [[ 9.99890179e-01 -5.06150359e-03 1.39287629e-02 3.01431350e+02] [ 5.06136486e-03 9.99987190e-01 4.52116451e-05 4.27601542e+00] [-1.39288133e-02 2.52918711e-05 9.99902989e-01 9.25302907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:301.46, Y:4.27, Z:0.92 [[ 9.99887705e-01 -5.52900327e-03 1.39286896e-02 3.01462196e+02] [ 5.52838422e-03 9.99984715e-01 8.29474968e-05 4.27468304e+00] [-1.39289353e-02 -5.93503431e-06 9.99902988e-01 9.24979276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:301.49, Y:4.27, Z:0.92 [[ 9.99879067e-01 -6.91682029e-03 1.39286792e-02 3.01493490e+02] [ 6.91624167e-03 9.99976078e-01 8.97111128e-05 4.27196975e+00] [-1.39289665e-02 6.63384741e-06 9.99902987e-01 9.24186536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:301.53, Y:4.27, Z:0.91 [[ 9.99888795e-01 -5.32842089e-03 1.39286235e-02 3.01526285e+02] [ 5.32701788e-03 9.99985802e-01 1.37827611e-04 4.27148966e+00] [-1.39291601e-02 -6.36142571e-05 9.99902983e-01 9.11294603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:301.56, Y:4.27, Z:0.92 [[ 9.99875182e-01 -7.45730290e-03 1.39287199e-02 3.01555359e+02] [ 7.45787952e-03 9.99972190e-01 1.05439503e-05 4.27107573e+00] [-1.39284112e-02 9.33360810e-05 9.99902991e-01 9.24112639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:301.59, Y:4.27, Z:0.92 [[ 9.99857172e-01 -9.57225234e-03 1.39286496e-02 3.01586904e+02] [ 9.57156257e-03 9.99954185e-01 1.16185166e-04 4.27072363e+00] [-1.39291236e-02 1.71503694e-05 9.99902985e-01 9.24043135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:301.62, Y:4.27, Z:0.92 [[ 9.99840518e-01 -1.11772616e-02 1.39286469e-02 3.01618602e+02] [ 1.11766043e-02 9.99937532e-01 1.25034310e-04 4.26998807e+00] [-1.39291743e-02 3.06606049e-05 9.99902984e-01 9.23221173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:301.65, Y:4.27, Z:0.92 [[ 9.99806345e-01 -1.39020063e-02 1.39286523e-02 3.01650530e+02] [ 1.39013962e-02 9.99903361e-01 1.40625013e-04 4.26746532e+00] [-1.39292612e-02 5.30299337e-05 9.99902982e-01 9.23805199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:301.68, Y:4.27, Z:0.92 [[ 9.99801993e-01 -1.42115254e-02 1.39286241e-02 3.01682434e+02] [ 1.42113698e-02 9.99899007e-01 1.10154858e-04 4.26742980e+00] [-1.39287829e-02 8.78117809e-05 9.99902986e-01 9.23971306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50864 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:301.71, Y:4.27, Z:0.92 [[ 9.99804093e-01 -1.40630995e-02 1.39285921e-02 3.01714424e+02] [ 1.40632519e-02 9.99901104e-01 8.70095031e-05 4.26799100e+00] [-1.39284383e-02 1.08888842e-04 9.99902989e-01 9.24746701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:301.75, Y:4.27, Z:0.92 [[ 9.99812702e-01 -1.34372672e-02 1.39283890e-02 3.01745937e+02] [ 1.34388577e-02 9.99909694e-01 -2.06018711e-05 4.26854326e+00] [-1.39268543e-02 2.07779650e-04 9.99902995e-01 9.24139991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56864 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:301.78, Y:4.27, Z:0.92 [[ 9.99873038e-01 -7.73996155e-03 1.39284553e-02 3.01780743e+02] [ 7.74060274e-03 9.99970041e-01 7.87559489e-06 4.26871544e+00] [-1.39280990e-02 9.99400441e-05 9.99902994e-01 9.22867988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:301.81, Y:4.27, Z:0.92 [[ 9.99838998e-01 -1.13135556e-02 1.39277303e-02 3.01808433e+02] [ 1.13180459e-02 9.99935919e-01 -2.43618775e-04 4.26542985e+00] [-1.39240816e-02 4.01214242e-04 9.99902975e-01 9.22940888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62864 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:301.84, Y:4.27, Z:0.93 [[ 9.99861498e-01 -9.10959902e-03 1.39284096e-02 3.01842693e+02] [ 9.10996946e-03 9.99958503e-01 3.68518326e-05 4.26666163e+00] [-1.39281673e-02 9.00406578e-05 9.99902994e-01 9.26326743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:301.87, Y:4.27, Z:0.92 [[ 9.99863197e-01 -8.92194567e-03 1.39278619e-02 3.01871124e+02] [ 8.92528122e-03 9.99960153e-01 -1.77346479e-04 4.26636750e+00] [-1.39257246e-02 3.01632301e-04 9.99902987e-01 9.24431250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68864 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:301.90, Y:4.27, Z:0.92 [[ 9.99875337e-01 -7.43712492e-03 1.39283468e-02 3.01902692e+02] [ 7.43752042e-03 9.99972341e-01 2.34039779e-05 4.26559935e+00] [-1.39281356e-02 8.01913033e-05 9.99902996e-01 9.24765282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:301.93, Y:4.27, Z:0.92 [[ 9.99888904e-01 -5.30879785e-03 1.39282907e-02 3.01933951e+02] [ 5.30925576e-03 9.99985906e-01 4.09959063e-06 4.26510520e+00] [-1.39281161e-02 6.98497223e-05 9.99902997e-01 9.24475802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:301.97, Y:4.27, Z:0.92 [[ 9.99894845e-01 -4.03779693e-03 1.39281825e-02 3.01966417e+02] [ 4.03862623e-03 9.99991844e-01 -3.14143026e-05 4.26702091e+00] [-1.39279421e-02 8.76617224e-05 9.99902998e-01 9.24025720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:302.00, Y:4.27, Z:0.92 [[ 9.99894729e-01 -4.06695551e-03 1.39280870e-02 3.01997697e+02] [ 4.06818449e-03 9.99991723e-01 -5.99057763e-05 4.26723525e+00] [-1.39277281e-02 1.16561497e-04 9.99902998e-01 9.23824583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:302.03, Y:4.27, Z:0.93 [[ 9.99898786e-01 -2.90235119e-03 1.39281873e-02 3.02030387e+02] [ 2.90306688e-03 9.99995786e-01 -3.11661262e-05 4.26533620e+00] [-1.39280382e-02 7.15974310e-05 9.99902998e-01 9.25717267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:302.06, Y:4.27, Z:0.92 [[ 9.99901054e-01 -1.97263727e-03 1.39280625e-02 3.02061389e+02] [ 1.97371645e-03 9.99998050e-01 -6.37370681e-05 4.26512930e+00] [-1.39279096e-02 9.12208076e-05 9.99902998e-01 9.23099371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:302.09, Y:4.26, Z:0.92 [[ 9.99899917e-01 -2.48379049e-03 1.39279297e-02 3.02092429e+02] [ 2.48538608e-03 9.99996907e-01 -9.72525665e-05 4.26495221e+00] [-1.39276450e-02 1.31859116e-04 9.99902997e-01 9.22896940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:302.12, Y:4.26, Z:0.92 [[ 9.99903001e-01 -2.23655286e-05 1.39279838e-02 3.02123494e+02] [ 2.35336002e-05 9.99999996e-01 -8.37011963e-05 4.26481853e+00] [-1.39279819e-02 8.40208530e-05 9.99902997e-01 9.15308582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864000000003 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:302.16, Y:4.26, Z:0.92 [[ 9.99900830e-01 2.08288128e-03 1.39280895e-02 3.02156180e+02] [-2.08226740e-03 9.99997830e-01 -5.85762604e-05 4.26368423e+00] [-1.39281813e-02 2.95684446e-05 9.99902998e-01 9.22968237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:302.19, Y:4.26, Z:0.92 [[ 9.99879163e-01 6.90515418e-03 1.39275964e-02 3.02188748e+02] [-6.90351587e-03 9.99976157e-01 -1.65704566e-04 4.26485800e+00] [-1.39284085e-02 6.95351599e-05 9.99902993e-01 9.24364289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:302.22, Y:4.27, Z:0.92 [[ 9.99862296e-01 9.02300382e-03 1.39274738e-02 3.02219813e+02] [-9.02119705e-03 9.99959290e-01 -1.92546734e-04 4.26577432e+00] [-1.39286442e-02 6.68777339e-05 9.99902989e-01 9.23784006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:302.25, Y:4.27, Z:0.93 [[ 9.99813820e-01 1.33548723e-02 1.39273965e-02 3.02252085e+02] [-1.33532420e-02 9.99910819e-01 -2.10049531e-04 4.26567543e+00] [-1.39289597e-02 2.40345286e-05 9.99902987e-01 9.25506274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:302.28, Y:4.27, Z:0.93 [[ 9.99789822e-01 1.50446758e-02 1.39272659e-02 3.02283701e+02] [-1.50427704e-02 9.99886822e-01 -2.41563739e-04 4.26600765e+00] [-1.39293239e-02 3.20083040e-05 9.99902982e-01 9.26797563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:302.31, Y:4.27, Z:0.92 [[ 9.99777029e-01 1.58720803e-02 1.39272789e-02 3.02314065e+02] [-1.58703044e-02 9.99874030e-01 -2.38033305e-04 4.26774148e+00] [-1.39293026e-02 1.69500751e-05 9.99902982e-01 9.24823656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters Centerline goodness : 0.937626 Centerline is valid? [True, False] Translation: X:302.32, Y:4.27, Z:0.92 [[ 9.99966505e-01 1.42144344e-03 8.06034885e-03 3.02317901e+02] [-1.44929816e-03 9.99992995e-01 3.45098398e-03 4.26753642e+00] [-8.05538701e-03 -3.46255024e-03 9.99961560e-01 9.24867384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13864 meters Centerline goodness : 0.998676 Centerline is valid? [False, True] Translation: X:302.32, Y:4.27, Z:0.92 [[ 9.99963563e-01 -2.64060139e-03 8.11791911e-03 3.02317756e+02] [ 2.65702931e-03 9.99994443e-01 -2.01354362e-03 4.27312269e+00] [-8.11255703e-03 2.03503980e-03 9.99965022e-01 9.24737806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:302.35, Y:4.28, Z:0.92 [[ 9.99952644e-01 -5.41948483e-03 8.08329878e-03 3.02346471e+02] [ 5.41909262e-03 9.99985314e-01 7.04227511e-05 4.27728383e+00] [-8.08356173e-03 -2.66152713e-05 9.99967327e-01 9.16678863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:302.38, Y:4.28, Z:0.92 [[ 9.99951554e-01 -5.61851927e-03 8.08217094e-03 3.02379790e+02] [ 5.61759567e-03 9.99984212e-01 1.36973092e-04 4.27965467e+00] [-8.08281292e-03 -9.15640876e-05 9.99967329e-01 9.24715020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:302.41, Y:4.28, Z:0.92 [[ 9.99920831e-01 -9.64291455e-03 8.08372141e-03 3.02407909e+02] [ 9.64287133e-03 9.99953505e-01 4.43230885e-05 4.28187097e+00] [-8.08377297e-03 3.36307060e-05 9.99967325e-01 9.16943984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:302.44, Y:4.28, Z:0.92 [[ 9.99889735e-01 -1.24577769e-02 8.08216274e-03 3.02440448e+02] [ 1.24570800e-02 9.99922398e-01 1.36568020e-04 4.28450789e+00] [-8.08323688e-03 -3.58728140e-05 9.99967329e-01 9.23505961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:302.47, Y:4.29, Z:0.92 [[ 9.99835361e-01 -1.62453064e-02 8.08337593e-03 3.02469774e+02] [ 1.62453207e-02 9.99868034e-01 6.38867075e-05 4.28726430e+00] [-8.08334705e-03 6.74408453e-05 9.99967327e-01 9.15270044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:302.50, Y:4.29, Z:0.92 [[ 9.99816166e-01 -1.73871348e-02 8.08219754e-03 3.02501696e+02] [ 1.73866146e-02 9.99848832e-01 1.34629774e-04 4.29069164e+00] [-8.08331660e-03 5.91702859e-06 9.99967329e-01 9.23400793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:302.53, Y:4.29, Z:0.92 [[ 9.99820437e-01 -1.71394261e-02 8.08299238e-03 3.02533364e+02] [ 1.71392878e-02 9.99853108e-01 8.63935388e-05 4.29143637e+00] [-8.08328578e-03 5.21587066e-05 9.99967328e-01 9.23146247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:302.56, Y:4.29, Z:0.91 [[ 9.99777013e-01 -1.95087036e-02 8.08301934e-03 3.02563597e+02] [ 1.95086560e-02 9.99809684e-01 8.47323877e-05 4.29366028e+00] [-8.08313404e-03 7.29753507e-05 9.99967328e-01 9.14725062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:302.60, Y:4.29, Z:0.92 [[ 9.99770626e-01 -1.98336149e-02 8.08229460e-03 3.02595242e+02] [ 1.98332133e-02 9.99803294e-01 1.29844809e-04 4.29340043e+00] [-8.08328006e-03 3.04828466e-05 9.99967329e-01 9.22514588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:302.63, Y:4.29, Z:0.92 [[ 9.99764032e-01 -2.01631551e-02 8.08252122e-03 3.02627029e+02] [ 2.01628791e-02 9.99796702e-01 1.15637872e-04 4.29187903e+00] [-8.08320968e-03 4.73563124e-05 9.99967329e-01 9.21352126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:302.66, Y:4.29, Z:0.91 [[ 9.99773573e-01 -1.96843339e-02 8.08266411e-03 3.02658155e+02] [ 1.96841160e-02 9.99806243e-01 1.06521850e-04 4.29213931e+00] [-8.08319485e-03 5.26023666e-05 9.99967329e-01 9.13448794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:302.69, Y:4.29, Z:0.91 [[ 9.99851726e-01 -1.52053172e-02 8.08233821e-03 3.02690950e+02] [ 1.52047855e-02 9.99884392e-01 1.27225320e-04 4.29393475e+00] [-8.08333833e-03 -4.31623737e-06 9.99967329e-01 9.13609708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:302.72, Y:4.29, Z:0.92 [[ 9.99893686e-01 -1.21363930e-02 8.08240456e-03 3.02723600e+02] [ 1.21357963e-02 9.99926351e-01 1.22860659e-04 4.29484755e+00] [-8.08330038e-03 -2.47611821e-05 9.99967329e-01 9.20084612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:302.76, Y:4.30, Z:0.92 [[ 9.99918704e-01 -9.86125717e-03 8.08343109e-03 3.02755594e+02] [ 9.86113827e-03 9.99951376e-01 5.45660892e-05 4.29677455e+00] [-8.08357613e-03 2.51501785e-05 9.99967327e-01 9.21333813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:302.79, Y:4.30, Z:0.91 [[ 9.99960500e-01 -3.69576718e-03 8.08324908e-03 3.02785350e+02] [ 3.69534818e-03 9.99993170e-01 6.67700468e-05 4.30193991e+00] [-8.08344064e-03 -3.68969896e-05 9.99967328e-01 9.13861844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:302.82, Y:4.30, Z:0.92 [[ 9.99967186e-01 5.48406234e-04 8.08242823e-03 3.02817408e+02] [-5.49405498e-04 9.99999842e-01 1.21414371e-04 4.30490578e+00] [-8.08236036e-03 -1.25850918e-04 9.99967329e-01 9.20682157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:302.85, Y:4.31, Z:0.92 [[ 9.99957455e-01 4.44419098e-03 8.08320780e-03 3.02849392e+02] [-4.44489305e-03 9.99990119e-01 6.88927432e-05 4.30814773e+00] [-8.08282176e-03 -1.04818806e-04 9.99967328e-01 9.21262963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.88, Y:4.31, Z:0.91 [[ 9.99957337e-01 4.47049146e-03 8.08322515e-03 3.02878768e+02] [-4.47118503e-03 9.99990002e-01 6.77347408e-05 4.30967690e+00] [-8.08284153e-03 -1.03873446e-04 9.99967328e-01 9.12677511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:302.91, Y:4.31, Z:0.91 [[ 9.99958622e-01 4.17484488e-03 8.08239907e-03 3.02911602e+02] [-4.17596987e-03 9.99991273e-01 1.22319656e-04 4.31206114e+00] [-8.08181787e-03 -1.56066450e-04 9.99967329e-01 9.13804068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:302.94, Y:4.32, Z:0.92 [[ 9.99966677e-01 1.14876585e-03 8.08242361e-03 3.02942694e+02] [-1.14977875e-03 9.99999332e-01 1.20675966e-04 4.31625467e+00] [-8.08227958e-03 -1.29964944e-04 9.99967329e-01 9.20240946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:302.97, Y:4.32, Z:0.91 [[ 9.99966310e-01 1.43213584e-03 8.08251752e-03 3.02973447e+02] [-1.43310691e-03 9.99998967e-01 1.14353694e-04 4.31793959e+00] [-8.08234540e-03 -1.25932953e-04 9.99967329e-01 9.12316920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:303.01, Y:4.32, Z:0.91 [[ 9.99966608e-01 -1.20733081e-03 8.08243786e-03 3.03005269e+02] [ 1.20640249e-03 9.99999265e-01 1.19731107e-04 4.31865979e+00] [-8.08257648e-03 -1.09976435e-04 9.99967329e-01 9.11760225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:303.04, Y:4.32, Z:0.91 [[ 9.99963228e-01 -2.86641234e-03 8.08245781e-03 3.03037835e+02] [ 2.86554921e-03 9.99995887e-01 1.18368817e-04 4.31977759e+00] [-8.08276386e-03 -9.52037842e-05 9.99967329e-01 9.10481601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:303.07, Y:4.32, Z:0.91 [[ 9.99959319e-01 -4.00412302e-03 8.08252031e-03 3.03070876e+02] [ 4.00333288e-03 9.99991980e-01 1.13935509e-04 4.32089506e+00] [-8.08291170e-03 -8.15738542e-05 9.99967329e-01 9.10866672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:303.10, Y:4.32, Z:0.91 [[ 9.99949561e-01 -5.96212678e-03 8.08257970e-03 3.03104397e+02] [ 5.96143602e-03 9.99982224e-01 1.09553265e-04 4.32120790e+00] [-8.08308920e-03 -6.13639579e-05 9.99967329e-01 9.09518709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:303.14, Y:4.32, Z:0.91 [[ 9.99944552e-01 -6.75014289e-03 8.08263667e-03 3.03137686e+02] [ 6.74951326e-03 9.99977216e-01 1.05175130e-04 4.32125733e+00] [-8.08316247e-03 -5.06154345e-05 9.99967329e-01 9.09811970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:303.17, Y:4.32, Z:0.92 [[ 9.99914658e-01 -1.02638794e-02 8.08269122e-03 3.03167537e+02] [ 1.02633999e-02 9.99947325e-01 1.00801095e-04 4.32073452e+00] [-8.08330008e-03 -1.78365993e-05 9.99967329e-01 9.20826827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:303.20, Y:4.32, Z:0.91 [[ 9.99920698e-01 -9.65795729e-03 8.08213016e-03 3.03200014e+02] [ 9.65709486e-03 9.99953359e-01 1.45728359e-04 4.32100866e+00] [-8.08316064e-03 -6.76669045e-05 9.99967328e-01 9.10406689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:303.23, Y:4.32, Z:0.91 [[ 9.99890656e-01 -1.23833282e-02 8.08270614e-03 3.03233232e+02] [ 1.23829370e-02 9.99923324e-01 9.84327291e-05 4.31823875e+00] [-8.08330532e-03 1.66567535e-06 9.99967330e-01 9.08840072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:303.27, Y:4.32, Z:0.91 [[ 9.99874300e-01 -1.36401281e-02 8.08275726e-03 3.03265823e+02] [ 1.36398135e-02 9.99906969e-01 9.40390156e-05 4.31762279e+00] [-8.08328802e-03 1.62201070e-05 9.99967330e-01 9.08535026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06864 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:303.30, Y:4.32, Z:0.92 [[ 9.99832916e-01 -1.63954056e-02 8.08280520e-03 3.03295895e+02] [ 1.63952160e-02 9.99865585e-01 8.97207086e-05 4.31631795e+00] [-8.08318976e-03 4.28136192e-05 9.99967330e-01 9.20109217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:303.33, Y:4.31, Z:0.92 [[ 9.99824671e-01 -1.68909036e-02 8.08233477e-03 3.03326713e+02] [ 1.68903902e-02 9.99857339e-01 1.31776818e-04 4.31343302e+00] [-8.08340756e-03 4.76007422e-06 9.99967329e-01 9.21502007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:4.31, Z:0.91 [[ 9.99858732e-01 -1.47376162e-02 8.08204949e-03 3.03358995e+02] [ 1.47368204e-02 9.99891395e-01 1.58017776e-04 4.31222389e+00] [-8.08350054e-03 -3.88917412e-05 9.99967327e-01 9.08067657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15864 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:303.39, Y:4.31, Z:0.92 [[ 9.99859404e-01 -1.46915168e-02 8.08281770e-03 3.03388034e+02] [ 1.46913115e-02 9.99892073e-01 8.47770974e-05 4.31111007e+00] [-8.08319085e-03 3.39820149e-05 9.99967330e-01 9.23205964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:303.42, Y:4.31, Z:0.91 [[ 9.99900191e-01 -1.15883240e-02 8.08203639e-03 3.03421035e+02] [ 1.15874194e-02 9.99932851e-01 1.58752552e-04 4.31078882e+00] [-8.08333337e-03 -6.50867619e-05 9.99967327e-01 9.09868720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:303.45, Y:4.31, Z:0.91 [[ 9.99918948e-01 -9.83691974e-03 8.08281470e-03 3.03454425e+02] [ 9.83657405e-03 9.99951616e-01 8.25222764e-05 4.30986916e+00] [-8.08323539e-03 -3.00838249e-06 9.99967330e-01 9.09003982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:303.49, Y:4.31, Z:0.91 [[ 9.99924263e-01 -9.28090657e-03 8.08285660e-03 3.03487515e+02] [ 9.28057773e-03 9.99956931e-01 7.81908758e-05 4.31070497e+00] [-8.08323416e-03 -3.17137492e-06 9.99967330e-01 9.07805265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:303.52, Y:4.31, Z:0.91 [[ 9.99927232e-01 -8.95525830e-03 8.08289627e-03 3.03519875e+02] [ 8.95495392e-03 9.99959901e-01 7.38483430e-05 4.31157703e+00] [-8.08323349e-03 -1.46100555e-06 9.99967330e-01 9.08860892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:303.55, Y:4.31, Z:0.91 [[ 9.99914938e-01 -1.02363973e-02 8.08290850e-03 3.03552638e+02] [ 1.02361458e-02 9.99947607e-01 7.24849039e-05 4.31021591e+00] [-8.08322699e-03 1.02590918e-05 9.99967330e-01 9.09653334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:303.59, Y:4.31, Z:0.91 [[ 9.99906028e-01 -1.10724966e-02 8.08294569e-03 3.03585338e+02] [ 1.10723081e-02 9.99938698e-01 6.80681612e-05 4.30866574e+00] [-8.08320388e-03 2.14351004e-05 9.99967330e-01 9.09105817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:303.62, Y:4.31, Z:0.91 [[ 9.99911625e-01 -1.05549814e-02 8.08297965e-03 3.03618376e+02] [ 1.05548108e-02 9.99944294e-01 6.37637026e-05 4.30944119e+00] [-8.08320241e-03 2.15562536e-05 9.99967330e-01 9.09773079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:303.65, Y:4.31, Z:0.91 [[ 9.99928339e-01 -8.83069371e-03 8.08301145e-03 3.03651290e+02] [ 8.83050174e-03 9.99961009e-01 5.94392435e-05 4.31140585e+00] [-8.08322117e-03 1.19420627e-05 9.99967330e-01 9.08929198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864000000003 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:303.68, Y:4.31, Z:0.91 [[ 9.99934275e-01 -8.13078932e-03 8.08304126e-03 3.03683664e+02] [ 8.13060986e-03 9.99966945e-01 5.50629548e-05 4.30976726e+00] [-8.08322178e-03 1.06607192e-05 9.99967330e-01 9.09661477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:303.72, Y:4.31, Z:0.91 [[ 9.99932595e-01 -8.33488508e-03 8.08306547e-03 3.03717001e+02] [ 8.33474315e-03 9.99965264e-01 5.12447258e-05 4.30820257e+00] [-8.08321182e-03 1.61290030e-05 9.99967330e-01 9.09989945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:303.75, Y:4.31, Z:0.92 [[ 9.99926827e-01 -9.00028691e-03 8.08309067e-03 3.03746885e+02] [ 9.00020182e-03 9.99959496e-01 4.69020885e-05 4.30787790e+00] [-8.08318540e-03 2.58507908e-05 9.99967330e-01 9.20193112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51864 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:303.78, Y:4.31, Z:0.92 [[ 9.99933997e-01 -8.16503555e-03 8.08290647e-03 3.03779054e+02] [ 8.16466906e-03 9.99966665e-01 7.83386742e-05 4.31012459e+00] [-8.08327667e-03 -1.23392472e-05 9.99967330e-01 9.20779806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:303.81, Y:4.31, Z:0.91 [[ 9.99939677e-01 -7.43689775e-03 8.08296191e-03 3.03810592e+02] [ 7.43659185e-03 9.99972346e-01 6.79000573e-05 4.31010362e+00] [-8.08324335e-03 -7.78627265e-06 9.99967330e-01 9.08534856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:303.84, Y:4.31, Z:0.91 [[ 9.99952529e-01 -5.44082559e-03 8.08309683e-03 3.03843609e+02] [ 5.44066525e-03 9.99985199e-01 4.18252810e-05 4.30976131e+00] [-8.08320476e-03 2.15412857e-06 9.99967330e-01 9.08617532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:303.88, Y:4.31, Z:0.91 [[ 9.99954134e-01 -5.13744452e-03 8.08311712e-03 3.03876362e+02] [ 5.13730967e-03 9.99986803e-01 3.74468850e-05 4.31119348e+00] [-8.08320283e-03 4.08030828e-06 9.99967330e-01 9.08308340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:303.91, Y:4.31, Z:0.91 [[ 9.99956346e-01 -4.68703572e-03 8.08313494e-03 3.03909678e+02] [ 4.68692132e-03 9.99989016e-01 3.30950987e-05 4.31314519e+00] [-8.08320127e-03 4.79136353e-06 9.99967330e-01 9.09067711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:303.94, Y:4.31, Z:0.92 [[ 9.99950083e-01 -5.87315612e-03 8.08315038e-03 3.03939412e+02] [ 5.87311556e-03 9.99982753e-01 2.87544621e-05 4.31401279e+00] [-8.08317984e-03 1.87202495e-05 9.99967330e-01 9.20575945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69864 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:303.97, Y:4.31, Z:0.92 [[ 9.99962091e-01 -3.23761073e-03 8.08298069e-03 3.03972659e+02] [ 3.23709892e-03 9.99994758e-01 7.64014410e-05 4.31329654e+00] [-8.08318567e-03 -5.02331366e-05 9.99967329e-01 9.19031091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:304.01, Y:4.31, Z:0.92 [[ 9.99966334e-01 -1.41257334e-03 8.08304693e-03 3.04006206e+02] [ 1.41217410e-03 9.99999001e-01 5.50996511e-05 4.31392501e+00] [-8.08311669e-03 -4.36831266e-05 9.99967330e-01 9.19542135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75864 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:304.04, Y:4.32, Z:0.92 [[ 9.99967316e-01 -1.76065569e-04 8.08309145e-03 3.04038211e+02] [ 1.75763470e-04 9.99999984e-01 3.80844529e-05 4.31723869e+00] [-8.08309803e-03 -3.66624960e-05 9.99967331e-01 9.20173844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:304.07, Y:4.32, Z:0.91 [[ 9.99965966e-01 1.65264943e-03 8.08310124e-03 3.04070211e+02] [-1.65297920e-03 9.99998633e-01 3.41172822e-05 4.31858014e+00] [-8.08303380e-03 -4.74773193e-05 9.99967331e-01 9.09439028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:304.10, Y:4.32, Z:0.91 [[ 9.99964027e-01 2.57069638e-03 8.08313720e-03 3.04103651e+02] [-2.57092258e-03 9.99996695e-01 1.75935855e-05 4.31861336e+00] [-8.08306526e-03 -3.83740726e-05 9.99967331e-01 9.09228068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:304.13, Y:4.32, Z:0.92 [[ 9.99965867e-01 1.71112439e-03 8.08314049e-03 3.04134831e+02] [-1.71130902e-03 9.99998536e-01 1.59251381e-05 4.31931321e+00] [-8.08310140e-03 -2.97573458e-05 9.99967331e-01 9.17426646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:304.17, Y:4.32, Z:0.91 [[ 9.99967289e-01 2.90160203e-04 8.08316737e-03 3.04165368e+02] [-2.90176444e-04 9.99999958e-01 8.36468661e-07 4.32065588e+00] [-8.08316678e-03 -3.18198606e-06 9.99967331e-01 9.07855913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:304.20, Y:4.32, Z:0.92 [[ 9.99966013e-01 -1.62331539e-03 8.08314745e-03 3.04195667e+02] [ 1.62326243e-03 9.99998682e-01 1.31126032e-05 4.32115690e+00] [-8.08315809e-03 8.91199626e-09 9.99967331e-01 9.18793987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:304.23, Y:4.32, Z:0.92 [[ 9.99966056e-01 -1.59677703e-03 8.08310672e-03 3.04227871e+02] [ 1.59652635e-03 9.99998725e-01 3.74653935e-05 4.32110941e+00] [-8.08315623e-03 -2.45592289e-05 9.99967330e-01 9.18929433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:304.26, Y:4.32, Z:0.92 [[ 9.99966805e-01 -1.02575493e-03 8.08311542e-03 3.04260122e+02] [ 1.02554929e-03 9.99999474e-01 2.95864425e-05 4.32231345e+00] [-8.08314151e-03 -2.12958271e-05 9.99967331e-01 9.19247167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:4.32, Z:0.91 [[ 9.99967325e-01 -1.05635561e-04 8.08312167e-03 3.04291765e+02] [ 1.05479263e-04 9.99999994e-01 1.97626260e-05 4.32407285e+00] [-8.08312372e-03 -1.89093786e-05 9.99967331e-01 9.07099487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:304.32, Y:4.33, Z:0.92 [[ 9.99967039e-01 7.64273777e-04 8.08312808e-03 3.04323785e+02] [-7.64323894e-04 9.99999708e-01 3.11115857e-06 4.32634933e+00] [-8.08312335e-03 -9.28918396e-06 9.99967331e-01 9.19503266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:304.35, Y:4.33, Z:0.92 [[ 9.99967101e-01 6.77834322e-04 8.08313957e-03 3.04354335e+02] [-6.77640394e-04 9.99999770e-01 -2.67304488e-05 4.32898851e+00] [-8.08315583e-03 2.12521075e-05 9.99967331e-01 9.19260587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:304.38, Y:4.33, Z:0.92 [[ 9.99966850e-01 9.80522892e-04 8.08313559e-03 3.04384492e+02] [-9.80475345e-04 9.99999519e-01 -9.84502980e-06 4.33142199e+00] [-8.08314136e-03 1.91938828e-06 9.99967331e-01 9.18065724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:304.42, Y:4.33, Z:0.91 [[ 9.99966564e-01 1.23851542e-03 8.08313028e-03 3.04416065e+02] [-1.23869122e-03 9.99999233e-01 1.67425760e-05 4.33080042e+00] [-8.08310334e-03 -2.67545187e-05 9.99967331e-01 9.05987410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:304.45, Y:4.33, Z:0.91 [[ 9.99967323e-01 1.22505319e-04 8.08313132e-03 3.04449445e+02] [-1.22513517e-04 9.99999992e-01 5.19029257e-07 4.33216976e+00] [-8.08313120e-03 -1.50930514e-06 9.99967331e-01 9.05587017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:304.48, Y:4.33, Z:0.91 [[ 9.99967207e-01 -4.97603828e-04 8.08312922e-03 3.04482596e+02] [ 4.97651374e-04 9.99999876e-01 -3.87072648e-06 4.33441407e+00] [-8.08312630e-03 7.89317991e-06 9.99967331e-01 9.05533116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:304.51, Y:4.33, Z:0.92 [[ 9.99966291e-01 -1.44226799e-03 8.08312481e-03 3.04513340e+02] [ 1.44238150e-03 9.99998960e-01 -8.21338204e-06 4.33477031e+00] [-8.08310456e-03 1.98720549e-05 9.99967331e-01 9.17632496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:304.55, Y:4.34, Z:0.92 [[ 9.99966908e-01 -9.19341511e-04 8.08314441e-03 3.04545043e+02] [ 9.19274614e-04 9.99999577e-01 1.19914191e-05 4.33501963e+00] [-8.08315202e-03 -4.56039280e-06 9.99967331e-01 9.17375234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:304.58, Y:4.33, Z:0.90 [[ 9.99964022e-01 -2.57238638e-03 8.08313837e-03 3.04576356e+02] [ 2.57240645e-03 9.99996691e-01 7.91393071e-06 4.33060872e+00] [-8.08313198e-03 1.28794713e-05 9.99967331e-01 9.03339875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:304.61, Y:4.33, Z:0.92 [[ 9.99961374e-01 -3.45161262e-03 8.08310280e-03 3.04607033e+02] [ 3.45183413e-03 9.99994042e-01 -1.34541443e-05 4.32871289e+00] [-8.08300821e-03 4.13551548e-05 9.99967331e-01 9.16532587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:304.64, Y:4.33, Z:0.90 [[ 9.99965233e-01 -2.04830703e-03 8.08316939e-03 3.04639887e+02] [ 2.04819350e-03 9.99997902e-01 2.23229222e-05 4.32858295e+00] [-8.08319816e-03 -5.76625112e-06 9.99967330e-01 9.03268099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.67, Y:4.33, Z:0.90 [[ 9.99966494e-01 -1.29402066e-03 8.08307643e-03 3.04673072e+02] [ 1.29421196e-03 9.99999162e-01 -1.84357975e-05 4.32759512e+00] [-8.08304581e-03 2.88963940e-05 9.99967331e-01 9.03133197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:304.70, Y:4.32, Z:0.91 [[ 9.99966713e-01 -1.11217125e-03 8.08306446e-03 3.04702979e+02] [ 1.11239107e-03 9.99999381e-01 -2.26998567e-05 4.32460348e+00] [-8.08303421e-03 3.16906298e-05 9.99967331e-01 9.14575800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:304.74, Y:4.32, Z:0.92 [[ 9.99967313e-01 1.89196068e-04 8.08319381e-03 3.04735072e+02] [-1.89357767e-04 9.99999982e-01 1.92389300e-05 4.31903330e+00] [-8.08319003e-03 -2.07689166e-05 9.99967330e-01 9.15665784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:304.77, Y:4.32, Z:0.92 [[ 9.99966621e-01 1.19072489e-03 8.08324417e-03 3.04766932e+02] [-1.19102708e-03 9.99999290e-01 3.25704430e-05 4.31787859e+00] [-8.08319965e-03 -4.21967185e-05 9.99967330e-01 9.16043004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:304.80, Y:4.31, Z:0.90 [[ 9.99960046e-01 3.81672407e-03 8.08325274e-03 3.04799832e+02] [-3.81712860e-03 9.99992714e-01 3.46181158e-05 4.31439555e+00] [-8.08306172e-03 -6.54715479e-05 9.99967329e-01 9.00887768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:304.83, Y:4.31, Z:0.91 [[ 9.99967254e-01 3.97627500e-04 8.08291717e-03 3.04826782e+02] [-3.97336770e-04 9.99999920e-01 -3.75742011e-05 4.31144149e+00] [-8.08293147e-03 3.43613305e-05 9.99967332e-01 9.14580470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:304.86, Y:4.31, Z:0.91 [[ 9.99964009e-01 2.57619151e-03 8.08351041e-03 3.04858851e+02] [-2.57701161e-03 9.99996675e-01 9.10397960e-05 4.30897703e+00] [-8.08324900e-03 -1.11867820e-04 9.99967324e-01 9.13164834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:304.89, Y:4.31, Z:0.91 [[ 9.99961692e-01 3.35794692e-03 8.08326887e-03 3.04890403e+02] [-3.35841442e-03 9.99994360e-01 4.42617742e-05 4.30782777e+00] [-8.08307464e-03 -7.14070453e-05 9.99967329e-01 9.13008095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:4.31, Z:0.90 [[ 9.99938865e-01 7.54491036e-03 8.08334622e-03 3.04923578e+02] [-7.54563089e-03 9.99971530e-01 5.86433442e-05 4.30817444e+00] [-8.08267362e-03 -1.19633706e-04 9.99967328e-01 9.00986639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:4.31, Z:0.90 [[ 9.99913324e-01 1.03929549e-02 8.08273343e-03 3.04956085e+02] [-1.03929151e-02 9.99945991e-01 -4.69220310e-05 4.30723166e+00] [-8.08278455e-03 -3.70851986e-05 9.99967333e-01 8.97912171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:304.98, Y:4.31, Z:0.91 [[ 9.99926939e-01 8.98807414e-03 8.08272701e-03 3.04984889e+02] [-8.98797974e-03 9.99959606e-01 -4.80035745e-05 4.30689075e+00] [-8.08283198e-03 -2.46473193e-05 9.99967333e-01 9.09876522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:305.02, Y:4.31, Z:0.90 [[ 9.99890613e-01 1.23863673e-02 8.08326947e-03 3.05018224e+02] [-1.23870936e-02 9.99923276e-01 3.97880994e-05 4.30742631e+00] [-8.08215646e-03 -1.39911962e-04 9.99967329e-01 8.98481394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:305.05, Y:4.31, Z:0.90 [[ 9.99883980e-01 1.29111092e-02 8.08263367e-03 3.05050080e+02] [-1.29110904e-02 9.99916647e-01 -5.45032413e-05 4.31100548e+00] [-8.08266366e-03 -4.98586963e-05 9.99967333e-01 8.98542211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:305.08, Y:4.31, Z:0.91 [[ 9.99912728e-01 1.04502699e-02 8.08262615e-03 3.05079346e+02] [-1.04501619e-02 9.99945394e-01 -5.55970409e-05 4.31171234e+00] [-8.08276579e-03 -2.88725628e-05 9.99967333e-01 9.09486205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:4.31, Z:0.90 [[ 9.99901371e-01 1.14851967e-02 8.08325748e-03 3.05112956e+02] [-1.14858648e-02 9.99934035e-01 3.62347551e-05 4.31254484e+00] [-8.08230810e-03 -1.29074384e-04 9.99967329e-01 8.97176217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:305.14, Y:4.31, Z:0.91 [[ 9.99937626e-01 7.70824756e-03 8.08254531e-03 3.05141561e+02] [-7.70801530e-03 9.99970291e-01 -5.98867405e-05 4.31299564e+00] [-8.08276681e-03 -2.41737779e-06 9.99967334e-01 9.09359548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:305.17, Y:4.31, Z:0.91 [[ 9.99952689e-01 5.41141853e-03 8.08310174e-03 3.05173412e+02] [-5.41171198e-03 9.99985356e-01 1.44318084e-05 4.31298770e+00] [-8.08290528e-03 -5.81745441e-05 9.99967331e-01 9.08084022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:4.31, Z:0.89 [[ 9.99966134e-01 1.54758307e-03 8.08303785e-03 3.05205608e+02] [-1.54768391e-03 9.99998802e-01 6.22053096e-06 4.31210408e+00] [-8.08301854e-03 -1.87303079e-05 9.99967332e-01 8.93704761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:305.24, Y:4.31, Z:0.89 [[ 9.99967131e-01 6.41169495e-04 8.08244941e-03 3.05238230e+02] [-6.40657586e-04 9.99999793e-01 -6.59248192e-05 4.31242176e+00] [-8.08249001e-03 6.07445698e-05 9.99967334e-01 8.93330358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:4.31, Z:0.89 [[ 9.99967322e-01 1.71744685e-04 8.08241268e-03 3.05269963e+02] [-1.71183242e-04 9.99999983e-01 -7.01565579e-05 4.31339805e+00] [-8.08242459e-03 6.87706917e-05 9.99967334e-01 8.92171533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:4.31, Z:0.89 [[ 9.99967333e-01 -9.19325834e-05 8.08237912e-03 3.05303272e+02] [ 9.25323342e-05 9.99999993e-01 -7.38308266e-05 4.31313465e+00] [-8.08237227e-03 7.45762962e-05 9.99967334e-01 8.91489516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:305.34, Y:4.31, Z:0.89 [[ 9.99967318e-01 -1.97146548e-04 8.08236416e-03 3.05335468e+02] [ 1.97762684e-04 9.99999978e-01 -7.54330250e-05 4.31304103e+00] [-8.08234911e-03 7.70289497e-05 9.99967334e-01 8.91172244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:305.37, Y:4.31, Z:0.89 [[ 9.99967326e-01 1.49825084e-04 8.08232843e-03 3.05367518e+02] [-1.49190769e-04 9.99999986e-01 -7.90845946e-05 4.31496570e+00] [-8.08234017e-03 7.78762018e-05 9.99967334e-01 8.90579946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:305.40, Y:4.32, Z:0.89 [[ 9.99967021e-01 7.95014177e-04 8.08231810e-03 3.05399687e+02] [-7.94392508e-04 9.99999681e-01 -8.01271563e-05 4.31649558e+00] [-8.08237923e-03 7.37039809e-05 9.99967334e-01 8.90381282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:305.43, Y:4.32, Z:0.89 [[ 9.99963711e-01 2.69320702e-03 8.08230759e-03 3.05432355e+02] [-2.69263889e-03 9.99996372e-01 -8.11738702e-05 4.32060224e+00] [-8.08249688e-03 5.94081888e-05 9.99967334e-01 8.89177664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:305.46, Y:4.32, Z:0.90 [[ 9.99963192e-01 2.87955561e-03 8.08229690e-03 3.05462388e+02] [-2.87898507e-03 9.99995852e-01 -8.22239728e-05 4.32315445e+00] [-8.08250015e-03 5.89521341e-05 9.99967334e-01 9.00289191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:305.49, Y:4.33, Z:0.89 [[ 9.99961583e-01 3.39176619e-03 8.08258077e-03 3.05494027e+02] [-3.39143613e-03 9.99994248e-01 -5.45419625e-05 4.32572294e+00] [-8.08271927e-03 2.71283108e-05 9.99967334e-01 8.88738826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:305.53, Y:4.33, Z:0.89 [[ 9.99965726e-01 1.79557594e-03 8.08227525e-03 3.05527555e+02] [-1.79495602e-03 9.99998386e-01 -8.39541551e-05 4.32912694e+00] [-8.08241295e-03 6.94439490e-05 9.99967334e-01 8.86547486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19864 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:305.56, Y:4.33, Z:0.90 [[ 9.99966589e-01 -1.22375967e-03 8.08222904e-03 3.05556529e+02] [ 1.22451242e-03 9.99999246e-01 -8.81896644e-05 4.32973349e+00] [-8.08211503e-03 9.80835078e-05 9.99967334e-01 9.00178477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:305.59, Y:4.33, Z:0.89 [[ 9.99965142e-01 -2.09322602e-03 8.08285859e-03 3.05588725e+02] [ 2.09354335e-03 9.99997808e-01 -3.07993197e-05 4.33046455e+00] [-8.08277640e-03 4.77200610e-05 9.99967333e-01 8.85327410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:305.62, Y:4.33, Z:0.88 [[ 9.99954345e-01 -5.09775931e-03 8.08218060e-03 3.05620914e+02] [ 5.09866137e-03 9.99986998e-01 -9.10097367e-05 4.33448960e+00] [-8.08161156e-03 1.32213884e-04 9.99967335e-01 8.84689853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:305.65, Y:4.34, Z:0.88 [[ 9.99950277e-01 -5.84138386e-03 8.08213819e-03 3.05653528e+02] [ 5.84233946e-03 9.99982929e-01 -9.46314760e-05 4.33629058e+00] [-8.08144744e-03 1.41845366e-04 9.99967335e-01 8.82830487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:305.69, Y:4.34, Z:0.88 [[ 9.99947497e-01 -6.29940246e-03 8.08208806e-03 3.05685517e+02] [ 6.30040618e-03 9.99980147e-01 -9.87352966e-05 4.33821102e+00] [-8.08130563e-03 1.49650550e-04 9.99967335e-01 8.82148170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:305.72, Y:4.34, Z:0.90 [[ 9.99943787e-01 -6.86318445e-03 8.08204282e-03 3.05715871e+02] [ 6.86423544e-03 9.99976436e-01 -1.02308902e-04 4.33903850e+00] [-8.08115021e-03 1.57780196e-04 9.99967335e-01 8.98104736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:305.75, Y:4.34, Z:0.88 [[ 9.99944048e-01 -6.82463126e-03 8.08236107e-03 3.05747268e+02] [ 6.82547697e-03 9.99976703e-01 -7.70570886e-05 4.34044802e+00] [-8.08164689e-03 1.32218746e-04 9.99967334e-01 8.82625671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:305.78, Y:4.34, Z:0.88 [[ 9.99949385e-01 -5.99237117e-03 8.08199162e-03 3.05779147e+02] [ 5.99341863e-03 9.99982034e-01 -1.05389444e-04 4.34100859e+00] [-8.08121488e-03 1.53822869e-04 9.99967335e-01 8.80676917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:305.81, Y:4.34, Z:0.88 [[ 9.99956021e-01 -4.75786374e-03 8.08194362e-03 3.05811369e+02] [ 4.75889966e-03 9.99988670e-01 -1.08950146e-04 4.33970083e+00] [-8.08133368e-03 1.47406513e-04 9.99967335e-01 8.80034845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:305.84, Y:4.34, Z:0.88 [[ 9.99959282e-01 -4.01454703e-03 8.08189405e-03 3.05844324e+02] [ 4.01558744e-03 9.99991931e-01 -1.12510826e-04 4.34047078e+00] [-8.08137715e-03 1.44959797e-04 9.99967335e-01 8.79742165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49864 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:305.88, Y:4.34, Z:0.89 [[ 9.99964389e-01 -2.43001070e-03 8.08183546e-03 3.05875357e+02] [ 2.43103219e-03 9.99997038e-01 -1.16572629e-04 4.34139512e+00] [-8.08152825e-03 1.36215680e-04 9.99967335e-01 8.94648596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52864 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:305.91, Y:4.34, Z:0.89 [[ 9.99965958e-01 -1.66502580e-03 8.08151773e-03 3.05907307e+02] [ 1.66619902e-03 9.99998602e-01 -1.38442596e-04 4.34092068e+00] [-8.08127592e-03 1.51903301e-04 9.99967334e-01 8.93670517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55864 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:305.94, Y:4.34, Z:0.89 [[ 9.99965347e-01 -1.99873442e-03 8.08145511e-03 3.05939507e+02] [ 1.99995345e-03 9.99997990e-01 -1.42763536e-04 4.33868304e+00] [-8.08115352e-03 1.58921122e-04 9.99967334e-01 8.93583476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:305.97, Y:4.34, Z:0.88 [[ 9.99965302e-01 -2.01972234e-03 8.08179202e-03 3.05971070e+02] [ 2.02075951e-03 9.99997951e-01 -1.20169794e-04 4.33720927e+00] [-8.08153275e-03 1.36496983e-04 9.99967335e-01 8.78290529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61864 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:306.00, Y:4.34, Z:0.89 [[ 9.99965204e-01 -2.06763772e-03 8.08178024e-03 3.06000418e+02] [ 2.06868281e-03 9.99997853e-01 -1.20957337e-04 4.33555309e+00] [-8.08151279e-03 1.37671768e-04 9.99967335e-01 8.92982202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64864 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:306.03, Y:4.33, Z:0.89 [[ 9.99967336e-01 9.38529479e-06 8.08247310e-03 3.06033150e+02] [-8.78319894e-06 9.99999997e-01 -7.45295041e-05 4.33456230e+00] [-8.08247377e-03 7.44560798e-05 9.99967334e-01 8.90513996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67864000000003 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:306.07, Y:4.33, Z:0.89 [[ 9.99965194e-01 2.07332583e-03 8.08161390e-03 3.06066062e+02] [-2.07233256e-03 9.99997844e-01 -1.31276262e-04 4.33274880e+00] [-8.08186866e-03 1.14523902e-04 9.99967335e-01 8.89722131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70864 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:306.10, Y:4.33, Z:0.89 [[ 9.99956052e-01 4.75273736e-03 8.08122051e-03 3.06096135e+02] [-4.75162443e-03 9.99988699e-01 -1.56912687e-04 4.33113231e+00] [-8.08187495e-03 1.18506866e-04 9.99967334e-01 8.92323763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73864 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:306.13, Y:4.33, Z:0.88 [[ 9.99937243e-01 7.75854113e-03 8.08179751e-03 3.06127157e+02] [-7.75782867e-03 9.99969900e-01 -1.19502678e-04 4.33227164e+00] [-8.08248142e-03 5.67979779e-05 9.99967335e-01 8.78591846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76864 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:306.16, Y:4.34, Z:0.89 [[ 9.99860015e-01 1.46505098e-02 8.08170088e-03 3.06157385e+02] [-1.46499722e-02 9.99892675e-01 -1.25714627e-04 4.33663130e+00] [-8.08267530e-03 7.30033562e-06 9.99967335e-01 8.92269416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79864 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:306.19, Y:4.34, Z:0.88 [[ 9.99800169e-01 1.82839656e-02 8.08202478e-03 3.06189183e+02] [-1.82837158e-02 9.99832833e-01 -1.04807916e-04 4.33596722e+00] [-8.08259004e-03 -4.29824719e-05 9.99967334e-01 8.77307546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82864 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:306.22, Y:4.33, Z:0.89 [[ 9.99768451e-01 1.99432146e-02 8.08167937e-03 3.06219196e+02] [-1.99428410e-02 9.99801114e-01 -1.26819438e-04 4.33457141e+00] [-8.08260123e-03 -3.43815740e-05 9.99967335e-01 8.87992789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85864 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:306.25, Y:4.33, Z:0.88 [[ 9.99738621e-01 2.13861981e-02 8.08211281e-03 3.06250211e+02] [-2.13860940e-02 9.99771286e-01 -9.93069723e-05 4.33418573e+00] [-8.08238812e-03 -7.35638090e-05 9.99967334e-01 8.76926230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88864 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:306.28, Y:4.34, Z:0.89 [[ 9.99724956e-01 2.20159059e-02 8.08165621e-03 3.06281532e+02] [-2.20155896e-02 9.99757619e-01 -1.28110751e-04 4.34001847e+00] [-8.08251785e-03 -4.98469116e-05 9.99967335e-01 8.89032971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:306.31, Y:4.34, Z:0.88 [[ 9.99719775e-01 2.22498707e-02 8.08177189e-03 3.06313498e+02] [-2.22496204e-02 9.99752439e-01 -1.20881880e-04 4.34160250e+00] [-8.08246077e-03 -5.89683514e-05 9.99967335e-01 8.77677452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94864 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:306.34, Y:4.34, Z:0.89 [[ 9.99738165e-01 2.14076959e-02 8.08163658e-03 3.06344056e+02] [-2.14073498e-02 9.99770828e-01 -1.29337072e-04 4.34087332e+00] [-8.08255330e-03 -4.37032139e-05 9.99967335e-01 8.88509461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97864 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:306.38, Y:4.34, Z:0.89 [[ 9.99760084e-01 2.03581512e-02 8.08206026e-03 3.06375900e+02] [-2.03579835e-02 9.99792749e-01 -1.03017854e-04 4.34045115e+00] [-8.08248250e-03 -6.15413113e-05 9.99967334e-01 8.87026287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:306.41, Y:4.34, Z:0.88 [[ 9.99782453e-01 1.92284660e-02 8.08159166e-03 3.06406735e+02] [-1.92280282e-02 9.99815116e-01 -1.31871423e-04 4.34125810e+00] [-8.08263318e-03 -2.35503377e-05 9.99967335e-01 8.76231117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03864 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:306.44, Y:4.34, Z:0.87 [[ 9.99798299e-01 1.83861295e-02 8.08159602e-03 3.06438772e+02] [-1.83856663e-02 9.99830961e-01 -1.31603185e-04 4.34243392e+00] [-8.08264959e-03 -1.70088876e-05 9.99967335e-01 8.74931349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06864 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:306.47, Y:4.34, Z:0.87 [[ 9.99802141e-01 1.81759785e-02 8.08157853e-03 3.06470901e+02] [-1.81754999e-02 9.99834803e-01 -1.32669063e-04 4.34136569e+00] [-8.08265487e-03 -1.42439167e-05 9.99967335e-01 8.74265438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09864 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:306.50, Y:4.34, Z:0.88 [[ 9.99783604e-01 1.91685373e-02 8.08156075e-03 3.06502582e+02] [-1.91680825e-02 9.99816266e-01 -1.33743054e-04 4.34159671e+00] [-8.08263956e-03 -2.11939105e-05 9.99967335e-01 8.75457597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:306.54, Y:4.34, Z:0.88 [[ 9.99783668e-01 1.91651979e-02 8.08154743e-03 3.06535126e+02] [-1.91647364e-02 9.99816331e-01 -1.34543334e-04 4.34281113e+00] [-8.08264165e-03 -2.03664980e-05 9.99967335e-01 8.75827308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:306.57, Y:4.34, Z:0.88 [[ 9.99781119e-01 1.92977591e-02 8.08152968e-03 3.06567793e+02] [-1.92972935e-02 9.99813781e-01 -1.35601212e-04 4.34229795e+00] [-8.08264154e-03 -2.03801183e-05 9.99967335e-01 8.75563304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:306.60, Y:4.34, Z:0.88 [[ 9.99777860e-01 1.94658798e-02 8.08151156e-03 3.06599515e+02] [-1.94654110e-02 9.99810522e-01 -1.36672706e-04 4.34339193e+00] [-8.08264074e-03 -2.06675983e-05 9.99967335e-01 8.75118809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21864 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:306.63, Y:4.34, Z:0.87 [[ 9.99806431e-01 1.79384805e-02 8.08149330e-03 3.06631191e+02] [-1.79379531e-02 9.99839092e-01 -1.37743970e-04 4.34295962e+00] [-8.08266384e-03 -7.24814102e-06 9.99967335e-01 8.73731694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24864 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:306.66, Y:4.34, Z:0.87 [[ 9.99829117e-01 1.66260658e-02 8.08147488e-03 3.06663370e+02] [-1.66254869e-02 9.99861777e-01 -1.38816288e-04 4.34155106e+00] [-8.08266581e-03 4.43411221e-06 9.99967335e-01 8.73469637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27864 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:306.70, Y:4.34, Z:0.87 [[ 9.99861035e-01 1.45808296e-02 8.08145639e-03 3.06695284e+02] [-1.45801752e-02 9.99893694e-01 -1.39884245e-04 4.34063245e+00] [-8.08263691e-03 2.20357555e-05 9.99967335e-01 8.74249830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30864 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:306.73, Y:4.34, Z:0.87 [[ 9.99916369e-01 1.00967828e-02 8.08143785e-03 3.06727196e+02] [-1.00959734e-02 9.99949024e-01 -1.40947426e-04 4.34059561e+00] [-8.08244901e-03 5.93456571e-05 9.99967335e-01 8.74527803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33864 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:306.76, Y:4.34, Z:0.87 [[ 9.99929722e-01 8.67416826e-03 8.08141915e-03 3.06759347e+02] [-8.67330379e-03 9.99962376e-01 -1.42011647e-04 4.34016443e+00] [-8.08234693e-03 7.19090633e-05 9.99967335e-01 8.74643480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:306.79, Y:4.34, Z:0.87 [[ 9.99928623e-01 8.80000091e-03 8.08140047e-03 3.06791192e+02] [-8.79913202e-03 9.99961277e-01 -1.43067091e-04 4.33973726e+00] [-8.08234652e-03 7.19475698e-05 9.99967335e-01 8.73971369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:306.82, Y:4.34, Z:0.87 [[ 9.99928951e-01 8.76268826e-03 8.08138180e-03 3.06824304e+02] [-8.76180969e-03 9.99961604e-01 -1.44113685e-04 4.33931868e+00] [-8.08233433e-03 7.32959166e-05 9.99967335e-01 8.73787166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864000000003 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:306.86, Y:4.34, Z:0.87 [[ 9.99921629e-01 9.56180958e-03 8.08135345e-03 3.06856839e+02] [-9.56094439e-03 9.99954283e-01 -1.45686333e-04 4.33918006e+00] [-8.08237702e-03 6.84095443e-05 9.99967335e-01 8.73273329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45864 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:306.89, Y:4.34, Z:0.89 [[ 9.99911492e-01 1.05688696e-02 8.08132482e-03 3.06887880e+02] [-1.05680246e-02 9.99944146e-01 -1.47257798e-04 4.33867715e+00] [-8.08242979e-03 6.18411255e-05 9.99967335e-01 8.87012794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:306.92, Y:4.34, Z:0.87 [[ 9.99918312e-01 9.90261808e-03 8.08127295e-03 3.06919451e+02] [-9.90172837e-03 9.99950965e-01 -1.50099569e-04 4.33864055e+00] [-8.08236307e-03 7.00687385e-05 9.99967335e-01 8.72647215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:306.95, Y:4.34, Z:0.87 [[ 9.99923227e-01 9.39323494e-03 8.08130543e-03 3.06951881e+02] [-9.39234289e-03 9.99955880e-01 -1.48330245e-04 4.34032007e+00] [-8.08234218e-03 7.24164654e-05 9.99967335e-01 8.72440381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:306.99, Y:4.34, Z:0.87 [[ 9.99926803e-01 9.00449853e-03 8.08128613e-03 3.06985152e+02] [-9.00358535e-03 9.99959456e-01 -1.49374244e-04 4.33990118e+00] [-8.08230352e-03 7.66027611e-05 9.99967335e-01 8.71847856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:307.02, Y:4.34, Z:0.87 [[ 9.99936633e-01 7.83734370e-03 8.08125662e-03 3.07017337e+02] [-7.83637964e-03 9.99969284e-01 -1.50953880e-04 4.33908079e+00] [-8.08219147e-03 8.76165196e-05 9.99967335e-01 8.71606597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:307.05, Y:4.34, Z:0.87 [[ 9.99954042e-01 5.15816221e-03 8.08123713e-03 3.07049774e+02] [-5.15710229e-03 9.99986691e-01 -1.51990415e-04 4.33752643e+00] [-8.08191356e-03 1.10307663e-04 9.99967335e-01 8.71427121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:307.08, Y:4.34, Z:0.87 [[ 9.99960507e-01 3.69831151e-03 8.08121755e-03 3.07082425e+02] [-3.69719558e-03 9.99993154e-01 -1.53024203e-04 4.33620024e+00] [-8.08172816e-03 1.23140318e-04 9.99967335e-01 8.71568077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:307.11, Y:4.33, Z:0.87 [[ 9.99963345e-01 2.82895043e-03 8.08119797e-03 3.07114244e+02] [-2.82779782e-03 9.99995990e-01 -1.54051436e-04 4.33292837e+00] [-8.08160137e-03 1.31193796e-04 9.99967335e-01 8.71103321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:307.15, Y:4.33, Z:0.87 [[ 9.99960782e-01 3.62335492e-03 8.08117818e-03 3.07146847e+02] [-3.62221992e-03 9.99993428e-01 -1.55082700e-04 4.33296120e+00] [-8.08168699e-03 1.25804814e-04 9.99967335e-01 8.71440535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:307.18, Y:4.33, Z:0.87 [[ 9.99952448e-01 5.45854910e-03 8.08115845e-03 3.07179181e+02] [-5.45746576e-03 9.99985096e-01 -1.56104005e-04 4.33370987e+00] [-8.08189011e-03 1.11993936e-04 9.99967335e-01 8.70675678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:307.21, Y:4.33, Z:0.87 [[ 9.99932739e-01 8.31945845e-03 8.08113853e-03 3.07210837e+02] [-8.31846023e-03 9.99965389e-01 -1.57128743e-04 4.33324473e+00] [-8.08216605e-03 8.98955447e-05 9.99967335e-01 8.70254367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:307.24, Y:4.33, Z:0.87 [[ 9.99927135e-01 8.96773091e-03 8.08109977e-03 3.07243011e+02] [-8.96673795e-03 9.99959785e-01 -1.59097126e-04 4.33049848e+00] [-8.08220154e-03 8.66244289e-05 9.99967335e-01 8.69203631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81864 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:307.27, Y:4.33, Z:0.88 [[ 9.99940192e-01 7.36941267e-03 8.08107920e-03 3.07272859e+02] [-7.36835914e-03 9.99972840e-01 -1.60135194e-04 4.32812108e+00] [-8.08203983e-03 1.00581323e-04 9.99967335e-01 8.84697458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:307.31, Y:4.33, Z:0.87 [[ 9.99936778e-01 7.81807598e-03 8.08198867e-03 3.07305639e+02] [-7.81740888e-03 9.99969437e-01 -1.14128713e-04 4.32690235e+00] [-8.08263393e-03 5.09412872e-05 9.99967334e-01 8.70283004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:307.34, Y:4.33, Z:0.87 [[ 9.99935827e-01 7.93969321e-03 8.08102106e-03 3.07338198e+02] [-7.93864076e-03 9.99968475e-01 -1.62305768e-04 4.32625168e+00] [-8.08205496e-03 9.81430293e-05 9.99967335e-01 8.69969744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:307.37, Y:4.32, Z:0.87 [[ 9.99944881e-01 6.70324169e-03 8.08098924e-03 3.07370243e+02] [-6.70213620e-03 9.99977527e-01 -1.63874459e-04 4.32467511e+00] [-8.08190613e-03 1.09705536e-04 9.99967335e-01 8.68648248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93864 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:307.40, Y:4.32, Z:0.88 [[ 9.99953816e-01 5.20236449e-03 8.08096780e-03 3.07400633e+02] [-5.20120151e-03 9.99986460e-01 -1.64925404e-04 4.32423119e+00] [-8.08171638e-03 1.22887046e-04 9.99967335e-01 8.82116780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:307.43, Y:4.32, Z:0.87 [[ 9.99950499e-01 5.80399078e-03 8.08164120e-03 3.07432387e+02] [-5.80311209e-03 9.99983153e-01 -1.32171907e-04 4.32468337e+00] [-8.08227218e-03 8.52666947e-05 9.99967334e-01 8.69116151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:307.46, Y:4.32, Z:0.87 [[ 9.99949331e-01 6.00288735e-03 8.08086921e-03 3.07464624e+02] [-6.00171702e-03 9.99981975e-01 -1.69070172e-04 4.32344795e+00] [-8.08173847e-03 1.20562515e-04 9.99967335e-01 8.67273671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:307.50, Y:4.32, Z:0.87 [[ 9.99938231e-01 7.63113937e-03 8.08084742e-03 3.07497986e+02] [-7.63001382e-03 9.99970877e-01 -1.70105670e-04 4.32284969e+00] [-8.08191017e-03 1.08438185e-04 9.99967335e-01 8.67787874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:307.53, Y:4.33, Z:0.87 [[ 9.99905572e-01 1.11151715e-02 8.08081408e-03 3.07530591e+02] [-1.11141471e-02 9.99938221e-01 -1.71674687e-04 4.32504280e+00] [-8.08222305e-03 8.18471204e-05 9.99967335e-01 8.67316987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:307.56, Y:4.33, Z:0.87 [[ 9.99889149e-01 1.25056317e-02 8.08079175e-03 3.07563255e+02] [-1.25046442e-02 9.99921799e-01 -1.72719410e-04 4.32521826e+00] [-8.08231979e-03 7.16528375e-05 9.99967335e-01 8.68399020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:307.59, Y:4.33, Z:0.88 [[ 9.99909234e-01 1.07808126e-02 8.08076935e-03 3.07592706e+02] [-1.07797603e-02 9.99941882e-01 -1.73760988e-04 4.32508466e+00] [-8.08217300e-03 8.66364589e-05 9.99967335e-01 8.81776447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:307.62, Y:4.33, Z:0.87 [[ 9.99894736e-01 1.20495830e-02 8.08229967e-03 3.07624912e+02] [-1.20491508e-02 9.99927401e-01 -1.02165860e-04 4.32544469e+00] [-8.08294396e-03 4.77025772e-06 9.99967332e-01 8.67404812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:307.66, Y:4.33, Z:0.87 [[ 9.99897543e-01 1.18155132e-02 8.08071240e-03 3.07658375e+02] [-1.18144821e-02 9.99930191e-01 -1.75324465e-04 4.32511482e+00] [-8.08221984e-03 7.98370703e-05 9.99967335e-01 8.66916343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:307.69, Y:4.32, Z:0.87 [[ 9.99914971e-01 1.02349293e-02 8.08067747e-03 3.07690707e+02] [-1.02338337e-02 9.99947617e-01 -1.76919868e-04 4.32399568e+00] [-8.08206494e-03 9.42085159e-05 9.99967335e-01 8.65715002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:307.72, Y:4.32, Z:0.87 [[ 9.99932708e-01 8.32361588e-03 8.08065451e-03 3.07724015e+02] [-8.32244946e-03 9.99965352e-01 -1.77962216e-04 4.32191090e+00] [-8.08185582e-03 1.10699401e-04 9.99967335e-01 8.65186209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:307.76, Y:4.32, Z:0.86 [[ 9.99946000e-01 6.53463706e-03 8.08061991e-03 3.07756206e+02] [-6.53339967e-03 9.99978641e-01 -1.79519646e-04 4.31943313e+00] [-8.08162041e-03 1.26716032e-04 9.99967335e-01 8.63695672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:307.79, Y:4.32, Z:0.86 [[ 9.99946907e-01 6.39429343e-03 8.08059692e-03 3.07789316e+02] [-6.39304314e-03 9.99979548e-01 -1.80548328e-04 4.31779602e+00] [-8.08158614e-03 1.28879138e-04 9.99967335e-01 8.63726396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:307.82, Y:4.32, Z:0.86 [[ 9.99946950e-01 6.38760354e-03 8.08056183e-03 3.07821502e+02] [-6.38634045e-03 9.99979591e-01 -1.82105393e-04 4.31657485e+00] [-8.08156013e-03 1.30490513e-04 9.99967335e-01 8.64636313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35864 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:307.85, Y:4.32, Z:0.88 [[ 9.99949895e-01 5.90874209e-03 8.08053852e-03 3.07850784e+02] [-5.90745506e-03 9.99982534e-01 -1.83134277e-04 4.31526970e+00] [-8.08147948e-03 1.35389683e-04 9.99967335e-01 8.77709687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:307.88, Y:4.31, Z:0.86 [[ 9.99933170e-01 8.26658144e-03 8.08199490e-03 3.07883089e+02] [-8.26589276e-03 9.99965830e-01 -1.18611775e-04 4.31284698e+00] [-8.08269926e-03 5.17989447e-05 9.99967333e-01 8.64440703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:307.91, Y:4.31, Z:0.88 [[ 9.99935133e-01 8.02720121e-03 8.08045343e-03 3.07912230e+02] [-8.02596268e-03 9.99967774e-01 -1.85690638e-04 4.31095823e+00] [-8.08168361e-03 1.20825175e-04 9.99967335e-01 8.76199603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44864 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:307.94, Y:4.31, Z:0.88 [[ 9.99899659e-01 1.16342054e-02 8.08196414e-03 3.07944276e+02] [-1.16336184e-02 9.99932320e-01 -1.19641501e-04 4.30885340e+00] [-8.08280909e-03 2.56070090e-05 9.99967333e-01 8.76287632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:307.98, Y:4.31, Z:0.86 [[ 9.99873210e-01 1.37205109e-02 8.08157641e-03 3.07975821e+02] [-1.37198577e-02 9.99905869e-01 -1.36260211e-04 4.30821236e+00] [-8.08268525e-03 2.53648556e-05 9.99967334e-01 8.64219363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50864 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:308.01, Y:4.31, Z:0.88 [[ 9.99847324e-01 1.54931497e-02 8.08027755e-03 3.08006495e+02] [-1.54921108e-02 9.99879972e-01 -1.91162545e-04 4.30764587e+00] [-8.08226940e-03 6.59528042e-05 9.99967336e-01 8.78120350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:308.04, Y:4.31, Z:0.86 [[ 9.99776758e-01 1.95225186e-02 8.08112103e-03 3.08039051e+02] [-1.95218988e-02 9.99809417e-01 -1.55573547e-04 4.30770744e+00] [-8.08261809e-03 -2.22001028e-06 9.99967335e-01 8.63958286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:308.07, Y:4.31, Z:0.88 [[ 9.99735159e-01 2.15481385e-02 8.08020663e-03 3.08069226e+02] [-2.15472766e-02 9.99767812e-01 -1.93715059e-04 4.30767304e+00] [-8.08250470e-03 1.95573086e-05 9.99967336e-01 8.75116545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:308.10, Y:4.31, Z:0.88 [[ 9.99657519e-01 2.48906983e-02 8.08073020e-03 3.08101357e+02] [-2.48901220e-02 9.99690178e-01 -1.71887872e-04 4.31045008e+00] [-8.08250502e-03 -2.93013574e-05 9.99967336e-01 8.75797175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:308.13, Y:4.31, Z:0.88 [[ 9.99606666e-01 2.68555706e-02 8.08036807e-03 3.08133603e+02] [-2.68549365e-02 9.99639324e-01 -1.86990891e-04 4.31170197e+00] [-8.08247542e-03 -3.00804307e-05 9.99967336e-01 8.75956988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:308.17, Y:4.31, Z:0.88 [[ 9.99562459e-01 2.84535438e-02 8.08002085e-03 3.08166157e+02] [-2.84528445e-02 9.99595116e-01 -2.01509224e-04 4.31385785e+00] [-8.08248302e-03 -2.84785210e-05 9.99967336e-01 8.76119004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:4.32, Z:0.86 [[ 9.99540025e-01 2.92311192e-02 8.07955126e-03 3.08196507e+02] [-2.92302877e-02 9.99572679e-01 -2.20999998e-04 4.31729424e+00] [-8.08255878e-03 -1.52692646e-05 9.99967335e-01 8.63650169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:308.23, Y:4.32, Z:0.87 [[ 9.99567877e-01 2.82625073e-02 8.08018838e-03 3.08227572e+02] [-2.82618582e-02 9.99600535e-01 -1.94536817e-04 4.31699794e+00] [-8.08245873e-03 -3.39083850e-05 9.99967336e-01 8.73730600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:308.26, Y:4.32, Z:0.87 [[ 9.99613459e-01 2.66015367e-02 8.08031839e-03 3.08259528e+02] [-2.66008769e-02 9.99646116e-01 -1.89130503e-04 4.31701931e+00] [-8.08249006e-03 -2.58861587e-05 9.99967336e-01 8.72350515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:308.29, Y:4.32, Z:0.87 [[ 9.99697768e-01 2.32180469e-02 8.08053488e-03 3.08290367e+02] [-2.32173495e-02 9.99730425e-01 -1.80114249e-04 4.31920255e+00] [-8.08253847e-03 -7.54878928e-06 9.99967336e-01 8.74355020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:308.32, Y:4.32, Z:0.86 [[ 9.99716154e-01 2.24123711e-02 8.08065048e-03 3.08321794e+02] [-2.24116861e-02 9.99748811e-01 -1.75335164e-04 4.31981359e+00] [-8.08255039e-03 -5.81560571e-06 9.99967336e-01 8.62087229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:308.35, Y:4.32, Z:0.86 [[ 9.99764452e-01 2.01433064e-02 8.08012403e-03 3.08354105e+02] [-2.01423726e-02 9.99797102e-01 -1.96935341e-04 4.31780864e+00] [-8.08245152e-03 3.41360841e-05 9.99967336e-01 8.61393994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:308.39, Y:4.32, Z:0.86 [[ 9.99747124e-01 2.09857057e-02 8.08009797e-03 3.08385808e+02] [-2.09847909e-02 9.99779775e-01 -1.97998571e-04 4.31560261e+00] [-8.08247368e-03 2.83893359e-05 9.99967336e-01 8.61997039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.42, Y:4.31, Z:0.86 [[ 9.99747833e-01 2.09519316e-02 8.08007180e-03 3.08417843e+02] [-2.09510070e-02 9.99780484e-01 -1.99060758e-04 4.31450190e+00] [-8.08246880e-03 2.97249206e-05 9.99967336e-01 8.60189416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864000000003 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:308.45, Y:4.31, Z:0.87 [[ 9.99768706e-01 1.99310808e-02 8.08004542e-03 3.08447409e+02] [-1.99301143e-02 9.99801356e-01 -2.00125840e-04 4.31401948e+00] [-8.08242909e-03 3.90433236e-05 9.99967336e-01 8.70742030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:308.48, Y:4.31, Z:0.87 [[ 9.99752537e-01 2.07259625e-02 8.08077125e-03 3.08479283e+02] [-2.07252591e-02 9.99785194e-01 -1.70777935e-04 4.31249396e+00] [-8.08257499e-03 3.25959531e-06 9.99967335e-01 8.70270658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.51, Y:4.31, Z:0.86 [[ 9.99700063e-01 2.31190050e-02 8.08062684e-03 3.08510558e+02] [-2.31183330e-02 9.99732720e-01 -1.76575337e-04 4.31018201e+00] [-8.08254929e-03 -1.02882461e-05 9.99967336e-01 8.60471249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:308.54, Y:4.31, Z:0.87 [[ 9.99682802e-01 2.38539058e-02 8.07996514e-03 3.08540529e+02] [-2.38530448e-02 9.99715455e-01 -2.02922677e-04 4.30887219e+00] [-8.08250653e-03 1.01265392e-05 9.99967336e-01 8.71902596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:308.57, Y:4.31, Z:0.87 [[ 9.99678709e-01 2.40246772e-02 8.08039982e-03 3.08572206e+02] [-2.40239624e-02 9.99711366e-01 -1.85527375e-04 4.30810524e+00] [-8.08252478e-03 -8.65545467e-06 9.99967336e-01 8.71645165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:308.60, Y:4.31, Z:0.86 [[ 9.99627428e-01 2.60712867e-02 8.08036657e-03 3.08603769e+02] [-2.60706281e-02 9.99660086e-01 -1.86849419e-04 4.30717076e+00] [-8.08249134e-03 -2.38804276e-05 9.99967336e-01 8.59719031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.64, Y:4.31, Z:0.86 [[ 9.99608608e-01 2.67832916e-02 8.07992158e-03 3.08636102e+02] [-2.67825140e-02 9.99641263e-01 -2.04436491e-04 4.30526359e+00] [-8.08249850e-03 -1.20441373e-05 9.99967336e-01 8.59555780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:308.67, Y:4.30, Z:0.87 [[ 9.99609336e-01 2.67561388e-02 8.07989429e-03 3.08667572e+02] [-2.67553518e-02 9.99641990e-01 -2.05509658e-04 4.30414904e+00] [-8.08250025e-03 -1.07510411e-05 9.99967336e-01 8.71832652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:308.70, Y:4.30, Z:0.87 [[ 9.99644471e-01 2.54097357e-02 8.07937893e-03 3.08697804e+02] [-2.54087419e-02 9.99677120e-01 -2.25632957e-04 4.30184739e+00] [-8.08250354e-03 2.02658837e-05 9.99967336e-01 8.70143592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.73, Y:4.30, Z:0.86 [[ 9.99713293e-01 2.25398894e-02 8.07989780e-03 3.08728876e+02] [-2.25389664e-02 9.99745944e-01 -2.05284093e-04 4.29818046e+00] [-8.08247213e-03 2.31126914e-05 9.99967336e-01 8.58973691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.76, Y:4.30, Z:0.86 [[ 9.99739977e-01 2.13235612e-02 8.07986528e-03 3.08760663e+02] [-2.13225882e-02 9.99772626e-01 -2.06556240e-04 4.29685044e+00] [-8.08243264e-03 3.42188903e-05 9.99967336e-01 8.58849011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:4.30, Z:0.86 [[ 9.99794391e-01 1.85981700e-02 8.07983787e-03 3.08792433e+02] [-1.85970994e-02 9.99827037e-01 -2.07622935e-04 4.29540502e+00] [-8.08230176e-03 5.73186981e-05 9.99967336e-01 8.57512245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:4.29, Z:0.86 [[ 9.99809541e-01 1.77650935e-02 8.07981064e-03 3.08824069e+02] [-1.77639871e-02 9.99842186e-01 -2.08677148e-04 4.29261251e+00] [-8.08224270e-03 6.51077513e-05 9.99967336e-01 8.56247015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:308.86, Y:4.29, Z:0.86 [[ 9.99840123e-01 1.59513508e-02 8.07978346e-03 3.08856427e+02] [-1.59501767e-02 9.99872766e-01 -2.09724326e-04 4.28863015e+00] [-8.08210082e-03 8.08168212e-05 9.99967336e-01 8.57277757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:308.89, Y:4.28, Z:0.86 [[ 9.99886467e-01 1.27188917e-02 8.07975587e-03 3.08888236e+02] [-1.27176036e-02 9.99919106e-01 -2.10781971e-04 4.28445315e+00] [-8.08178317e-03 1.08002908e-04 9.99967336e-01 8.58111027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:308.92, Y:4.28, Z:0.86 [[ 9.99901123e-01 1.15092001e-02 8.07972823e-03 3.08920266e+02] [-1.15078640e-02 9.99933760e-01 -2.11836173e-04 4.28343865e+00] [-8.08163109e-03 1.18834814e-04 9.99967336e-01 8.57949762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:308.95, Y:4.28, Z:0.86 [[ 9.99938613e-01 7.58213173e-03 8.07970081e-03 3.08952255e+02] [-7.58065907e-03 9.99971244e-01 -2.12876617e-04 4.27678386e+00] [-8.08108253e-03 1.51614092e-04 9.99967336e-01 8.55204113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:308.98, Y:4.27, Z:0.87 [[ 9.99945816e-01 6.56390044e-03 8.07967354e-03 3.08980842e+02] [-6.56238623e-03 9.99978444e-01 -2.13906922e-04 4.27162802e+00] [-8.08090344e-03 1.60873393e-04 9.99967336e-01 8.66333744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.01, Y:4.27, Z:0.85 [[ 9.99933770e-01 8.19438969e-03 8.08127922e-03 3.09013745e+02] [-8.19341539e-03 9.99966422e-01 -1.53662759e-04 4.26770908e+00] [-8.08226704e-03 8.74393042e-05 9.99967334e-01 8.53657850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:309.05, Y:4.27, Z:0.85 [[ 9.99898500e-01 1.17350402e-02 8.07951230e-03 3.09045404e+02] [-1.17336546e-02 9.99931134e-01 -2.18884354e-04 4.26541096e+00] [-8.08152452e-03 1.24059931e-04 9.99967336e-01 8.54020834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:309.08, Y:4.26, Z:0.85 [[ 9.99867875e-01 1.41051320e-02 8.07949093e-03 3.09077928e+02] [-1.41038174e-02 9.99900512e-01 -2.19670554e-04 4.26344297e+00] [-8.08178560e-03 1.05689866e-04 9.99967336e-01 8.53210279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.11, Y:4.26, Z:0.85 [[ 9.99811384e-01 1.76612091e-02 8.07944787e-03 3.09109558e+02] [-1.76599979e-02 9.99844026e-01 -2.21242831e-04 4.25721408e+00] [-8.08209510e-03 7.85180690e-05 9.99967336e-01 8.54304515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:4.25, Z:0.85 [[ 9.99792945e-01 1.86759336e-02 8.07941899e-03 3.09142304e+02] [-1.86747470e-02 9.99825587e-01 -2.22292560e-04 4.25397224e+00] [-8.08216135e-03 7.13654273e-05 9.99967336e-01 8.54914932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.17, Y:4.25, Z:0.85 [[ 9.99755294e-01 2.05931206e-02 8.07937464e-03 3.09174484e+02] [-2.05919837e-02 9.99787938e-01 -2.23892944e-04 4.25174704e+00] [-8.08227196e-03 5.74678059e-05 9.99967336e-01 8.54956945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:309.20, Y:4.25, Z:0.87 [[ 9.99683799e-01 2.38123188e-02 8.07934491e-03 3.09203955e+02] [-2.38112784e-02 9.99716446e-01 -2.24960622e-04 4.24772390e+00] [-8.08241082e-03 3.25099587e-05 9.99967336e-01 8.65141144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.24, Y:4.25, Z:0.85 [[ 9.99600361e-01 2.70892077e-02 8.08047193e-03 3.09236176e+02] [-2.70886031e-02 9.99633019e-01 -1.84282203e-04 4.24578010e+00] [-8.08249861e-03 -3.46801402e-05 9.99967335e-01 8.52532962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.27, Y:4.24, Z:0.85 [[ 9.99512875e-01 3.01452763e-02 8.07927606e-03 3.09268767e+02] [-3.01444272e-02 9.99545528e-01 -2.26869563e-04 4.24405863e+00] [-8.08244330e-03 -1.67861004e-05 9.99967336e-01 8.52998057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:309.30, Y:4.24, Z:0.87 [[ 9.99530952e-01 2.95398477e-02 8.07924558e-03 3.09298943e+02] [-2.95389701e-02 9.99563603e-01 -2.27949798e-04 4.24349159e+00] [-8.08245343e-03 -1.08097156e-05 9.99967336e-01 8.65368091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:4.24, Z:0.85 [[ 9.99454923e-01 3.20087480e-02 8.08067055e-03 3.09331532e+02] [-3.20083597e-02 9.99487585e-01 -1.77405221e-04 4.24257602e+00] [-8.08220841e-03 -8.13404882e-05 9.99967335e-01 8.53313290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:309.36, Y:4.24, Z:0.85 [[ 9.99414592e-01 3.32445485e-02 8.07917823e-03 3.09364106e+02] [-3.32437765e-02 9.99447246e-01 -2.29858411e-04 4.24015370e+00] [-8.08235397e-03 -3.88585459e-05 9.99967336e-01 8.53361461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:309.40, Y:4.24, Z:0.85 [[ 9.99384536e-01 3.41361490e-02 8.07914724e-03 3.09396291e+02] [-3.41353975e-02 9.99417191e-01 -2.30942478e-04 4.23984480e+00] [-8.08232213e-03 -4.49845607e-05 9.99967336e-01 8.53061036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:309.43, Y:4.24, Z:0.87 [[ 9.99361265e-01 3.48107760e-02 8.07911606e-03 3.09427189e+02] [-3.48100377e-02 9.99393920e-01 -2.32028241e-04 4.24169205e+00] [-8.08229655e-03 -4.93542975e-05 9.99967336e-01 8.66138552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:309.46, Y:4.24, Z:0.87 [[ 9.99349834e-01 3.51372875e-02 8.07959312e-03 3.09458880e+02] [-3.51366945e-02 9.99382492e-01 -2.15371528e-04 4.24044311e+00] [-8.08217149e-03 -6.86586952e-05 9.99967336e-01 8.65354900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:309.49, Y:4.24, Z:0.86 [[ 9.99420546e-01 3.30649423e-02 8.07975144e-03 3.09491113e+02] [-3.30643258e-02 9.99453204e-01 -2.09904247e-04 4.23750065e+00] [-8.08227393e-03 -5.73689168e-05 9.99967336e-01 8.64931636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.52, Y:4.24, Z:0.85 [[ 9.99391413e-01 3.39339278e-02 8.08033997e-03 3.09524135e+02] [-3.39335021e-02 9.99424075e-01 -1.89819282e-04 4.23822246e+00] [-8.08212762e-03 -8.44904727e-05 9.99967336e-01 8.53005106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:309.55, Y:4.24, Z:0.86 [[ 9.99469407e-01 3.15536977e-02 8.07887171e-03 3.09554109e+02] [-3.15527936e-02 9.99502058e-01 -2.39373650e-04 4.23924682e+00] [-8.08240202e-03 -1.56643309e-05 9.99967337e-01 8.63478452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:309.59, Y:4.24, Z:0.85 [[ 9.99458699e-01 3.18907565e-02 8.08019632e-03 3.09586863e+02] [-3.18902253e-02 9.99491358e-01 -1.94611114e-04 4.23937156e+00] [-8.08229269e-03 -6.31735106e-05 9.99967336e-01 8.51590553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:4.24, Z:0.85 [[ 9.99505684e-01 3.03829115e-02 8.07878470e-03 3.09618597e+02] [-3.03819497e-02 9.99538333e-01 -2.41779056e-04 4.23827718e+00] [-8.08240095e-03 -3.78969016e-06 9.99967337e-01 8.50791126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.65, Y:4.24, Z:0.85 [[ 9.99561697e-01 2.84806713e-02 8.07875206e-03 3.09650945e+02] [-2.84796386e-02 9.99594343e-01 -2.42864770e-04 4.24030695e+00] [-8.08239182e-03 1.26783820e-05 9.99967337e-01 8.50983300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:309.68, Y:4.24, Z:0.85 [[ 9.99557902e-01 2.86135520e-02 8.07871965e-03 3.09682759e+02] [-2.86125150e-02 9.99590548e-01 -2.43938383e-04 4.24111185e+00] [-8.08239175e-03 1.26780515e-05 9.99967337e-01 8.49936345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:309.71, Y:4.24, Z:0.86 [[ 9.99604611e-01 2.69324273e-02 8.07868684e-03 3.09712263e+02] [-2.69313266e-02 9.99637256e-01 -2.45020230e-04 4.24002882e+00] [-8.08235533e-03 2.73535980e-05 9.99967337e-01 8.60465686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:309.74, Y:4.24, Z:0.86 [[ 9.99594658e-01 2.72989688e-02 8.07993549e-03 3.09743995e+02] [-2.72982142e-02 9.99627314e-01 -2.03679186e-04 4.23817316e+00] [-8.08248444e-03 -1.69711835e-05 9.99967336e-01 8.59977648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:309.78, Y:4.24, Z:0.86 [[ 9.99632337e-01 2.58824374e-02 8.08026498e-03 3.09776124e+02] [-2.58817233e-02 9.99664993e-01 -1.92948341e-04 4.23723763e+00] [-8.08255201e-03 -1.62537809e-05 9.99967336e-01 8.60287425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:309.81, Y:4.24, Z:0.86 [[ 9.99606908e-01 2.68466061e-02 8.08021167e-03 3.09808004e+02] [-2.68459097e-02 9.99639565e-01 -1.94664043e-04 4.23778403e+00] [-8.08252535e-03 -2.23331107e-05 9.99967336e-01 8.60768836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:309.84, Y:4.24, Z:0.86 [[ 9.99585054e-01 2.76484778e-02 8.07971000e-03 3.09840568e+02] [-2.76476778e-02 9.99617708e-01 -2.10713282e-04 4.23633832e+00] [-8.08244709e-03 -1.27593714e-05 9.99967336e-01 8.58963756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:309.87, Y:4.23, Z:0.86 [[ 9.99576129e-01 2.79692647e-02 8.07981506e-03 3.09872440e+02] [-2.79685020e-02 9.99608783e-01 -2.07397476e-04 4.23429231e+00] [-8.08245486e-03 -1.86707581e-05 9.99967336e-01 8.57548174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:309.90, Y:4.23, Z:0.86 [[ 9.99555877e-01 2.86839208e-02 8.07975225e-03 3.09904096e+02] [-2.86831655e-02 9.99588531e-01 -2.09364479e-04 4.23392578e+00] [-8.08243308e-03 -2.24813764e-05 9.99967336e-01 8.59909753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:4.24, Z:0.85 [[ 9.99472773e-01 3.14469079e-02 8.07889005e-03 3.09935997e+02] [-3.14460260e-02 9.99505424e-01 -2.36199768e-04 4.23582864e+00] [-8.08232217e-03 -1.79737495e-05 9.99967337e-01 8.46571522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:309.97, Y:4.23, Z:0.85 [[ 9.99423353e-01 3.29804018e-02 8.07808306e-03 3.09967817e+02] [-3.29793682e-02 9.99455999e-01 -2.61161159e-04 4.23449370e+00] [-8.08230177e-03 -5.39951470e-06 9.99967338e-01 8.46714852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:310.00, Y:4.23, Z:0.86 [[ 9.99354887e-01 3.49936545e-02 8.07804832e-03 3.09997440e+02] [-3.49926780e-02 9.99387534e-01 -2.62231366e-04 4.23356128e+00] [-8.08227722e-03 -2.06103470e-05 9.99967338e-01 8.58123293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864000000003 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:310.03, Y:4.24, Z:0.86 [[ 9.99244396e-01 3.80177776e-02 8.07991326e-03 3.10030348e+02] [-3.80173649e-02 9.99277058e-01 -2.04716765e-04 4.23512625e+00] [-8.08185483e-03 -1.02614930e-04 9.99967336e-01 8.58906267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:310.06, Y:4.24, Z:0.86 [[ 9.99025587e-01 4.33889616e-02 8.07927941e-03 3.10062662e+02] [-4.33885686e-02 9.99058248e-01 -2.24000011e-04 4.23917557e+00] [-8.08138986e-03 -1.26766626e-04 9.99967337e-01 8.58710592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:310.09, Y:4.24, Z:0.85 [[ 9.98870214e-01 4.68296369e-02 8.07961928e-03 3.10094639e+02] [-4.68294396e-02 9.98902877e-01 -2.13713761e-04 4.23804357e+00] [-8.08076308e-03 -1.64891733e-04 9.99967337e-01 8.48218108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:310.13, Y:4.24, Z:0.85 [[ 9.98827914e-01 4.77236590e-02 8.07778769e-03 3.10126532e+02] [-4.77230457e-02 9.98860570e-01 -2.68763219e-04 4.23748852e+00] [-8.08140998e-03 -1.17048425e-04 9.99967338e-01 8.47265447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:310.16, Y:4.24, Z:0.86 [[ 9.98874752e-01 4.67330722e-02 8.07775121e-03 3.10156213e+02] [-4.67324178e-02 9.98907407e-01 -2.69855260e-04 4.23984128e+00] [-8.08153668e-03 -1.07941238e-04 9.99967338e-01 8.58315468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.19, Y:4.24, Z:0.85 [[ 9.98741024e-01 4.95083891e-02 8.08002810e-03 3.10188442e+02] [-4.95083786e-02 9.98773688e-01 -2.01442222e-04 4.23900176e+00] [-8.08009254e-03 -1.98840479e-04 9.99967336e-01 8.47931799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.22, Y:4.24, Z:0.85 [[ 9.98638209e-01 5.15410511e-02 8.07765204e-03 3.10220972e+02] [-5.15405365e-02 9.98670866e-01 -2.72004101e-04 4.23688422e+00] [-8.08093514e-03 -1.44692831e-04 9.99967338e-01 8.48785915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.25, Y:4.24, Z:0.85 [[ 9.98604851e-01 5.21833596e-02 8.07761537e-03 3.10253363e+02] [-5.21828572e-02 9.98637509e-01 -2.73088578e-04 4.23645975e+00] [-8.08086038e-03 -1.48805471e-04 9.99967338e-01 8.48449988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.29, Y:4.24, Z:0.85 [[ 9.98532258e-01 5.35544725e-02 8.07757856e-03 3.10285247e+02] [-5.35540062e-02 9.98564917e-01 -2.74173049e-04 4.23951827e+00] [-8.08066976e-03 -1.58816058e-04 9.99967338e-01 8.48394344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:310.32, Y:4.24, Z:0.85 [[ 9.98445110e-01 5.51553725e-02 8.07754170e-03 3.10317431e+02] [-5.51549498e-02 9.98477769e-01 -2.75254742e-04 4.23999531e+00] [-8.08042760e-03 -1.70689655e-04 9.99967338e-01 8.46709179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.35, Y:4.24, Z:0.85 [[ 9.98367892e-01 5.65358793e-02 8.07750469e-03 3.10349957e+02] [-5.65354929e-02 9.98400552e-01 -2.76336664e-04 4.24063390e+00] [-8.08020808e-03 -1.80780057e-04 9.99967338e-01 8.46797638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:310.38, Y:4.24, Z:0.85 [[ 9.98250625e-01 5.85699939e-02 8.07746775e-03 3.10382191e+02] [-5.85696654e-02 9.98283285e-01 -2.77412237e-04 4.24121315e+00] [-8.07984908e-03 -1.96167644e-04 9.99967338e-01 8.47402471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:310.41, Y:4.24, Z:0.86 [[ 9.98333732e-01 5.71359263e-02 8.07743023e-03 3.10411798e+02] [-5.71355422e-02 9.98366392e-01 -2.78500567e-04 4.24065468e+00] [-8.08014726e-03 -1.83471845e-04 9.99967338e-01 8.57443831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.44, Y:4.24, Z:0.85 [[ 9.98147995e-01 6.02934763e-02 8.07943324e-03 3.10443508e+02] [-6.02936688e-02 9.98180658e-01 -2.19957737e-04 4.23913513e+00] [-8.07799601e-03 -2.67588298e-04 9.99967337e-01 8.48593440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.48, Y:4.24, Z:0.85 [[ 9.98019325e-01 6.23873496e-02 8.07745007e-03 3.10475397e+02] [-6.23871441e-02 9.98051986e-01 -2.77652552e-04 4.23964548e+00] [-8.07903709e-03 -2.26826429e-04 9.99967338e-01 8.47835719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:310.51, Y:4.24, Z:0.85 [[ 9.97937805e-01 6.36780431e-02 8.07741346e-03 3.10507166e+02] [-6.36778712e-02 9.97970466e-01 -2.78713576e-04 4.24099815e+00] [-8.07876801e-03 -2.36213679e-04 9.99967338e-01 8.47162840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:310.54, Y:4.24, Z:0.85 [[ 9.97594411e-01 6.88487221e-02 8.07739512e-03 3.10539088e+02] [-6.88487152e-02 9.97627073e-01 -2.79243905e-04 4.24482492e+00] [-8.07745364e-03 -2.77546118e-04 9.99967338e-01 8.46864248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.57, Y:4.24, Z:0.85 [[ 9.97395722e-01 7.16695844e-02 8.07737680e-03 3.10570599e+02] [-7.16696657e-02 9.97428384e-01 -2.79773004e-04 4.24489746e+00] [-8.07665610e-03 -2.99858497e-04 9.99967338e-01 8.46996767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.60, Y:4.24, Z:0.85 [[ 9.97391106e-01 7.17337950e-02 8.07735865e-03 3.10602416e+02] [-7.17338741e-02 9.97423768e-01 -2.80295963e-04 4.24380668e+00] [-8.07665619e-03 -2.99855528e-04 9.99967338e-01 8.46739493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:310.63, Y:4.24, Z:0.86 [[ 9.97391141e-01 7.17333110e-02 8.07734057e-03 3.10633034e+02] [-7.17333859e-02 9.97423803e-01 -2.80815952e-04 4.24391726e+00] [-8.07667561e-03 -2.99331645e-04 9.99967338e-01 8.55244607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:310.66, Y:4.25, Z:0.86 [[ 9.97267201e-01 7.34362082e-02 8.07798382e-03 3.10664149e+02] [-7.34364888e-02 9.97299861e-01 -2.62273157e-04 4.24640720e+00] [-8.07543249e-03 -3.31662351e-04 9.99967338e-01 8.55815514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:310.70, Y:4.25, Z:0.85 [[ 9.97084845e-01 7.58719415e-02 8.07840321e-03 3.10696488e+02] [-7.58723997e-02 9.97117504e-01 -2.50172865e-04 4.24803249e+00] [-8.07409835e-03 -3.63484265e-04 9.99967338e-01 8.45338465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:310.73, Y:4.25, Z:0.84 [[ 9.97062991e-01 7.61587015e-02 8.07734128e-03 3.10727621e+02] [-7.61589220e-02 9.97095652e-01 -2.80727864e-04 4.25152775e+00] [-8.07526174e-03 -3.35258241e-04 9.99967338e-01 8.44574749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:310.76, Y:4.25, Z:0.85 [[ 9.97106834e-01 7.55825202e-02 8.07734816e-03 3.10758620e+02] [-7.55827234e-02 9.97139495e-01 -2.80529603e-04 4.25155518e+00] [-8.07544601e-03 -3.30789988e-04 9.99967338e-01 8.45612595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:310.79, Y:4.25, Z:0.85 [[ 9.97170259e-01 7.47410890e-02 8.07734816e-03 3.10789581e+02] [-7.47412647e-02 9.97202921e-01 -2.80529603e-04 4.25219235e+00] [-8.07572227e-03 -3.23975440e-04 9.99967338e-01 8.45260012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17864000000003 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:310.82, Y:4.26, Z:0.85 [[ 9.97433456e-01 7.11425164e-02 8.07734816e-03 3.10819992e+02] [-7.11425742e-02 9.97466117e-01 -2.80529603e-04 4.25566925e+00] [-8.07683870e-03 -2.94833730e-04 9.99967338e-01 8.54508422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20864 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:310.85, Y:4.26, Z:0.85 [[ 9.97534501e-01 6.97113855e-02 8.07731017e-03 3.10850784e+02] [-6.97113876e-02 9.97567162e-01 -2.81624846e-04 4.25606257e+00] [-8.07729184e-03 -2.82150000e-04 9.99967338e-01 8.54571282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:310.88, Y:4.26, Z:0.85 [[ 9.97488284e-01 7.03695428e-02 8.07783796e-03 3.10881463e+02] [-7.03696899e-02 9.97520945e-01 -2.66355610e-04 4.25969690e+00] [-8.07655588e-03 -3.02748352e-04 9.99967338e-01 8.51337232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:310.91, Y:4.26, Z:0.85 [[ 9.97385080e-01 7.18175247e-02 8.07748746e-03 3.10911643e+02] [-7.18176371e-02 9.97417741e-01 -2.76525645e-04 4.26271702e+00] [-8.07648868e-03 -3.04303510e-04 9.99967338e-01 8.51268429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:310.94, Y:4.27, Z:0.84 [[ 9.97132650e-01 7.52411573e-02 8.07749877e-03 3.10942088e+02] [-7.52413844e-02 9.97165311e-01 -2.76197566e-04 4.26552484e+00] [-8.07538300e-03 -3.32356578e-04 9.99967338e-01 8.42846542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:310.97, Y:4.27, Z:0.84 [[ 9.96873639e-01 7.85983647e-02 8.07743123e-03 3.10971907e+02] [-7.85986859e-02 9.96906299e-01 -2.78158743e-04 4.27069301e+00] [-8.07430490e-03 -3.57586362e-04 9.99967338e-01 8.43457474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.00, Y:4.27, Z:0.84 [[ 9.96878457e-01 7.85372337e-02 8.07744891e-03 3.11002026e+02] [-7.85375571e-02 9.96911117e-01 -2.77644444e-04 4.27151395e+00] [-8.07430404e-03 -3.57605340e-04 9.99967338e-01 8.43060508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:311.03, Y:4.28, Z:0.84 [[ 9.97050938e-01 7.63163298e-02 8.07746660e-03 3.11031369e+02] [-7.63165846e-02 9.97083598e-01 -2.77128796e-04 4.27637713e+00] [-8.07505892e-03 -3.40133137e-04 9.99967338e-01 8.42604266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:311.06, Y:4.28, Z:0.84 [[ 9.97195122e-01 7.44086133e-02 8.07758903e-03 3.11060379e+02] [-7.44088348e-02 9.97227783e-01 -2.73512954e-04 4.27839564e+00] [-8.07554792e-03 -3.28298205e-04 9.99967338e-01 8.42976218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:311.09, Y:4.28, Z:0.84 [[ 9.97358814e-01 7.21813525e-02 8.07771088e-03 3.11088980e+02] [-7.21815306e-02 9.97391475e-01 -2.69865841e-04 4.27940099e+00] [-8.07611925e-03 -3.13908460e-04 9.99967338e-01 8.42261641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:311.12, Y:4.28, Z:0.84 [[ 9.97610720e-01 6.86119463e-02 8.07783241e-03 3.11118426e+02] [-6.86120373e-02 9.97643382e-01 -2.66177820e-04 4.28184538e+00] [-8.07705902e-03 -2.88694692e-04 9.99967338e-01 8.42568498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.15, Y:4.28, Z:0.84 [[ 9.97684465e-01 6.75311580e-02 8.07784951e-03 3.11147380e+02] [-6.75312179e-02 9.97717126e-01 -2.65657799e-04 4.28276866e+00] [-8.07734898e-03 -2.80464357e-04 9.99967338e-01 8.42325178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53864 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:311.18, Y:4.28, Z:0.85 [[ 9.97979912e-01 6.30146204e-02 8.07796990e-03 3.11176569e+02] [-6.30145624e-02 9.98012573e-01 -2.61945024e-04 4.28420528e+00] [-8.07842190e-03 -2.47613867e-04 9.99967338e-01 8.51222018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:311.21, Y:4.28, Z:0.84 [[ 9.97934630e-01 6.37275278e-02 8.07935947e-03 3.11207086e+02] [-6.37278414e-02 9.97967291e-01 -2.18888864e-04 4.28356366e+00] [-8.07688573e-03 -2.96443361e-04 9.99967337e-01 8.39745138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:311.24, Y:4.28, Z:0.84 [[ 9.98003353e-01 6.26422732e-02 8.07795319e-03 3.11236463e+02] [-6.26422009e-02 9.98036014e-01 -2.62212106e-04 4.28367254e+00] [-8.07851377e-03 -2.44332206e-04 9.99967338e-01 8.38585090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:311.27, Y:4.28, Z:0.84 [[ 9.98270101e-01 5.82370254e-02 8.07797033e-03 3.11266329e+02] [-5.82368132e-02 9.98302762e-01 -2.61683129e-04 4.28416364e+00] [-8.07949974e-03 -2.09204806e-04 9.99967338e-01 8.37437665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65864 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:311.30, Y:4.28, Z:0.85 [[ 9.98460222e-01 5.48810626e-02 8.07798762e-03 3.11296219e+02] [-5.48807449e-02 9.98492882e-01 -2.61148388e-04 4.28258348e+00] [-8.08014524e-03 -1.82579701e-04 9.99967338e-01 8.47860391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:311.33, Y:4.28, Z:0.84 [[ 9.98567340e-01 5.28962925e-02 8.07770655e-03 3.11326423e+02] [-5.28958396e-02 9.98599999e-01 -2.69848590e-04 4.28022474e+00] [-8.08067174e-03 -1.57815081e-04 9.99967338e-01 8.37987098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.36, Y:4.28, Z:0.84 [[ 9.98653573e-01 5.12424319e-02 8.07805916e-03 3.11356916e+02] [-5.12420139e-02 9.98686232e-01 -2.58844405e-04 4.27998946e+00] [-8.08071028e-03 -1.55440130e-04 9.99967338e-01 8.37221003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:311.39, Y:4.28, Z:0.84 [[ 9.98736018e-01 4.96095892e-02 8.07805916e-03 3.11387457e+02] [-4.96091178e-02 9.98768676e-01 -2.58844405e-04 4.27975948e+00] [-8.08095362e-03 -1.42228159e-04 9.99967338e-01 8.36783215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:311.42, Y:4.28, Z:0.83 [[ 9.98761653e-01 4.90907894e-02 8.07805916e-03 3.11418001e+02] [-4.90903010e-02 9.98794311e-01 -2.58844405e-04 4.27710645e+00] [-8.08102641e-03 -1.38030490e-04 9.99967338e-01 8.34316612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:311.45, Y:4.28, Z:0.83 [[ 9.98730951e-01 4.97114846e-02 8.07805916e-03 3.11449115e+02] [-4.97110165e-02 9.98763610e-01 -2.58844405e-04 4.27534420e+00] [-8.08093906e-03 -1.43052614e-04 9.99967338e-01 8.33882672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:311.48, Y:4.28, Z:0.85 [[ 9.98683005e-01 5.06655693e-02 8.07804225e-03 3.11478920e+02] [-5.06651282e-02 9.98715664e-01 -2.59371219e-04 4.27681238e+00] [-8.08080852e-03 -1.50245417e-04 9.99967338e-01 8.46376906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:311.51, Y:4.28, Z:0.84 [[ 9.98496065e-01 5.42249760e-02 8.07839025e-03 3.11510063e+02] [-5.42247395e-02 9.98528726e-01 -2.48461946e-04 4.27693807e+00] [-8.07997756e-03 -1.89960331e-04 9.99967338e-01 8.35404906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89864 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:311.54, Y:4.28, Z:0.85 [[ 9.98509415e-01 5.39786303e-02 8.07811599e-03 3.11540203e+02] [-5.39783161e-02 9.98542075e-01 -2.57079711e-04 4.27532052e+00] [-8.08021552e-03 -1.79346587e-04 9.99967338e-01 8.47054280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:311.57, Y:4.27, Z:0.84 [[ 9.98339633e-01 5.70326440e-02 8.07809899e-03 3.11570700e+02] [-5.70324253e-02 9.98372293e-01 -2.57614387e-04 4.27319777e+00] [-8.07964264e-03 -2.03526924e-04 9.99967338e-01 8.36663292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95864 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:311.60, Y:4.27, Z:0.85 [[ 9.98460773e-01 5.48710262e-02 8.07811634e-03 3.11600401e+02] [-5.48707412e-02 9.98493433e-01 -2.57068945e-04 4.27208639e+00] [-8.08005176e-03 -1.86578974e-04 9.99967338e-01 8.47861944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:311.63, Y:4.27, Z:0.83 [[ 9.98263775e-01 5.83453049e-02 8.07842400e-03 3.11630584e+02] [-5.83452125e-02 9.98296436e-01 -2.47310955e-04 4.27196865e+00] [-8.07909133e-03 -2.24455798e-04 9.99967338e-01 8.33702952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:311.66, Y:4.27, Z:0.83 [[ 9.98196432e-01 5.94863413e-02 8.07821860e-03 3.11659777e+02] [-5.94862334e-02 9.98229094e-01 -2.53847682e-04 4.27116239e+00] [-8.07901330e-03 -2.27152946e-04 9.99967338e-01 8.33632792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:311.69, Y:4.27, Z:0.83 [[ 9.98143394e-01 6.03697456e-02 8.07823504e-03 3.11689160e+02] [-6.03696708e-02 9.98176056e-01 -2.53323431e-04 4.27109017e+00] [-8.07879386e-03 -2.34827280e-04 9.99967338e-01 8.34052809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:311.72, Y:4.27, Z:0.83 [[ 9.98087871e-01 6.12808544e-02 8.07825147e-03 3.11717742e+02] [-6.12808137e-02 9.98120533e-01 -2.52798376e-04 4.27426120e+00] [-8.07856036e-03 -2.42726830e-04 9.99967338e-01 8.33320027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:311.75, Y:4.28, Z:0.84 [[ 9.98202420e-01 5.93857620e-02 8.07835704e-03 3.11747846e+02] [-5.93856869e-02 9.98235082e-01 -2.49378471e-04 4.27565691e+00] [-8.07890893e-03 -2.30808589e-04 9.99967338e-01 8.43712039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:311.78, Y:4.28, Z:0.83 [[ 9.98165291e-01 6.00066257e-02 8.07813906e-03 3.11778175e+02] [-6.00065135e-02 9.98197953e-01 -2.56475346e-04 4.27812491e+00] [-8.07897209e-03 -2.28736173e-04 9.99967338e-01 8.31495284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:311.81, Y:4.28, Z:0.84 [[ 9.98335696e-01 5.71014657e-02 8.07845790e-03 3.11806941e+02] [-5.71013431e-02 9.98368357e-01 -2.46005227e-04 4.27948992e+00] [-8.07932400e-03 -2.15694997e-04 9.99967338e-01 8.43741728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19864 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:311.84, Y:4.28, Z:0.84 [[ 9.98481880e-01 5.44854222e-02 8.07920076e-03 3.11837235e+02] [-5.44854119e-02 9.98514542e-01 -2.21542837e-04 4.28066431e+00] [-8.07927031e-03 -2.18992073e-04 9.99967338e-01 8.43062771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:311.87, Y:4.28, Z:0.84 [[ 9.98617357e-01 5.19432644e-02 8.07911892e-03 3.11866323e+02] [-5.19431492e-02 9.98650018e-01 -2.24235244e-04 4.27937560e+00] [-8.07985977e-03 -1.95729673e-04 9.99967338e-01 8.42685726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25864 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:311.90, Y:4.28, Z:0.84 [[ 9.98736006e-01 4.96095876e-02 8.07959272e-03 3.11895978e+02] [-4.96095223e-02 9.98768668e-01 -2.08617666e-04 4.27805670e+00] [-8.07999349e-03 -1.92470761e-04 9.99967338e-01 8.41424951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:311.93, Y:4.28, Z:0.84 [[ 9.98901888e-01 4.61490397e-02 8.07985424e-03 3.11925897e+02] [-4.61489312e-02 9.98934550e-01 -1.99969957e-04 4.27801705e+00] [-8.08047398e-03 -1.73126270e-04 9.99967337e-01 8.41122992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31864 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:311.96, Y:4.28, Z:0.84 [[ 9.98959246e-01 4.48902951e-02 8.07998870e-03 3.11956691e+02] [-4.48901816e-02 9.98991909e-01 -1.95502864e-04 4.27749531e+00] [-8.08061951e-03 -1.67412767e-04 9.99967337e-01 8.40087935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:311.99, Y:4.28, Z:0.84 [[ 9.99015703e-01 4.36157703e-02 8.08022159e-03 3.11987322e+02] [-4.36156776e-02 9.99048366e-01 -1.87769049e-04 4.27509603e+00] [-8.08072187e-03 -1.64840111e-04 9.99967337e-01 8.38799107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:312.02, Y:4.27, Z:0.83 [[ 9.98954482e-01 4.49961004e-02 8.08043916e-03 3.12018529e+02] [-4.49961114e-02 9.98987146e-01 -1.80531854e-04 4.27302400e+00] [-8.08037808e-03 -1.83245236e-04 9.99967336e-01 8.26111398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:312.05, Y:4.27, Z:0.83 [[ 9.98996035e-01 4.40642529e-02 8.07856380e-03 3.12048808e+02] [-4.40637291e-02 9.99028693e-01 -2.42903553e-04 4.27190678e+00] [-8.08142040e-03 -1.13311961e-04 9.99967338e-01 8.25535555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43864 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:312.08, Y:4.27, Z:0.84 [[ 9.99150595e-01 4.04082235e-02 8.07856380e-03 3.12077443e+02] [-4.04075801e-02 9.99183251e-01 -2.42903553e-04 4.27189031e+00] [-8.08178094e-03 -8.37379851e-05 9.99967338e-01 8.41115666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:312.11, Y:4.27, Z:0.83 [[ 9.99053426e-01 4.27428485e-02 8.08095396e-03 3.12109699e+02] [-4.27429311e-02 9.99086090e-01 -1.62557269e-04 4.27028510e+00] [-8.08051686e-03 -1.83000262e-04 9.99967335e-01 8.25161920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:312.14, Y:4.27, Z:0.82 [[ 9.99145364e-01 4.05373644e-02 8.07856168e-03 3.12141177e+02] [-4.05367301e-02 9.99178020e-01 -2.42314557e-04 4.26528870e+00] [-8.08174406e-03 -8.53710079e-05 9.99967339e-01 8.24589040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52864 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:312.17, Y:4.26, Z:0.84 [[ 9.99348539e-01 3.51743433e-02 8.07854589e-03 3.12169468e+02] [-3.51735294e-02 9.99381190e-01 -2.42840096e-04 4.26388991e+00] [-8.08208855e-03 -4.14690767e-05 9.99967339e-01 8.39704001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55864 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:312.20, Y:4.26, Z:0.84 [[ 9.99470718e-01 3.15115317e-02 8.08134287e-03 3.12200882e+02] [-3.15113517e-02 9.99503383e-01 -1.49625723e-04 4.26276213e+00] [-8.08204448e-03 -1.05107509e-04 9.99967334e-01 8.39540776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:312.23, Y:4.26, Z:0.82 [[ 9.99383433e-01 3.41678531e-02 8.08152948e-03 3.12233857e+02] [-3.41678095e-02 9.99416100e-01 -1.43508456e-04 4.25942284e+00] [-8.08171405e-03 -1.32708186e-04 9.99967334e-01 8.24399390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:312.27, Y:4.25, Z:0.82 [[ 9.99448036e-01 3.22236617e-02 8.07827429e-03 3.12265057e+02] [-3.22227011e-02 9.99480683e-01 -2.49082531e-04 4.25334023e+00] [-8.08210546e-03 -1.13587709e-05 9.99967339e-01 8.22825467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64864 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:312.29, Y:4.25, Z:0.84 [[ 9.99522460e-01 2.98260592e-02 8.07825800e-03 3.12294393e+02] [-2.98250159e-02 9.99555104e-01 -2.49609863e-04 4.25276975e+00] [-8.08210889e-03 8.55649119e-06 9.99967339e-01 8.39450296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:312.33, Y:4.25, Z:0.82 [[ 9.99414974e-01 3.32327204e-02 8.08062553e-03 3.12327024e+02] [-3.32324055e-02 9.99447636e-01 -1.73277902e-04 4.25280363e+00] [-8.08192058e-03 -9.53620949e-05 9.99967336e-01 8.23414135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:312.36, Y:4.25, Z:0.82 [[ 9.99391840e-01 3.39218907e-02 8.07814060e-03 3.12357988e+02] [-3.39209561e-02 9.99424487e-01 -2.52711640e-04 4.24878708e+00] [-8.08206398e-03 -2.14603022e-05 9.99967339e-01 8.23670080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:312.39, Y:4.25, Z:0.82 [[ 9.99377858e-01 3.43313377e-02 8.07811608e-03 3.12389613e+02] [-3.43304102e-02 9.99410506e-01 -2.53493102e-04 4.24583031e+00] [-8.08205683e-03 -2.39896456e-05 9.99967339e-01 8.24450483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:312.42, Y:4.25, Z:0.83 [[ 9.99292323e-01 3.67368599e-02 8.07809941e-03 3.12421335e+02] [-3.67360067e-02 9.99324973e-01 -2.54023066e-04 4.24663786e+00] [-8.08197849e-03 -4.29138140e-05 9.99967339e-01 8.25026608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79864 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:312.45, Y:4.25, Z:0.84 [[ 9.99303743e-01 3.64249105e-02 8.07808287e-03 3.12451103e+02] [-3.64240429e-02 9.99336392e-01 -2.54548172e-04 4.24730092e+00] [-8.08199408e-03 -3.98654955e-05 9.99967339e-01 8.38693792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:312.48, Y:4.25, Z:0.82 [[ 9.99142704e-01 4.06025885e-02 8.07997514e-03 3.12483136e+02] [-4.06023458e-02 9.99175366e-01 -1.94134457e-04 4.24664253e+00] [-8.08119448e-03 -1.34097918e-04 9.99967338e-01 8.22961768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:312.51, Y:4.25, Z:0.82 [[ 9.99140085e-01 4.06673784e-02 8.07809806e-03 3.12514954e+02] [-4.06666549e-02 9.99172737e-01 -2.53864591e-04 4.24570730e+00] [-8.08173936e-03 -7.48629370e-05 9.99967339e-01 8.22712576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:312.55, Y:4.25, Z:0.82 [[ 9.99036388e-01 4.31397776e-02 8.07808169e-03 3.12545916e+02] [-4.31391307e-02 9.99069042e-01 -2.54384533e-04 4.24674821e+00] [-8.08153543e-03 -9.43420169e-05 9.99967339e-01 8.22557847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91864 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:312.58, Y:4.25, Z:0.84 [[ 9.99066011e-01 4.24482091e-02 8.07805706e-03 3.12576397e+02] [-4.24475333e-02 9.99098665e-01 -2.55164211e-04 4.24966828e+00] [-8.08160729e-03 -8.79677060e-05 9.99967339e-01 8.37034811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94864 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:312.61, Y:4.25, Z:0.84 [[ 9.99030917e-01 4.32660335e-02 8.07947458e-03 3.12607166e+02] [-4.32657471e-02 9.99063577e-01 -2.10309328e-04 4.25455389e+00] [-8.08100802e-03 -1.39458983e-04 9.99967338e-01 8.35249329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:312.64, Y:4.25, Z:0.82 [[ 9.98994536e-01 4.40981759e-02 8.07889265e-03 3.12637717e+02] [-4.40977672e-02 9.99027194e-01 -2.28808781e-04 4.25403189e+00] [-8.08112351e-03 -1.27682405e-04 9.99967339e-01 8.21799351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00864 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:312.67, Y:4.25, Z:0.84 [[ 9.99178247e-01 3.97186964e-02 8.07807541e-03 3.12667876e+02] [-3.97179350e-02 9.99210899e-01 -2.54726050e-04 4.25352544e+00] [-8.08181838e-03 -6.63277456e-05 9.99967339e-01 8.35610247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03864 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:312.70, Y:4.26, Z:0.83 [[ 9.99353079e-01 3.50450129e-02 8.07898310e-03 3.12699314e+02] [-3.50443333e-02 9.99385733e-01 -2.25711079e-04 4.25678674e+00] [-8.08193049e-03 -5.75575150e-05 9.99967339e-01 8.34474643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06864 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:312.73, Y:4.26, Z:0.84 [[ 9.99475270e-01 3.13674926e-02 8.07870642e-03 3.12730532e+02] [-3.13666215e-02 9.99507919e-01 -2.34538053e-04 4.25714801e+00] [-8.08208791e-03 -1.89867418e-05 9.99967339e-01 8.36749665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:312.76, Y:4.26, Z:0.82 [[ 9.99665278e-01 2.45777851e-02 8.07864388e-03 3.12762596e+02] [-2.45766762e-02 9.99697920e-01 -2.36525814e-04 4.25571518e+00] [-8.08201677e-03 3.79004291e-05 9.99967339e-01 8.20330704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:312.79, Y:4.26, Z:0.82 [[ 9.99725118e-01 2.20098049e-02 8.07811433e-03 3.12794637e+02] [-2.20084758e-02 9.99757752e-01 -2.53406849e-04 4.25510853e+00] [-8.08173486e-03 7.55502085e-05 9.99967339e-01 8.19554686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:312.83, Y:4.26, Z:0.82 [[ 9.99754979e-01 2.06089091e-02 8.07808199e-03 3.12827005e+02] [-2.06075259e-02 9.99787610e-01 -2.54433686e-04 4.25513902e+00] [-8.08160989e-03 8.79020601e-05 9.99967339e-01 8.18731160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:312.86, Y:4.25, Z:0.82 [[ 9.99797972e-01 1.84054682e-02 8.07804962e-03 3.12859544e+02] [-1.84040049e-02 9.99830599e-01 -2.55457275e-04 4.25441047e+00] [-8.08138301e-03 1.06737201e-04 9.99967339e-01 8.17841937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:312.89, Y:4.25, Z:0.82 [[ 9.99823537e-01 1.69599812e-02 8.07801720e-03 3.12891736e+02] [-1.69584624e-02 9.99856162e-01 -2.56478388e-04 4.25231103e+00] [-8.08120514e-03 1.19442378e-04 9.99967339e-01 8.18561786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:312.92, Y:4.25, Z:0.82 [[ 9.99821780e-01 1.70632450e-02 8.07798484e-03 3.12924149e+02] [-1.70617214e-02 9.99854405e-01 -2.57493643e-04 4.25208979e+00] [-8.08120240e-03 1.19623426e-04 9.99967339e-01 8.17761759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:312.96, Y:4.25, Z:0.82 [[ 9.99803782e-01 1.80871209e-02 8.07795248e-03 3.12956433e+02] [-1.80856225e-02 9.99836408e-01 -2.58504780e-04 4.25285034e+00] [-8.08130660e-03 1.12359257e-04 9.99967339e-01 8.17467206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30864 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:312.99, Y:4.25, Z:0.83 [[ 9.99827979e-01 1.66961136e-02 8.07791999e-03 3.12986189e+02] [-1.66945617e-02 9.99860602e-01 -2.59516115e-04 4.25220070e+00] [-8.08112686e-03 1.24614139e-04 9.99967339e-01 8.30850277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:313.02, Y:4.25, Z:0.82 [[ 9.99856305e-01 1.49029909e-02 8.07901789e-03 3.13018293e+02] [-1.49016581e-02 9.99888939e-01 -2.25145949e-04 4.24654239e+00] [-8.08147597e-03 1.04722834e-04 9.99967339e-01 8.16297695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:313.05, Y:4.24, Z:0.82 [[ 9.99898524e-01 1.17340656e-02 8.07794494e-03 3.13050238e+02] [-1.17323587e-02 9.99931140e-01 -2.58654871e-04 4.24279962e+00] [-8.08042376e-03 1.63855276e-04 9.99967339e-01 8.16052924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:313.08, Y:4.24, Z:0.82 [[ 9.99949038e-01 6.05544292e-03 8.07791269e-03 3.13081903e+02] [-6.05354277e-03 9.99981643e-01 -2.59658076e-04 4.23734965e+00] [-8.07933675e-03 2.10744854e-04 9.99967339e-01 8.15853545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864000000003 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:313.11, Y:4.23, Z:0.82 [[ 9.99952399e-01 5.47257940e-03 8.07780042e-03 3.13114360e+02] [-5.47063242e-03 9.99985001e-01 -2.63105050e-04 4.23310352e+00] [-8.07911913e-03 2.18901849e-04 9.99967339e-01 8.16320189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:313.15, Y:4.22, Z:0.82 [[ 9.99944445e-01 6.77175098e-03 8.07776820e-03 3.13146474e+02] [-6.76983840e-03 9.99977050e-01 -2.64090448e-04 4.22428376e+00] [-8.07937117e-03 2.09390591e-04 9.99967339e-01 8.17936788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:313.18, Y:4.22, Z:0.82 [[ 9.99937253e-01 7.76145895e-03 8.07773609e-03 3.13179294e+02] [-7.75957074e-03 9.99969859e-01 -2.65069002e-04 4.22072402e+00] [-8.07954994e-03 2.02372605e-04 9.99967339e-01 8.19947827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:313.21, Y:4.22, Z:0.82 [[ 9.99932342e-01 8.37035172e-03 8.07768666e-03 3.13211871e+02] [-8.36847128e-03 9.99964948e-01 -2.66567055e-04 4.21883842e+00] [-8.07963478e-03 1.98951131e-04 9.99967339e-01 8.20213937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:313.24, Y:4.21, Z:0.82 [[ 9.99889933e-01 1.24448058e-02 8.07765384e-03 3.13244006e+02] [-1.24430503e-02 9.99922546e-01 -2.67557761e-04 4.21496289e+00] [-8.08035790e-03 1.67017659e-04 9.99967339e-01 8.19539742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:313.28, Y:4.21, Z:0.82 [[ 9.99866908e-01 1.41745336e-02 8.07762059e-03 3.13276281e+02] [-1.41728264e-02 9.99899524e-01 -2.68557833e-04 4.21037136e+00] [-8.08061567e-03 1.54039376e-04 9.99967339e-01 8.19424984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:313.31, Y:4.20, Z:0.82 [[ 9.99821041e-01 1.71066549e-02 8.07758698e-03 3.13308452e+02] [-1.71050352e-02 9.99853662e-01 -2.69565046e-04 4.20336224e+00] [-8.08101627e-03 1.31349395e-04 9.99967339e-01 8.19543543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63864 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:313.34, Y:4.20, Z:0.82 [[ 9.99810631e-01 1.77046912e-02 8.07754467e-03 3.13341135e+02] [-1.77030808e-02 9.99843252e-01 -2.70826774e-04 4.20251223e+00] [-8.08107344e-03 1.27778061e-04 9.99967339e-01 8.19418818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:313.37, Y:4.20, Z:0.82 [[ 9.99801829e-01 1.81949449e-02 8.07750154e-03 3.13373514e+02] [-1.81933401e-02 9.99834450e-01 -2.72107078e-04 4.20196042e+00] [-8.08111529e-03 1.25096421e-04 9.99967339e-01 8.18781432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69864 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:313.41, Y:4.20, Z:0.82 [[ 9.99792267e-01 1.87130514e-02 8.07746713e-03 3.13405931e+02] [-1.87114553e-02 9.99824888e-01 -2.73124710e-04 4.19984853e+00] [-8.08116367e-03 1.21926807e-04 9.99967339e-01 8.19336919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:313.44, Y:4.20, Z:0.82 [[ 9.99773164e-01 1.97072480e-02 8.07743271e-03 3.13437701e+02] [-1.97056762e-02 9.99805787e-01 -2.74138947e-04 4.19740966e+00] [-8.08126649e-03 1.14905489e-04 9.99967339e-01 8.19161509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75864 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:313.47, Y:4.20, Z:0.82 [[ 9.99750859e-01 2.08080571e-02 8.07739768e-03 3.13469611e+02] [-2.08065129e-02 9.99783483e-01 -2.75167222e-04 4.19753234e+00] [-8.08137449e-03 1.07036187e-04 9.99967339e-01 8.19813946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:313.50, Y:4.20, Z:0.82 [[ 9.99716043e-01 2.24185176e-02 8.07736229e-03 3.13501680e+02] [-2.24170176e-02 9.99748669e-01 -2.76202274e-04 4.19723608e+00] [-8.08152424e-03 9.50534716e-05 9.99967339e-01 8.19174632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:313.53, Y:4.19, Z:0.82 [[ 9.99700332e-01 2.31084894e-02 8.07732674e-03 3.13533220e+02] [-2.31070036e-02 9.99732959e-01 -2.77238095e-04 4.19268469e+00] [-8.08157631e-03 9.05121980e-05 9.99967339e-01 8.17229755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:313.56, Y:4.19, Z:0.82 [[ 9.99710762e-01 2.26527979e-02 8.07729079e-03 3.13564972e+02] [-2.26512887e-02 9.99743388e-01 -2.78281578e-04 4.18887858e+00] [-8.08152191e-03 9.52400430e-05 9.99967339e-01 8.17179295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87864 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:313.60, Y:4.19, Z:0.82 [[ 9.99732536e-01 2.16705672e-02 8.07725517e-03 3.13596858e+02] [-2.16690177e-02 9.99765160e-01 -2.79311575e-04 4.18548417e+00] [-8.08141115e-03 1.04210684e-04 9.99967339e-01 8.16632595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:313.63, Y:4.18, Z:0.83 [[ 9.99730530e-01 2.17629275e-02 8.07721903e-03 3.13628240e+02] [-2.17613726e-02 9.99763154e-01 -2.80352695e-04 4.18313212e+00] [-8.08140727e-03 1.04505775e-04 9.99967339e-01 8.25653990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93864 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:313.66, Y:4.18, Z:0.82 [[ 9.99724099e-01 2.20562706e-02 8.07752695e-03 3.13660095e+02] [-2.20547973e-02 9.99756727e-01 -2.71439787e-04 4.17993537e+00] [-8.08154886e-03 9.32166775e-05 9.99967339e-01 8.16616224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96864 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:313.69, Y:4.18, Z:0.82 [[ 9.99627928e-01 2.60530737e-02 8.07726304e-03 3.13692539e+02] [-2.60516691e-02 9.99660559e-01 -2.79078123e-04 4.17646978e+00] [-8.08179213e-03 6.85481018e-05 9.99967339e-01 8.15783579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99864 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:313.72, Y:4.18, Z:0.82 [[ 9.99614165e-01 2.65759114e-02 8.07722691e-03 3.13723283e+02] [-2.65745154e-02 9.99646796e-01 -2.80120028e-04 4.17508005e+00] [-8.08181844e-03 6.53635566e-05 9.99967339e-01 8.24651753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02864 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:313.75, Y:4.17, Z:0.82 [[ 9.99586468e-01 2.75976931e-02 8.07836995e-03 3.13754288e+02] [-2.75965980e-02 9.99619111e-01 -2.47016607e-04 4.17130304e+00] [-8.08211007e-03 2.39789299e-05 9.99967339e-01 8.24618063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05864 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:313.79, Y:4.17, Z:0.81 [[ 9.99504268e-01 3.04292144e-02 8.07962683e-03 3.13787363e+02] [-3.04285045e-02 9.99536924e-01 -2.10804112e-04 4.16813465e+00] [-8.08229995e-03 -3.51513516e-05 9.99967337e-01 8.13509118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08864 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:313.82, Y:4.17, Z:0.82 [[ 9.99487532e-01 3.09747449e-02 8.07709057e-03 3.13816492e+02] [-3.09734681e-02 9.99520167e-01 -2.83152950e-04 4.16638278e+00] [-8.08198550e-03 3.28323367e-05 9.99967340e-01 8.23475652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11864 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:313.85, Y:4.17, Z:0.81 [[ 9.99399276e-01 3.37019468e-02 8.07874474e-03 3.13848718e+02] [-3.37011398e-02 9.99431927e-01 -2.36033374e-04 4.16684659e+00] [-8.08211022e-03 -3.63713232e-05 9.99967339e-01 8.13799662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14864 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:313.88, Y:4.17, Z:0.81 [[ 9.99351087e-01 3.51022280e-02 8.07699626e-03 3.13880536e+02] [-3.51010670e-02 9.99383727e-01 -2.85499653e-04 4.16621741e+00] [-8.08204030e-03 1.80320141e-06 9.99967340e-01 8.12517460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17864000000003 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:313.91, Y:4.17, Z:0.82 [[ 9.99322218e-01 3.59147227e-02 8.07695868e-03 3.13909896e+02] [-3.59135796e-02 9.99354858e-01 -2.86558772e-04 4.16617458e+00] [-8.08203958e-03 -3.70795148e-06 9.99967340e-01 8.23584094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20864 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:313.94, Y:4.17, Z:0.81 [[ 9.99223956e-01 3.85515713e-02 8.07849258e-03 3.13942013e+02] [-3.85508646e-02 9.99256610e-01 -2.43241813e-04 4.16641580e+00] [-8.08186446e-03 -6.83798270e-05 9.99967339e-01 8.12531834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23864 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:313.97, Y:4.17, Z:0.81 [[ 9.99139728e-01 4.06763746e-02 8.07687874e-03 3.13974198e+02] [-4.06753719e-02 9.99172373e-01 -2.88433653e-04 4.16726303e+00] [-8.08192653e-03 -4.03445249e-05 9.99967340e-01 8.12878467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26864 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:314.01, Y:4.17, Z:0.81 [[ 9.99111134e-01 4.13727705e-02 8.07684087e-03 3.14006659e+02] [-4.13717821e-02 9.99143779e-01 -2.89490111e-04 4.16717342e+00] [-8.08190232e-03 -4.49205072e-05 9.99967340e-01 8.11536034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29864 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:314.04, Y:4.17, Z:0.81 [[ 9.99158351e-01 4.02163544e-02 8.07680273e-03 3.14038272e+02] [-4.02153196e-02 9.99190995e-01 -2.90550243e-04 4.16758795e+00] [-8.08195343e-03 -3.45055015e-05 9.99967340e-01 8.12129282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32864 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:314.07, Y:4.17, Z:0.81 [[ 9.99236861e-01 3.82159682e-02 8.07678367e-03 3.14069885e+02] [-3.82148638e-02 9.99269503e-01 -2.91079205e-04 4.16868070e+00] [-8.08200748e-03 -1.77961171e-05 9.99967340e-01 8.10921011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35864 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:314.10, Y:4.17, Z:0.81 [[ 9.99310358e-01 3.62432586e-02 8.07676437e-03 3.14101700e+02] [-3.62420855e-02 9.99342997e-01 -2.91613929e-04 4.16691700e+00] [-8.08202695e-03 -1.30596481e-06 9.99967340e-01 8.09417826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38864 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:314.13, Y:4.16, Z:0.81 [[ 9.99418667e-01 3.31224139e-02 8.07672576e-03 3.14134216e+02] [-3.31211302e-02 9.99451302e-01 -2.92679167e-04 4.16455344e+00] [-8.08198832e-03 2.49987367e-05 9.99967340e-01 8.08996663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41864 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:314.17, Y:4.16, Z:0.81 [[ 9.99450000e-01 3.21631026e-02 8.07668756e-03 3.14166632e+02] [-3.21617791e-02 9.99482633e-01 -2.93729555e-04 4.16305355e+00] [-8.08195621e-03 3.38073627e-05 9.99967340e-01 8.08119146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44864 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:314.20, Y:4.16, Z:0.81 [[ 9.99536190e-01 2.93627868e-02 8.07664932e-03 3.14198317e+02] [-2.93613634e-02 9.99568819e-01 -2.94777337e-04 4.15991092e+00] [-8.08182231e-03 5.74991802e-05 9.99967340e-01 8.07672971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47864 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:314.23, Y:4.16, Z:0.81 [[ 9.99543001e-01 2.91300075e-02 8.07661097e-03 3.14230239e+02] [-2.91285681e-02 9.99575629e-01 -2.95824321e-04 4.15813821e+00] [-8.08180086e-03 6.04290170e-05 9.99967340e-01 8.09142571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50864 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:314.26, Y:4.16, Z:0.81 [[ 9.99531982e-01 2.95057002e-02 8.07657256e-03 3.14262368e+02] [-2.95042646e-02 9.99564610e-01 -2.96869503e-04 4.15655177e+00] [-8.08181544e-03 5.84372292e-05 9.99967340e-01 8.08777329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53864 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:314.29, Y:4.15, Z:0.82 [[ 9.99511439e-01 3.01935952e-02 8.07653416e-03 3.14292986e+02] [-3.01921736e-02 9.99544068e-01 -2.97910535e-04 4.15314522e+00] [-8.08184680e-03 5.39168658e-05 9.99967340e-01 8.21002075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56864 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:314.32, Y:4.15, Z:0.82 [[ 9.99490726e-01 3.08714193e-02 8.07734529e-03 3.14324038e+02] [-3.08701975e-02 9.99523364e-01 -2.75931686e-04 4.15081451e+00] [-8.08201374e-03 2.64419172e-05 9.99967340e-01 8.17095451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59864 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:314.36, Y:4.15, Z:0.81 [[ 9.99345550e-01 3.52592105e-02 8.07830167e-03 3.14356952e+02] [-3.52583399e-02 9.99378200e-01 -2.50201508e-04 4.14696868e+00] [-8.08210049e-03 -3.47897428e-05 9.99967339e-01 8.06168778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62864 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:314.39, Y:4.15, Z:0.81 [[ 9.99278410e-01 3.71137582e-02 8.07634248e-03 3.14388984e+02] [-3.71125254e-02 9.99311047e-01 -3.02508101e-04 4.14534385e+00] [-8.08200547e-03 2.55634855e-06 9.99967340e-01 8.06076468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65864 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:314.42, Y:4.15, Z:0.81 [[ 9.99041217e-01 4.30281325e-02 8.07630300e-03 3.14421034e+02] [-4.30270845e-02 9.99073860e-01 -3.03558440e-04 4.14542136e+00] [-8.08188477e-03 -4.42323783e-05 9.99967340e-01 8.09039342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68864 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:314.45, Y:4.15, Z:0.81 [[ 9.98889524e-01 4.64165203e-02 8.07625294e-03 3.14452830e+02] [-4.64155722e-02 9.98922170e-01 -3.04884489e-04 4.14523038e+00] [-8.08169979e-03 -7.03179800e-05 9.99967340e-01 8.08950286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:314.48, Y:4.15, Z:0.81 [[ 9.98743377e-01 4.94615155e-02 8.07621214e-03 3.14484673e+02] [-4.94606582e-02 9.98776026e-01 -3.05961568e-04 4.14512410e+00] [-8.08146038e-03 -9.38776788e-05 9.99967340e-01 8.09243494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74864 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:314.52, Y:4.15, Z:0.81 [[ 9.98591518e-01 5.24381033e-02 8.07619211e-03 3.14516243e+02] [-5.24373391e-02 9.98624169e-01 -3.06489171e-04 4.14571182e+00] [-8.08115235e-03 -1.17436538e-04 9.99967340e-01 8.08975379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77864 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:314.55, Y:4.14, Z:0.81 [[ 9.98588081e-01 5.25035169e-02 8.07617196e-03 3.14548057e+02] [-5.25027506e-02 9.98620732e-01 -3.07019419e-04 4.14451827e+00] [-8.08115235e-03 -1.17435309e-04 9.99967340e-01 8.08718125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:314.58, Y:4.14, Z:0.81 [[ 9.98608091e-01 5.21215513e-02 8.07615181e-03 3.14579306e+02] [-5.21207682e-02 9.98640742e-01 -3.07548438e-04 4.14382839e+00] [-8.08120414e-03 -1.13814877e-04 9.99967340e-01 8.08265639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83864 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:314.61, Y:4.14, Z:0.81 [[ 9.98733860e-01 4.96533377e-02 8.07613162e-03 3.14610612e+02] [-4.96524696e-02 9.98766508e-01 -3.08077766e-04 4.14161784e+00] [-8.08146686e-03 -9.33121842e-05 9.99967340e-01 8.06913418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86864 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:314.64, Y:4.14, Z:0.81 [[ 9.98825913e-01 4.77657990e-02 8.07611136e-03 3.14641706e+02] [-4.77648650e-02 9.98858560e-01 -3.08608010e-04 4.13913272e+00] [-8.08163387e-03 -7.75086912e-05 9.99967340e-01 8.07005697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89864 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:314.67, Y:4.14, Z:0.81 [[ 9.98946487e-01 4.51740186e-02 8.07609116e-03 3.14672541e+02] [-4.51729956e-02 9.98979131e-01 -3.09135704e-04 4.13579305e+00] [-8.08181143e-03 -5.60112040e-05 9.99967340e-01 8.06576286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864000000003 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:314.70, Y:4.13, Z:0.81 [[ 9.98994580e-01 4.40977001e-02 8.07607086e-03 3.14704424e+02] [-4.40966376e-02 9.99027222e-01 -3.09665028e-04 4.13211733e+00] [-8.08187015e-03 -4.67738856e-05 9.99967340e-01 8.05790680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95864 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:314.73, Y:4.13, Z:0.82 [[ 9.99177327e-01 3.97422559e-02 8.07603018e-03 3.14733746e+02] [-3.97410426e-02 9.99209964e-01 -3.10722408e-04 4.12671576e+00] [-8.08199864e-03 -1.04830743e-05 9.99967340e-01 8.16521255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:314.77, Y:4.12, Z:0.80 [[ 9.99235622e-01 3.82478450e-02 8.07924921e-03 3.14767028e+02] [-3.82472588e-02 9.99268280e-01 -2.27105266e-04 4.11945717e+00] [-8.08202375e-03 -8.20774641e-05 9.99967337e-01 8.04984873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01864 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:314.80, Y:4.12, Z:0.82 [[ 9.99309893e-01 3.62562644e-02 8.07592389e-03 3.14796906e+02] [-3.62549194e-02 9.99342525e-01 -3.12925362e-04 4.11674550e+00] [-8.08195968e-03 1.99174403e-05 9.99967340e-01 8.15418093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:314.83, Y:4.11, Z:0.80 [[ 9.99088808e-01 4.19081612e-02 8.07832105e-03 3.14829761e+02] [-4.19075021e-02 9.99121463e-01 -2.50911227e-04 4.11250822e+00] [-8.08173917e-03 -8.78596578e-05 9.99967338e-01 8.03831929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07864 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:314.86, Y:4.11, Z:0.80 [[ 9.98979561e-01 4.44366628e-02 8.07588313e-03 3.14861886e+02] [-4.44355789e-02 9.99012203e-01 -3.13677752e-04 4.10838674e+00] [-8.08184459e-03 -4.54988796e-05 9.99967340e-01 8.03687946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:314.89, Y:4.10, Z:0.80 [[ 9.98832787e-01 4.76219003e-02 8.07584193e-03 3.14894136e+02] [-4.76209120e-02 9.98865431e-01 -3.14734885e-04 4.10489567e+00] [-8.08166761e-03 -7.02114359e-05 9.99967340e-01 8.04048030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:314.93, Y:4.10, Z:0.80 [[ 9.98715350e-01 5.00243134e-02 8.07580017e-03 3.14926608e+02] [-5.00233950e-02 9.98747996e-01 -3.15802918e-04 4.10272853e+00] [-8.08148706e-03 -8.85817204e-05 9.99967340e-01 8.03880864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:314.96, Y:4.10, Z:0.80 [[ 9.98714979e-01 5.00317171e-02 8.07575794e-03 3.14958361e+02] [-5.00307903e-02 9.98747626e-01 -3.16879099e-04 4.10109191e+00] [-8.08149807e-03 -8.75646488e-05 9.99967340e-01 8.03389961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19864 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:314.99, Y:4.10, Z:0.81 [[ 9.98859982e-01 4.70480465e-02 8.07571582e-03 3.14988703e+02] [-4.70470134e-02 9.98892626e-01 -3.17948770e-04 4.09855347e+00] [-8.08173185e-03 -6.23520078e-05 9.99967340e-01 8.12889448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:315.02, Y:4.10, Z:0.81 [[ 9.98828164e-01 4.77183633e-02 8.07818986e-03 3.15020424e+02] [-4.77178601e-02 9.98860822e-01 -2.55126323e-04 4.09698650e+00] [-8.08116157e-03 -1.30646577e-04 9.99967338e-01 8.12268018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25864 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:315.05, Y:4.10, Z:0.81 [[ 9.98837389e-01 4.75249699e-02 8.07755203e-03 3.15052049e+02] [-4.75243303e-02 9.98870044e-01 -2.71222438e-04 4.09596895e+00] [-8.08131459e-03 -1.12973139e-04 9.99967339e-01 8.11572632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:315.08, Y:4.09, Z:0.81 [[ 9.98876835e-01 4.66885408e-02 8.07761128e-03 3.15083709e+02] [-4.66878858e-02 9.98909490e-01 -2.69737464e-04 4.09461633e+00] [-8.08139621e-03 -1.07692088e-04 9.99967339e-01 8.12641397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:315.12, Y:4.09, Z:0.80 [[ 9.98781145e-01 4.86926288e-02 8.07790942e-03 3.15115941e+02] [-4.86920996e-02 9.98813802e-01 -2.62286739e-04 4.09329540e+00] [-8.08109884e-03 -1.31363321e-04 9.99967339e-01 8.01791248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:315.15, Y:4.09, Z:0.81 [[ 9.98871844e-01 4.67955939e-02 8.07541673e-03 3.15146239e+02] [-4.67945009e-02 9.98904485e-01 -3.24348437e-04 4.09043713e+00] [-8.08174806e-03 -5.39025743e-05 9.99967341e-01 8.12862300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.18, Y:4.09, Z:0.80 [[ 9.98808198e-01 4.81346862e-02 8.07685435e-03 3.15178491e+02] [-4.81339265e-02 9.98840849e-01 -2.88536565e-04 4.08937918e+00] [-8.08138067e-03 -1.00578027e-04 9.99967340e-01 8.01271340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:315.21, Y:4.09, Z:0.80 [[ 9.98790156e-01 4.85078514e-02 8.07538946e-03 3.15210425e+02] [-4.85068095e-02 9.98822799e-01 -3.24941841e-04 4.08827927e+00] [-8.08164533e-03 -6.71626662e-05 9.99967341e-01 8.00263570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.24, Y:4.08, Z:0.80 [[ 9.98687609e-01 5.05751853e-02 8.07534657e-03 3.15242488e+02] [-5.05742024e-02 9.98720253e-01 -3.26004221e-04 4.08457444e+00] [-8.08149989e-03 -8.28278363e-05 9.99967341e-01 8.00855241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.27, Y:4.08, Z:0.80 [[ 9.98667280e-01 5.09750201e-02 8.07530314e-03 3.15274925e+02] [-5.09740416e-02 9.98699925e-01 -3.27076550e-04 4.08042615e+00] [-8.08147737e-03 -8.49901892e-05 9.99967341e-01 8.01371495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.31, Y:4.08, Z:0.80 [[ 9.98673286e-01 5.08572251e-02 8.07525975e-03 3.15307253e+02] [-5.08562341e-02 9.98705931e-01 -3.28144284e-04 4.07726607e+00] [-8.08149831e-03 -8.29683699e-05 9.99967341e-01 8.00874300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:315.34, Y:4.08, Z:0.81 [[ 9.98701828e-01 5.02936314e-02 8.07521576e-03 3.15338211e+02] [-5.02926132e-02 9.98734472e-01 -3.29223139e-04 4.07742321e+00] [-8.08155418e-03 -7.73279525e-05 9.99967341e-01 8.13512425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:315.37, Y:4.08, Z:0.81 [[ 9.98609351e-01 5.20975513e-02 8.07521212e-03 3.15370208e+02] [-5.20965915e-02 9.98641996e-01 -3.29312442e-04 4.07692523e+00] [-8.08140233e-03 -9.18365427e-05 9.99967341e-01 8.11650236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.40, Y:4.07, Z:0.80 [[ 9.98396627e-01 5.60264770e-02 8.07525580e-03 3.15401621e+02] [-5.60256542e-02 9.98429276e-01 -3.28246210e-04 4.07432918e+00] [-8.08096228e-03 -1.24701581e-04 9.99967341e-01 7.99531937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:315.43, Y:4.07, Z:0.81 [[ 9.98421719e-01 5.55775357e-02 8.07512597e-03 3.15432467e+02] [-5.55766726e-02 9.98454367e-01 -3.31409744e-04 4.07292001e+00] [-8.08106373e-03 -1.17901946e-04 9.99967341e-01 8.09974963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:315.46, Y:4.07, Z:0.81 [[ 9.98566917e-01 5.29047276e-02 8.07484172e-03 3.15463184e+02] [-5.29037212e-02 9.98599560e-01 -3.38325695e-04 4.07340969e+00] [-8.08143242e-03 -8.93483290e-05 9.99967341e-01 8.11295541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67864000000003 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:315.49, Y:4.07, Z:0.81 [[ 9.98641753e-01 5.14725651e-02 8.07620132e-03 3.15494839e+02] [-5.14717779e-02 9.98674403e-01 -3.05424850e-04 4.07209774e+00] [-8.08121653e-03 -1.10686433e-04 9.99967340e-01 8.10110356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:315.53, Y:4.07, Z:0.80 [[ 9.98663125e-01 5.10562318e-02 8.07614097e-03 3.15525964e+02] [-5.10554193e-02 9.98695774e-01 -3.06876835e-04 4.06968518e+00] [-8.08127583e-03 -1.05864184e-04 9.99967340e-01 7.98497621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:315.56, Y:4.06, Z:0.80 [[ 9.98950035e-01 4.50957204e-02 8.07486214e-03 3.15558082e+02] [-4.50944657e-02 9.98982670e-01 -3.37475673e-04 4.06386567e+00] [-8.08186605e-03 -2.70102591e-05 9.99967341e-01 7.96336381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:315.59, Y:4.06, Z:0.80 [[ 9.98991630e-01 4.41646910e-02 8.07481691e-03 3.15590015e+02] [-4.41633971e-02 9.99024264e-01 -3.38554474e-04 4.06147960e+00] [-8.08189017e-03 -1.83982597e-05 9.99967341e-01 7.96014899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:315.62, Y:4.06, Z:0.81 [[ 9.99088903e-01 4.19065922e-02 8.07477169e-03 3.15621282e+02] [-4.19052159e-02 9.99121533e-01 -3.39629689e-04 4.06005850e+00] [-8.08191099e-03 9.45201888e-07 9.99967341e-01 8.06787964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:315.65, Y:4.06, Z:0.81 [[ 9.99067974e-01 4.24026843e-02 8.07432384e-03 3.15653463e+02] [-4.24012384e-02 9.99100602e-01 -3.50246517e-04 4.05928793e+00] [-8.08191320e-03 7.55874854e-06 9.99967341e-01 8.05982375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:315.69, Y:4.06, Z:0.81 [[ 9.98800122e-01 4.83023667e-02 8.07452988e-03 3.15685733e+02] [-4.83011528e-02 9.98832758e-01 -3.45385328e-04 4.05840201e+00] [-8.08178788e-03 -4.50381942e-05 9.99967341e-01 8.06810779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:315.72, Y:4.06, Z:0.81 [[ 9.98602978e-01 5.22196978e-02 8.07432316e-03 3.15716294e+02] [-5.22185726e-02 9.98635618e-01 -3.50249084e-04 4.05791814e+00] [-8.08159661e-03 -7.18698522e-05 9.99967341e-01 8.07264777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:315.75, Y:4.06, Z:0.81 [[ 9.98465184e-01 5.47911783e-02 8.07484162e-03 3.15748535e+02] [-5.47902363e-02 9.98497830e-01 -3.37995076e-04 4.05759808e+00] [-8.08123098e-03 -1.04946165e-04 9.99967341e-01 8.05889527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:315.78, Y:4.06, Z:0.81 [[ 9.98288330e-01 5.79243195e-02 8.07359891e-03 3.15780170e+02] [-5.79232430e-02 9.98320972e-01 -3.67286198e-04 4.05699347e+00] [-8.08131791e-03 -1.00991507e-04 9.99967341e-01 8.05812155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:315.81, Y:4.06, Z:0.81 [[ 9.98127380e-01 6.06345391e-02 8.07372127e-03 3.15812213e+02] [-6.06335746e-02 9.98160026e-01 -3.64402325e-04 4.05605415e+00] [-8.08096119e-03 -1.25818643e-04 9.99967341e-01 8.05138468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:315.84, Y:4.06, Z:0.81 [[ 9.98024153e-01 6.23107038e-02 8.07255671e-03 3.15843553e+02] [-6.23095720e-02 9.98056794e-01 -3.91882144e-04 4.06035677e+00] [-8.08128852e-03 -1.11889708e-04 9.99967340e-01 8.05316229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:315.87, Y:4.06, Z:0.80 [[ 9.97936130e-01 6.37047542e-02 8.07364765e-03 3.15874118e+02] [-6.37038761e-02 9.97968778e-01 -3.66138347e-04 4.06319211e+00] [-8.08057303e-03 -1.48939964e-04 9.99967341e-01 7.96814849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:315.91, Y:4.06, Z:0.81 [[ 9.97940584e-01 6.36348243e-02 8.07466805e-03 3.15905776e+02] [-6.36341387e-02 9.97973236e-01 -3.42050111e-04 4.06456543e+00] [-8.08006890e-03 -1.72478860e-04 9.99967341e-01 8.05211441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:315.94, Y:4.07, Z:0.80 [[ 9.97967758e-01 6.32074235e-02 8.07319772e-03 3.15937440e+02] [-6.32064418e-02 9.98000403e-01 -3.76944845e-04 4.06527577e+00] [-8.08088029e-03 -1.34099300e-04 9.99967340e-01 8.04359105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:315.97, Y:4.07, Z:0.80 [[ 9.97923721e-01 6.38988338e-02 8.07381659e-03 3.15968494e+02] [-6.38979939e-02 9.97956369e-01 -3.62214175e-04 4.06759873e+00] [-8.08046176e-03 -1.54438566e-04 9.99967341e-01 8.04245223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:316.00, Y:4.07, Z:0.80 [[ 9.97947836e-01 6.35210748e-02 8.07397575e-03 3.16000165e+02] [-6.35202531e-02 9.97980485e-01 -3.58426804e-04 4.07256516e+00] [-8.08043789e-03 -1.55169729e-04 9.99967341e-01 8.03008116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:316.03, Y:4.07, Z:0.80 [[ 9.98083458e-01 6.13533423e-02 8.07330885e-03 3.16030035e+02] [-6.13523205e-02 9.98116102e-01 -3.74392526e-04 4.07097805e+00] [-8.08106979e-03 -1.21641246e-04 9.99967340e-01 8.01802646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:316.06, Y:4.07, Z:0.79 [[ 9.98312686e-01 5.75028399e-02 8.07491049e-03 3.16061680e+02] [-5.75020045e-02 9.98345334e-01 -3.35782788e-04 4.06776739e+00] [-8.08085768e-03 -1.29107322e-04 9.99967341e-01 7.92182881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:316.09, Y:4.07, Z:0.80 [[ 9.98512042e-01 5.39304965e-02 8.07490825e-03 3.16093364e+02] [-5.39295438e-02 9.98544687e-01 -3.35836584e-04 4.06735625e+00] [-8.08126857e-03 -1.00139245e-04 9.99967341e-01 8.03201746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:316.12, Y:4.07, Z:0.79 [[ 9.98580743e-01 5.26431206e-02 8.07472046e-03 3.16124736e+02] [-5.26420893e-02 9.98613386e-01 -3.40349819e-04 4.06763163e+00] [-8.08144101e-03 -8.52033803e-05 9.99967341e-01 7.92955328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:316.16, Y:4.06, Z:0.79 [[ 9.98819115e-01 4.79079609e-02 8.07485670e-03 3.16156393e+02] [-4.79068013e-02 9.98851753e-01 -3.37086116e-04 4.06084516e+00] [-8.08173388e-03 -5.01524994e-05 9.99967341e-01 7.89547496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:316.19, Y:4.06, Z:0.80 [[ 9.98930243e-01 4.55320532e-02 8.07481191e-03 3.16186737e+02] [-4.55308073e-02 9.98962878e-01 -3.38155667e-04 4.05513978e+00] [-8.08183427e-03 -2.98587822e-05 9.99967341e-01 8.02439106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.22, Y:4.05, Z:0.79 [[ 9.98863099e-01 4.69818959e-02 8.07536645e-03 3.16217795e+02] [-4.69808044e-02 9.98895740e-01 -3.24921885e-04 4.05328368e+00] [-8.08171459e-03 -5.48347311e-05 9.99967341e-01 7.91416924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:316.25, Y:4.05, Z:0.80 [[ 9.98847623e-01 4.73098522e-02 8.07484291e-03 3.16249249e+02] [-4.73086701e-02 9.98880261e-01 -3.37449811e-04 4.05138445e+00] [-8.08176589e-03 -4.49491376e-05 9.99967341e-01 8.02209171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:316.28, Y:4.05, Z:0.79 [[ 9.98851851e-01 4.72206253e-02 8.07416736e-03 3.16279705e+02] [-4.72193090e-02 9.98884484e-01 -3.53686799e-04 4.04736312e+00] [-8.08186180e-03 -2.79758893e-05 9.99967341e-01 7.90817103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:4.04, Z:0.79 [[ 9.98790161e-01 4.85078310e-02 8.07493704e-03 3.16311904e+02] [-4.85067066e-02 9.98822801e-01 -3.35141951e-04 4.03996969e+00] [-8.08168824e-03 -5.69521187e-05 9.99967341e-01 7.90844376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:4.04, Z:0.79 [[ 9.98749274e-01 4.93425159e-02 8.07489273e-03 3.16344429e+02] [-4.93414102e-02 9.98781914e-01 -3.36206129e-04 4.03825025e+00] [-8.08164608e-03 -6.26409673e-05 9.99967341e-01 7.90131719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:316.38, Y:4.04, Z:0.80 [[ 9.98801134e-01 4.82813710e-02 8.07484810e-03 3.16375451e+02] [-4.82802221e-02 9.98833773e-01 -3.37274860e-04 4.03642658e+00] [-8.08171508e-03 -5.29849459e-05 9.99967341e-01 8.00485984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:316.41, Y:4.03, Z:0.79 [[ 9.98848343e-01 4.72946584e-02 8.07478147e-03 3.16406754e+02] [-4.72934643e-02 9.98880981e-01 -3.38867767e-04 4.03325856e+00] [-8.08177227e-03 -4.34068822e-05 9.99967341e-01 7.90777461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:316.44, Y:4.03, Z:0.79 [[ 9.98885474e-01 4.65038416e-02 8.07479344e-03 3.16439171e+02] [-4.65026240e-02 9.98918110e-01 -3.38582446e-04 4.02915399e+00] [-8.08180279e-03 -3.72939956e-05 9.99967341e-01 7.90098493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:316.47, Y:4.03, Z:0.80 [[ 9.98947592e-01 4.51498356e-02 8.07474783e-03 3.16470717e+02] [-4.51485650e-02 9.98980226e-01 -3.39666538e-04 4.02672973e+00] [-8.08184930e-03 -2.52542078e-05 9.99967341e-01 8.00674369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.50, Y:4.03, Z:0.79 [[ 9.98907245e-01 4.60338829e-02 8.07455000e-03 3.16502739e+02] [-4.60326033e-02 9.98939878e-01 -3.44347605e-04 4.02533052e+00] [-8.08184166e-03 -2.77212403e-05 9.99967341e-01 7.87999696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:4.02, Z:0.79 [[ 9.98901148e-01 4.61659715e-02 8.07461925e-03 3.16535383e+02] [-4.61647094e-02 9.98933783e-01 -3.42716090e-04 4.02397802e+00] [-8.08183177e-03 -3.04229558e-05 9.99967341e-01 7.87735533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:316.57, Y:4.02, Z:0.79 [[ 9.98853869e-01 4.71778430e-02 8.07457379e-03 3.16567666e+02] [-4.71766053e-02 9.98886505e-01 -3.43783960e-04 4.02104596e+00] [-8.08180177e-03 -3.75410415e-05 9.99967341e-01 7.86873676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:316.60, Y:4.02, Z:0.79 [[ 9.98824318e-01 4.77994127e-02 8.07452822e-03 3.16599773e+02] [-4.77981867e-02 9.98856954e-01 -3.44850775e-04 4.01859045e+00] [-8.08178233e-03 -4.15024670e-05 9.99967341e-01 7.86642371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:4.02, Z:0.79 [[ 9.98776195e-01 4.87946231e-02 8.07448228e-03 3.16631641e+02] [-4.87934210e-02 9.98808832e-01 -3.45923224e-04 4.01699250e+00] [-8.08174340e-03 -4.84817315e-05 9.99967341e-01 7.87268401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:316.66, Y:4.02, Z:0.80 [[ 9.98796773e-01 4.83715761e-02 8.07443632e-03 3.16664138e+02] [-4.83703515e-02 9.98829409e-01 -3.46992726e-04 4.01604447e+00] [-8.08176904e-03 -4.39881082e-05 9.99967341e-01 7.98647515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.70, Y:4.02, Z:0.79 [[ 9.98751667e-01 4.92942220e-02 8.07388901e-03 3.16695870e+02] [-4.92929244e-02 9.98784300e-01 -3.59748914e-04 4.01552158e+00] [-8.08180712e-03 -3.86857732e-05 9.99967341e-01 7.86030291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:316.73, Y:4.01, Z:0.79 [[ 9.98799102e-01 4.83234482e-02 8.07449464e-03 3.16727903e+02] [-4.83222333e-02 9.98831739e-01 -3.45599124e-04 4.01306348e+00] [-8.08176206e-03 -4.49935185e-05 9.99967341e-01 7.85616624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:316.76, Y:4.01, Z:0.80 [[ 9.98880828e-01 4.66035808e-02 8.07444876e-03 3.16759190e+02] [-4.66023011e-02 9.98913462e-01 -3.46667802e-04 4.01032647e+00] [-8.08183152e-03 -3.00080707e-05 9.99967341e-01 7.97722770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.79, Y:4.01, Z:0.78 [[ 9.98910192e-01 4.59697671e-02 8.07515034e-03 3.16791299e+02] [-4.59685989e-02 9.98942831e-01 -3.30309985e-04 4.00931850e+00] [-8.08179781e-03 -4.12533368e-05 9.99967341e-01 7.83514780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.82, Y:4.01, Z:0.78 [[ 9.98964521e-01 4.47737750e-02 8.07436481e-03 3.16823901e+02] [-4.47724206e-02 9.98997152e-01 -3.48509288e-04 4.00820057e+00] [-8.08187153e-03 -1.33604440e-05 9.99967341e-01 7.81914173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:316.85, Y:4.01, Z:0.80 [[ 9.98982511e-01 4.43705810e-02 8.07431874e-03 3.16854862e+02] [-4.43692049e-02 9.99015141e-01 -3.49573391e-04 4.00570140e+00] [-8.08187745e-03 -9.03339904e-06 9.99967341e-01 7.96007988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.89, Y:4.00, Z:0.78 [[ 9.98903309e-01 4.61192180e-02 8.07449960e-03 3.16887226e+02] [-4.61179327e-02 9.98935942e-01 -3.45405073e-04 4.00424054e+00] [-8.08183768e-03 -2.73529584e-05 9.99967341e-01 7.83271997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:316.92, Y:4.00, Z:0.80 [[ 9.98893336e-01 4.63347675e-02 8.07425480e-03 3.16918832e+02] [-4.63334437e-02 9.98925968e-01 -3.51035905e-04 4.00289094e+00] [-8.08184795e-03 -2.34606040e-05 9.99967341e-01 7.97385385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.95, Y:4.00, Z:0.78 [[ 9.98667588e-01 5.09690155e-02 8.07516997e-03 3.16951582e+02] [-5.09680132e-02 9.98700232e-01 -3.30005185e-04 4.00462375e+00] [-8.08149415e-03 -8.20098872e-05 9.99967341e-01 7.83648391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:316.98, Y:4.01, Z:0.78 [[ 9.98558333e-01 5.30665937e-02 8.07415555e-03 3.16983344e+02] [-5.30654724e-02 9.98590973e-01 -3.53195140e-04 4.00527933e+00] [-8.08152171e-03 -7.57729282e-05 9.99967341e-01 7.83457319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:4.01, Z:0.78 [[ 9.98383298e-01 5.62636554e-02 8.07410862e-03 3.17015993e+02] [-5.62626300e-02 9.98415941e-01 -3.54264598e-04 4.00801392e+00] [-8.08125098e-03 -1.00578728e-04 9.99967341e-01 7.82747404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:317.05, Y:4.01, Z:0.79 [[ 9.98451272e-01 5.50442250e-02 8.07405019e-03 3.17046661e+02] [-5.50431489e-02 9.98483913e-01 -3.55591304e-04 4.00787342e+00] [-8.08138248e-03 -8.93805574e-05 9.99967341e-01 7.94367828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17864000000003 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:317.08, Y:4.01, Z:0.80 [[ 9.98494633e-01 5.42517465e-02 8.07561614e-03 3.17076383e+02] [-5.42509325e-02 9.98527283e-01 -3.19982548e-04 4.00815458e+00] [-8.08108265e-03 -1.18608849e-04 9.99967340e-01 7.96395249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:317.11, Y:4.01, Z:0.79 [[ 9.98322339e-01 5.73346497e-02 8.07750305e-03 3.17109173e+02] [-5.73342830e-02 9.98354999e-01 -2.77144101e-04 4.01147661e+00] [-8.08010551e-03 -1.86438699e-04 9.99967338e-01 7.92723265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:317.14, Y:4.01, Z:0.79 [[ 9.98277772e-01 5.81059540e-02 8.07389521e-03 3.17140030e+02] [-5.81049544e-02 9.98310416e-01 -3.58521334e-04 4.01317712e+00] [-8.08108590e-03 -1.11229435e-04 9.99967341e-01 7.93518520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:4.02, Z:0.78 [[ 9.98017706e-01 6.24135896e-02 8.07478408e-03 3.17172039e+02] [-6.24128929e-02 9.98050358e-01 -3.38482583e-04 4.01833415e+00] [-8.08016705e-03 -1.66159023e-04 9.99967341e-01 7.80464697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:317.20, Y:4.02, Z:0.79 [[ 9.98101405e-01 6.10606102e-02 8.07382955e-03 3.17202700e+02] [-6.10596961e-02 9.98134051e-01 -3.59896202e-04 4.01993859e+00] [-8.08073968e-03 -1.33772673e-04 9.99967341e-01 7.94818740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.23, Y:4.03, Z:0.78 [[ 9.97884616e-01 6.45064682e-02 8.07524548e-03 3.17234035e+02] [-6.45059253e-02 9.97917270e-01 -3.27936358e-04 4.02686693e+00] [-8.07958094e-03 -1.93658535e-04 9.99967341e-01 7.79678919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:317.26, Y:4.03, Z:0.78 [[ 9.97873667e-01 6.46757865e-02 8.07390699e-03 3.17264305e+02] [-6.46750051e-02 9.97906316e-01 -3.58113570e-04 4.02936130e+00] [-8.08016405e-03 -1.64827874e-04 9.99967341e-01 7.78581297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.29, Y:4.03, Z:0.78 [[ 9.97979038e-01 6.30289776e-02 8.07390699e-03 3.17294465e+02] [-6.30281423e-02 9.98011686e-01 -3.58113570e-04 4.03020356e+00] [-8.08042505e-03 -1.51493522e-04 9.99967341e-01 7.77570651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.32, Y:4.03, Z:0.78 [[ 9.98122408e-01 6.07163135e-02 8.07390699e-03 3.17324669e+02] [-6.07154025e-02 9.98155054e-01 -3.58113570e-04 4.03300265e+00] [-8.08075440e-03 -1.32769333e-04 9.99967341e-01 7.77305226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.36, Y:4.04, Z:0.78 [[ 9.98353355e-01 5.67925256e-02 8.07390699e-03 3.17355777e+02] [-5.67914863e-02 9.98385997e-01 -3.58113570e-04 4.03909736e+00] [-8.08121385e-03 -1.01005294e-04 9.99967341e-01 7.76984834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:317.38, Y:4.04, Z:0.79 [[ 9.98632722e-01 5.16478287e-02 8.07390699e-03 3.17384621e+02] [-5.16466213e-02 9.98665358e-01 -3.58113570e-04 4.04040203e+00] [-8.08162700e-03 -5.93660869e-05 9.99967341e-01 7.91134207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:317.42, Y:4.04, Z:0.79 [[ 9.98708667e-01 5.01572367e-02 8.07776587e-03 3.17415111e+02] [-5.01566818e-02 9.98741325e-01 -2.71378374e-04 4.04021901e+00] [-8.08121017e-03 -1.34125999e-04 9.99967337e-01 7.89132429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:317.45, Y:4.04, Z:0.79 [[ 9.98826839e-01 4.77462364e-02 8.07734846e-03 3.17446078e+02] [-4.77455271e-02 9.98859493e-01 -2.80733340e-04 4.03999524e+00] [-8.08154014e-03 -1.05253265e-04 9.99967338e-01 7.93277638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.48, Y:4.04, Z:0.78 [[ 9.98834508e-01 4.75855575e-02 8.07716242e-03 3.17477751e+02] [-4.75848097e-02 9.98867161e-01 -2.84845839e-04 4.04310250e+00] [-8.08156684e-03 -9.98363833e-05 9.99967339e-01 7.76188023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.51, Y:4.05, Z:0.78 [[ 9.98897239e-01 4.62506707e-02 8.07346443e-03 3.17508891e+02] [-4.62492204e-02 9.98929865e-01 -3.66342700e-04 4.04509717e+00] [-8.08176833e-03 -7.45272450e-06 9.99967342e-01 7.76386543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.54, Y:4.04, Z:0.78 [[ 9.98895456e-01 4.62891723e-02 8.07344082e-03 3.17540474e+02] [-4.62877191e-02 9.98928082e-01 -3.66862343e-04 4.04454334e+00] [-8.08176851e-03 -7.24403350e-06 9.99967342e-01 7.76964839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:317.57, Y:4.04, Z:0.78 [[ 9.98920414e-01 4.57474294e-02 8.07341690e-03 3.17572016e+02] [-4.57459542e-02 9.98953038e-01 -3.67388048e-04 4.04442665e+00] [-8.08177140e-03 -2.33473847e-06 9.99967342e-01 7.76650759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.60, Y:4.05, Z:0.78 [[ 9.98984262e-01 4.43312945e-02 8.07339306e-03 3.17603704e+02] [-4.43297688e-02 9.99016885e-01 -3.67911150e-04 4.04551369e+00] [-8.08176596e-03 9.64580051e-06 9.99967342e-01 7.75821303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:317.63, Y:4.04, Z:0.79 [[ 9.99121031e-01 4.11337636e-02 8.07336944e-03 3.17633975e+02] [-4.11321293e-02 9.99153648e-01 -3.68428730e-04 4.04293706e+00] [-8.08169139e-03 3.60300169e-05 9.99967342e-01 7.86380348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:317.67, Y:4.04, Z:0.79 [[ 9.99225385e-01 3.85152167e-02 8.07510478e-03 3.17665684e+02] [-3.85138048e-02 9.99258014e-01 -3.30333674e-04 4.03946594e+00] [-8.08183604e-03 1.90747827e-05 9.99967341e-01 7.86450439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:317.70, Y:4.04, Z:0.78 [[ 9.99298559e-01 3.65677989e-02 8.07384310e-03 3.17697788e+02] [-3.65661002e-02 9.99331172e-01 -3.57964987e-04 4.03712930e+00] [-8.08153308e-03 6.24849400e-05 9.99967342e-01 7.76021276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.73, Y:4.03, Z:0.78 [[ 9.99403835e-01 3.35677827e-02 8.07335630e-03 3.17728608e+02] [-3.35659000e-02 9.99436438e-01 -3.68626451e-04 4.03430732e+00] [-8.08118044e-03 9.74172182e-05 9.99967342e-01 7.75165441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:317.76, Y:4.03, Z:0.78 [[ 9.99548117e-01 2.89548536e-02 8.07333285e-03 3.17760169e+02] [-2.89528163e-02 9.99580711e-01 -3.69139392e-04 4.02957330e+00] [-8.08063617e-03 1.35226861e-04 9.99967342e-01 7.75918563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.79, Y:4.03, Z:0.78 [[ 9.99625703e-01 2.61395557e-02 8.07328584e-03 3.17792455e+02] [-2.61374183e-02 9.99658291e-01 -3.70164651e-04 4.02664459e+00] [-8.08020306e-03 1.59011251e-04 9.99967342e-01 7.75273061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.82, Y:4.02, Z:0.77 [[ 9.99720773e-01 2.22080634e-02 8.07323937e-03 3.17824539e+02] [-2.22057897e-02 9.99753352e-01 -3.71175400e-04 4.01915326e+00] [-8.07949121e-03 1.91799103e-04 9.99967342e-01 7.74773468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:4.01, Z:0.77 [[ 9.99735420e-01 2.15386415e-02 8.07319337e-03 3.17856834e+02] [-2.15363379e-02 9.99767997e-01 -3.72173285e-04 4.01333273e+00] [-8.07933647e-03 1.98207796e-04 9.99967342e-01 7.73917164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.89, Y:4.01, Z:0.77 [[ 9.99740796e-01 2.12876827e-02 8.07314677e-03 3.17889302e+02] [-2.12853628e-02 9.99773371e-01 -3.73181411e-04 4.00786504e+00] [-8.07926133e-03 2.01244823e-04 9.99967342e-01 7.73651806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.92, Y:4.00, Z:0.78 [[ 9.99750403e-01 2.08316111e-02 8.07308901e-03 3.17920822e+02] [-2.08292663e-02 9.99782977e-01 -3.74426674e-04 4.00082319e+00] [-8.07913688e-03 2.06176698e-04 9.99967342e-01 7.75756649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.95, Y:4.00, Z:0.78 [[ 9.99757390e-01 2.04935888e-02 8.07304278e-03 3.17953146e+02] [-2.04912249e-02 9.99789962e-01 -3.75420760e-04 3.99704123e+00] [-8.07904086e-03 2.09903143e-04 9.99967342e-01 7.77277614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:317.98, Y:3.99, Z:0.77 [[ 9.99804589e-01 1.80446614e-02 8.07299615e-03 3.17984362e+02] [-1.80422097e-02 9.99837155e-01 -3.76420982e-04 3.98652432e+00] [-8.07847389e-03 2.30692736e-04 9.99967342e-01 7.74901391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.02, Y:3.98, Z:0.78 [[ 9.99791070e-01 1.87788275e-02 8.07296121e-03 3.18016684e+02] [-1.87763937e-02 9.99823637e-01 -3.77168764e-04 3.98093927e+00] [-8.07862023e-03 2.25508864e-04 9.99967342e-01 7.75121648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:318.05, Y:3.97, Z:0.77 [[ 9.99732712e-01 2.16641009e-02 8.07291475e-03 3.18048429e+02] [-2.16617531e-02 9.99765285e-01 -3.78160502e-04 3.97459074e+00] [-8.07921243e-03 2.03185938e-04 9.99967342e-01 7.74618442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:318.08, Y:3.97, Z:0.78 [[ 9.99682890e-01 2.38526368e-02 8.07286796e-03 3.18080954e+02] [-2.38503522e-02 9.99715468e-01 -3.79156909e-04 3.97119311e+00] [-8.07961486e-03 1.86495931e-04 9.99967342e-01 7.75680085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:318.11, Y:3.96, Z:0.78 [[ 9.99570902e-01 2.81574264e-02 8.07282068e-03 3.18112939e+02] [-2.81552741e-02 9.99603489e-01 -3.80160937e-04 3.96417610e+00] [-8.08032407e-03 1.52705332e-04 9.99967342e-01 7.75974263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:318.15, Y:3.96, Z:0.78 [[ 9.99508328e-01 3.02973956e-02 8.07277303e-03 3.18145002e+02] [-3.02953049e-02 9.99540919e-01 -3.81169952e-04 3.95942272e+00] [-8.08061544e-03 1.36415422e-04 9.99967342e-01 7.76893139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:318.18, Y:3.95, Z:0.78 [[ 9.99433321e-01 3.26782353e-02 8.07272461e-03 3.18177006e+02] [-3.26762140e-02 9.99465917e-01 -3.82192660e-04 3.95466148e+00] [-8.08090249e-03 1.18190003e-04 9.99967342e-01 7.76018360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:318.21, Y:3.95, Z:0.79 [[ 9.99306546e-01 3.63491375e-02 8.07267542e-03 3.18206398e+02] [-3.63472275e-02 9.99339148e-01 -3.83228872e-04 3.94973337e+00] [-8.08127062e-03 8.95437499e-05 9.99967342e-01 7.86617419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:318.24, Y:3.95, Z:0.79 [[ 9.99172015e-01 3.98758055e-02 8.07488552e-03 3.18238468e+02] [-3.98743870e-02 9.99204644e-01 -3.36647727e-04 3.94741935e+00] [-8.08188721e-03 1.43878771e-05 9.99967341e-01 7.87606796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:318.27, Y:3.94, Z:0.78 [[ 9.98896664e-01 4.62630580e-02 8.07366820e-03 3.18270536e+02] [-4.62616422e-02 9.98929291e-01 -3.62133067e-04 3.94372986e+00] [-8.08177704e-03 -1.17676369e-05 9.99967342e-01 7.76328922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.30, Y:3.94, Z:0.78 [[ 9.98755433e-01 4.92180903e-02 8.07245545e-03 3.18302970e+02] [-4.92165667e-02 9.98788055e-01 -3.87403603e-04 3.94036385e+00] [-8.08173935e-03 -1.03770890e-05 9.99967342e-01 7.76255921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:318.33, Y:3.94, Z:0.77 [[ 9.98681238e-01 5.07012937e-02 8.07240343e-03 3.18334638e+02] [-5.06998098e-02 9.98713862e-01 -3.88484608e-04 3.93710974e+00] [-8.08171787e-03 -2.12970295e-05 9.99967342e-01 7.74851694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:3.93, Z:0.78 [[ 9.98649583e-01 5.13210215e-02 8.07235156e-03 3.18366857e+02] [-5.13195492e-02 9.98682208e-01 -3.89559270e-04 3.93355574e+00] [-8.08170646e-03 -2.52362402e-05 9.99967342e-01 7.75511075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:318.40, Y:3.93, Z:0.79 [[ 9.98723484e-01 4.98622231e-02 8.07229977e-03 3.18397429e+02] [-4.98606944e-02 9.98756106e-01 -3.90629543e-04 3.93079479e+00] [-8.08173634e-03 -1.23595740e-05 9.99967342e-01 7.86772602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:318.43, Y:3.93, Z:0.77 [[ 9.98782646e-01 4.86627146e-02 8.07260789e-03 3.18429201e+02] [-4.86611981e-02 9.98815268e-01 -3.84281169e-04 3.92792008e+00] [-8.08174418e-03 -9.00940918e-06 9.99967342e-01 7.74143672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:318.46, Y:3.93, Z:0.79 [[ 9.98840340e-01 4.74638271e-02 8.07224098e-03 3.18461243e+02] [-4.74622104e-02 9.98872957e-01 -3.91839957e-04 3.92569779e+00] [-8.08174144e-03 8.25915606e-06 9.99967342e-01 7.87636546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:318.49, Y:3.92, Z:0.77 [[ 9.98858774e-01 4.70744678e-02 8.07121026e-03 3.18492084e+02] [-4.70726672e-02 9.98891382e-01 -4.13016470e-04 3.92375795e+00] [-8.08170490e-03 3.26117304e-05 9.99967342e-01 7.74794961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:318.52, Y:3.92, Z:0.77 [[ 9.98886174e-01 4.64892480e-02 8.07219868e-03 3.18523533e+02] [-4.64875925e-02 9.98918790e-01 -3.92698846e-04 3.91891630e+00] [-8.08172722e-03 1.70043650e-05 9.99967342e-01 7.73888097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:318.56, Y:3.92, Z:0.77 [[ 9.98880039e-01 4.66208915e-02 8.07215955e-03 3.18556165e+02] [-4.66192339e-02 9.98912655e-01 -3.93501629e-04 3.91736130e+00] [-8.08172772e-03 1.67430293e-05 9.99967342e-01 7.73624106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:318.59, Y:3.91, Z:0.77 [[ 9.98881696e-01 4.65853839e-02 8.07210755e-03 3.18587803e+02] [-4.65837165e-02 9.98914311e-01 -3.94565440e-04 3.91450727e+00] [-8.08172474e-03 1.80954271e-05 9.99967342e-01 7.73593912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:318.62, Y:3.91, Z:0.79 [[ 9.98959145e-01 4.48939639e-02 8.07205541e-03 3.18619019e+02] [-4.48922327e-02 9.98991757e-01 -3.95629245e-04 3.91243302e+00] [-8.08167818e-03 3.28448625e-05 9.99967342e-01 7.85481150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:318.65, Y:3.91, Z:0.77 [[ 9.98955368e-01 4.49778914e-02 8.07228958e-03 3.18650338e+02] [-4.49762014e-02 9.98987982e-01 -3.90865320e-04 3.91068471e+00] [-8.08170058e-03 2.73960877e-05 9.99967342e-01 7.72460723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:318.68, Y:3.91, Z:0.79 [[ 9.99069666e-01 4.23632559e-02 8.07199981e-03 3.18679479e+02] [-4.23614328e-02 9.99102273e-01 -3.96760516e-04 3.90789363e+00] [-8.08156143e-03 5.44499183e-05 9.99967342e-01 7.86731735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:318.71, Y:3.91, Z:0.77 [[ 9.99021550e-01 4.34826702e-02 8.07464947e-03 3.18711950e+02] [-4.34813170e-02 9.99054181e-01 -3.43144431e-04 3.90616158e+00] [-8.08193315e-03 -8.28771203e-06 9.99967341e-01 7.72556209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:318.74, Y:3.91, Z:0.77 [[ 9.99005329e-01 4.38542861e-02 8.07182752e-03 3.18744317e+02] [-4.38524849e-02 9.99037937e-01 -4.00079193e-04 3.90555064e+00] [-8.08160710e-03 4.57115514e-05 9.99967342e-01 7.72430221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:318.78, Y:3.91, Z:0.77 [[ 9.98985604e-01 4.43013384e-02 8.07177513e-03 3.18776365e+02] [-4.42995434e-02 9.99018213e-01 -4.01133380e-04 3.90607510e+00] [-8.08162111e-03 4.31505202e-05 9.99967342e-01 7.72802793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:318.81, Y:3.90, Z:0.78 [[ 9.99039594e-01 4.30666646e-02 8.07172277e-03 3.18806868e+02] [-4.30648207e-02 9.99072199e-01 -4.02184139e-04 3.90466786e+00] [-8.08155455e-03 5.41905844e-05 9.99967342e-01 7.84121447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:318.84, Y:3.90, Z:0.77 [[ 9.98961659e-01 4.48376301e-02 8.07404629e-03 3.18839689e+02] [-4.48362202e-02 9.98994288e-01 -3.55634724e-04 3.90351997e+00] [-8.08187194e-03 -6.74426304e-06 9.99967341e-01 7.70860448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:318.87, Y:3.90, Z:0.77 [[ 9.98976719e-01 4.45012850e-02 8.07156133e-03 3.18872173e+02] [-4.44994640e-02 9.99009326e-01 -4.05142177e-04 3.90253213e+00] [-8.08159439e-03 4.55474495e-05 9.99967342e-01 7.70229429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:318.90, Y:3.90, Z:0.78 [[ 9.99070633e-01 4.23405375e-02 8.07150739e-03 3.18902314e+02] [-4.23386374e-02 9.99103235e-01 -4.06214002e-04 3.89945849e+00] [-8.08146847e-03 6.40998556e-05 9.99967342e-01 7.83721838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:318.94, Y:3.90, Z:0.77 [[ 9.99020484e-01 4.35072400e-02 8.07414076e-03 3.18935177e+02] [-4.35058003e-02 9.99053112e-01 -3.53938097e-04 3.89702799e+00] [-8.08189432e-03 2.31945334e-06 9.99967341e-01 7.69649984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:318.97, Y:3.90, Z:0.77 [[ 9.98994501e-01 4.41003375e-02 8.07138507e-03 3.18967448e+02] [-4.40984771e-02 9.99027106e-01 -4.08400168e-04 3.89596198e+00] [-8.08154305e-03 5.20537319e-05 9.99967342e-01 7.69865359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:319.00, Y:3.90, Z:0.77 [[ 9.98744019e-01 4.94493491e-02 8.07133161e-03 3.18999505e+02] [-4.94476549e-02 9.98776633e-01 -4.09454076e-04 3.89731991e+00] [-8.08170464e-03 9.83138980e-06 9.99967342e-01 7.70831897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:319.03, Y:3.90, Z:0.78 [[ 9.98649916e-01 5.13147193e-02 8.07127759e-03 3.19029789e+02] [-5.13130774e-02 9.98682532e-01 -4.10516145e-04 3.89609936e+00] [-8.08170946e-03 -4.20017799e-06 9.99967342e-01 7.82856065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:319.06, Y:3.89, Z:0.78 [[ 9.98386832e-01 5.62010230e-02 8.07329271e-03 3.19062053e+02] [-5.61998620e-02 9.98419470e-01 -3.70783106e-04 3.89394650e+00] [-8.08137102e-03 -8.35329655e-05 9.99967342e-01 7.82526543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:319.09, Y:3.89, Z:0.77 [[ 9.98264462e-01 5.83344275e-02 8.07213213e-03 3.19093979e+02] [-5.83331523e-02 9.98297094e-01 -3.93536769e-04 3.89292433e+00] [-8.08134279e-03 -7.80191420e-05 9.99967342e-01 7.70799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:319.12, Y:3.89, Z:0.78 [[ 9.98387991e-01 5.61807542e-02 8.07111008e-03 3.19123346e+02] [-5.61792472e-02 9.98420613e-01 -4.13486903e-04 3.89149018e+00] [-8.08159268e-03 -4.06085298e-05 9.99967343e-01 7.82103360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:319.16, Y:3.89, Z:0.78 [[ 9.98310926e-01 5.75334056e-02 8.07483666e-03 3.19155495e+02] [-5.75325300e-02 9.98343574e-01 -3.40873559e-04 3.88700797e+00] [-8.08107291e-03 -1.24267985e-04 9.99967340e-01 7.81556567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:319.18, Y:3.88, Z:0.78 [[ 9.98371058e-01 5.64808191e-02 8.07143286e-03 3.19184654e+02] [-5.64793762e-02 9.98403683e-01 -4.06771816e-04 3.88452860e+00] [-8.08152310e-03 -4.97602850e-05 9.99967343e-01 7.80942602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:319.22, Y:3.89, Z:0.77 [[ 9.98231160e-01 5.89012262e-02 8.07441404e-03 3.19217921e+02] [-5.89003254e-02 9.98263808e-01 -3.49518183e-04 3.88557635e+00] [-8.08098235e-03 -1.26685673e-04 9.99967340e-01 7.69213832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:319.25, Y:3.88, Z:0.77 [[ 9.98269634e-01 5.82460677e-02 8.07052572e-03 3.19250033e+02] [-5.82445464e-02 9.98302256e-01 -4.23599903e-04 3.88448232e+00] [-8.08149705e-03 -4.71971899e-05 9.99967343e-01 7.68453181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:319.28, Y:3.88, Z:0.77 [[ 9.98289728e-01 5.79006634e-02 8.07046922e-03 3.19282016e+02] [-5.78991222e-02 9.98322348e-01 -4.24673482e-04 3.88280348e+00] [-8.08151866e-03 -4.33259092e-05 9.99967343e-01 7.67601794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:319.31, Y:3.88, Z:0.77 [[ 9.98322317e-01 5.73360240e-02 8.07041312e-03 3.19314034e+02] [-5.73344558e-02 9.98354936e-01 -4.25737069e-04 3.88309554e+00] [-8.08154684e-03 -3.76899262e-05 9.99967343e-01 7.68845551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:319.35, Y:3.89, Z:0.77 [[ 9.98250223e-01 5.85778321e-02 8.07035648e-03 3.19346600e+02] [-5.85762958e-02 9.98282843e-01 -4.26807913e-04 3.88651240e+00] [-8.08149990e-03 -4.66704948e-05 9.99967343e-01 7.67720822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:319.38, Y:3.89, Z:0.77 [[ 9.98295357e-01 5.78035585e-02 8.07029995e-03 3.19379203e+02] [-5.78019882e-02 9.98327976e-01 -4.27874169e-04 3.88589680e+00] [-8.08153886e-03 -3.93345864e-05 9.99967343e-01 7.66080353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:319.41, Y:3.89, Z:0.77 [[ 9.98331643e-01 5.71734324e-02 8.07024314e-03 3.19411721e+02] [-5.71718329e-02 9.98364261e-01 -4.28943115e-04 3.88515565e+00] [-8.08156647e-03 -3.31631068e-05 9.99967343e-01 7.65328711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864000000003 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:319.44, Y:3.89, Z:0.78 [[ 9.98536826e-01 5.34703555e-02 8.07018647e-03 3.19442500e+02] [-5.34686265e-02 9.98569437e-01 -4.30006673e-04 3.88714557e+00] [-8.08163417e-03 -2.12428708e-06 9.99967343e-01 7.79236131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45864 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:319.47, Y:3.89, Z:0.77 [[ 9.98634027e-01 5.16232467e-02 8.06969870e-03 3.19474083e+02] [-5.16213831e-02 9.98666631e-01 -4.39190818e-04 3.88755533e+00] [-8.08161127e-03 2.20218871e-05 9.99967343e-01 7.74608305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:319.50, Y:3.89, Z:0.77 [[ 9.98824861e-01 4.77888273e-02 8.07003669e-03 3.19504860e+02] [-4.77868898e-02 9.98857460e-01 -4.32843536e-04 3.88923548e+00] [-8.08150144e-03 4.66929296e-05 9.99967343e-01 7.65298053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51864 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:319.54, Y:3.89, Z:0.78 [[ 9.98849703e-01 4.72667162e-02 8.07017511e-03 3.19536608e+02] [-4.72647827e-02 9.98882303e-01 -4.30247322e-04 3.88857801e+00] [-8.08149147e-03 4.83173366e-05 9.99967343e-01 7.78056316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:319.57, Y:3.89, Z:0.78 [[ 9.98954324e-01 4.50016784e-02 8.06896869e-03 3.19567787e+02] [-4.49994887e-02 9.98986907e-01 -4.52810735e-04 3.88840403e+00] [-8.08117132e-03 8.92377759e-05 9.99967343e-01 7.76490351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57864 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:319.60, Y:3.89, Z:0.77 [[ 9.99046316e-01 4.29107706e-02 8.06998231e-03 3.19599856e+02] [-4.29086660e-02 9.99078905e-01 -4.33831749e-04 3.88748522e+00] [-8.08116515e-03 8.71458343e-05 9.99967343e-01 7.74598636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:319.63, Y:3.89, Z:0.76 [[ 9.99139612e-01 4.06806441e-02 8.06979950e-03 3.19630853e+02] [-4.06784391e-02 9.99172194e-01 -4.37250425e-04 3.88538506e+00] [-8.08090690e-03 1.08607372e-04 9.99967343e-01 7.61408694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63864 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:319.66, Y:3.88, Z:0.76 [[ 9.99181829e-01 3.96301369e-02 8.07005186e-03 3.19662741e+02] [-3.96279357e-02 9.99214411e-01 -4.32542122e-04 3.88294850e+00] [-8.08085382e-03 1.12388732e-04 9.99967343e-01 7.63711203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:319.69, Y:3.88, Z:0.78 [[ 9.99159171e-01 4.01973525e-02 8.06999643e-03 3.19694103e+02] [-4.01951615e-02 9.99191754e-01 -4.33573705e-04 3.88037210e+00] [-8.08090240e-03 1.08834333e-04 9.99967343e-01 7.76658961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:319.73, Y:3.88, Z:0.76 [[ 9.99171396e-01 3.98923374e-02 8.06988069e-03 3.19725556e+02] [-3.98901191e-02 9.99203977e-01 -4.35725341e-04 3.87864339e+00] [-8.08083899e-03 1.13455795e-04 9.99967343e-01 7.62714646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:319.76, Y:3.87, Z:0.77 [[ 9.99204963e-01 3.90425156e-02 8.06991873e-03 3.19757425e+02] [-3.90402753e-02 9.99237543e-01 -4.35019754e-04 3.87333687e+00] [-8.08075003e-03 1.19622049e-04 9.99967343e-01 7.71893803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:319.79, Y:3.87, Z:0.76 [[ 9.99344871e-01 3.52806756e-02 8.06856831e-03 3.19788439e+02] [-3.52781104e-02 9.99377428e-01 -4.60075074e-04 3.86810384e+00] [-8.07977680e-03 1.75129822e-04 9.99967343e-01 7.62874547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:319.82, Y:3.86, Z:0.76 [[ 9.99410837e-01 3.33594926e-02 8.06991030e-03 3.19820826e+02] [-3.33570657e-02 9.99443403e-01 -4.35189998e-04 3.86366289e+00] [-8.07993634e-03 1.65745072e-04 9.99967343e-01 7.62351074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81864 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:319.85, Y:3.86, Z:0.76 [[ 9.99425532e-01 3.29163194e-02 8.06985527e-03 3.19853186e+02] [-3.29138698e-02 9.99458097e-01 -4.36208167e-04 3.85886585e+00] [-8.07984055e-03 1.70347413e-04 9.99967343e-01 7.63114798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:319.88, Y:3.85, Z:0.76 [[ 9.99456247e-01 3.19701172e-02 8.06980024e-03 3.19884797e+02] [-3.19676286e-02 9.99488809e-01 -4.37223881e-04 3.85356296e+00] [-8.07965313e-03 1.79013763e-04 9.99967343e-01 7.62672075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87864 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:319.92, Y:3.85, Z:0.76 [[ 9.99469038e-01 3.15677336e-02 8.06974498e-03 3.19916353e+02] [-3.15652236e-02 9.99501598e-01 -4.38241288e-04 3.84672147e+00] [-8.07955729e-03 1.83285294e-04 9.99967343e-01 7.62556070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:319.95, Y:3.84, Z:0.77 [[ 9.99450291e-01 3.21558016e-02 8.06968983e-03 3.19946438e+02] [-3.21533026e-02 9.99482852e-01 -4.39254553e-04 3.84096265e+00] [-8.07964119e-03 1.79545912e-04 9.99967343e-01 7.74036036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93864 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:319.98, Y:3.84, Z:0.76 [[ 9.99436338e-01 3.25864491e-02 8.07023413e-03 3.19977533e+02] [-3.25840446e-02 9.99468907e-01 -4.29283288e-04 3.83583673e+00] [-8.07993691e-03 1.66080448e-04 9.99967343e-01 7.61998830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96864 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:320.01, Y:3.83, Z:0.77 [[ 9.99416674e-01 3.31842269e-02 8.06963575e-03 3.20007825e+02] [-3.31817534e-02 9.99449237e-01 -4.40251487e-04 3.83040900e+00] [-8.07980070e-03 1.72230013e-04 9.99967343e-01 7.70407440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99864 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:320.04, Y:3.83, Z:0.76 [[ 9.99327940e-01 3.57564565e-02 8.07118951e-03 3.20040375e+02] [-3.57542962e-02 9.99360526e-01 -4.11831394e-04 3.82520790e+00] [-8.08075382e-03 1.22974918e-04 9.99967343e-01 7.62010600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02864 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:320.07, Y:3.82, Z:0.77 [[ 9.99120805e-01 4.11399978e-02 8.06951930e-03 3.20071176e+02] [-4.11377670e-02 9.99153386e-01 -4.42303337e-04 3.81836763e+00] [-8.08088388e-03 1.09952461e-04 9.99967343e-01 7.74297807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05864 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:320.10, Y:3.82, Z:0.76 [[ 9.98775030e-01 4.88191756e-02 8.07020431e-03 3.20103023e+02] [-4.88172965e-02 9.98807633e-01 -4.29786134e-04 3.81551507e+00] [-8.08156347e-03 3.52941020e-05 9.99967343e-01 7.63350116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08864 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:320.13, Y:3.81, Z:0.77 [[ 9.98592864e-01 5.24134895e-02 8.06957560e-03 3.20133431e+02] [-5.24116348e-02 9.98625468e-01 -4.41283241e-04 3.81274575e+00] [-8.08161290e-03 1.77226458e-05 9.99967343e-01 7.74029778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11864 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:320.17, Y:3.81, Z:0.76 [[ 9.98276629e-01 5.81259681e-02 8.07119817e-03 3.20165270e+02] [-5.81245395e-02 9.98309255e-01 -4.11663826e-04 3.81028517e+00] [-8.08148019e-03 -5.81803001e-05 9.99967343e-01 7.63245718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14864 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:320.20, Y:3.81, Z:0.77 [[ 9.97881062e-01 6.45621314e-02 8.06947560e-03 3.20195681e+02] [-6.45606594e-02 9.97913686e-01 -4.43038693e-04 3.80745543e+00] [-8.08124366e-03 -7.88707446e-05 9.99967343e-01 7.73503519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17864000000003 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:320.23, Y:3.81, Z:0.76 [[ 9.97532767e-01 6.97369454e-02 8.07071873e-03 3.20227578e+02] [-6.97358260e-02 9.97565405e-01 -4.20371538e-04 3.80610829e+00] [-8.08038523e-03 -1.43483854e-04 9.99967343e-01 7.63578479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20864 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:320.26, Y:3.80, Z:0.76 [[ 9.97079472e-01 7.59434732e-02 8.06941972e-03 3.20259940e+02] [-7.59423659e-02 9.97112110e-01 -4.43981361e-04 3.80498769e+00] [-8.07983361e-03 -1.70126124e-04 9.99967343e-01 7.64216430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23864 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:320.29, Y:3.80, Z:0.76 [[ 9.96847350e-01 7.89319056e-02 8.06936036e-03 3.20291810e+02] [-7.89308875e-02 9.96879991e-01 -4.45057527e-04 3.80464959e+00] [-8.07931313e-03 -1.93267359e-04 9.99967343e-01 7.64222436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26864 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:320.32, Y:3.81, Z:0.76 [[ 9.96580982e-01 8.22267190e-02 8.06930123e-03 3.20324295e+02] [-8.22258001e-02 9.96613626e-01 -4.46127174e-04 3.80507456e+00] [-8.07865913e-03 -2.18902893e-04 9.99967343e-01 7.63753924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29864 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:320.36, Y:3.81, Z:0.76 [[ 9.95964790e-01 8.93813389e-02 8.06924259e-03 3.20356633e+02] [-8.93806459e-02 9.95997440e-01 -4.47185281e-04 3.80919767e+00] [-8.07691498e-03 -2.75853320e-04 9.99967343e-01 7.64542237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32864 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:320.39, Y:3.81, Z:0.76 [[ 9.95713389e-01 9.21397596e-02 8.06918468e-03 3.20388642e+02] [-9.21391486e-02 9.95746040e-01 -4.48227717e-04 3.81102121e+00] [-8.07615829e-03 -2.97181467e-04 9.99967343e-01 7.64874083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35864 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:320.42, Y:3.82, Z:0.77 [[ 9.95605230e-01 9.33012024e-02 8.06912703e-03 3.20421587e+02] [-9.33006211e-02 9.95637882e-01 -4.49263261e-04 3.81558609e+00] [-8.07584535e-03 -3.05565711e-04 9.99967343e-01 7.65000184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38864 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:320.45, Y:3.82, Z:0.76 [[ 9.95703853e-01 9.22427583e-02 8.06906938e-03 3.20453403e+02] [-9.22421339e-02 9.95736504e-01 -4.50296266e-04 3.81627448e+00] [-8.07620351e-03 -2.95946452e-04 9.99967343e-01 7.64137602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41864 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:320.49, Y:3.82, Z:0.76 [[ 9.95960886e-01 8.94248495e-02 8.06901160e-03 3.20486084e+02] [-8.94241244e-02 9.95993535e-01 -4.51329263e-04 3.81603957e+00] [-8.07704344e-03 -2.72058004e-04 9.99967343e-01 7.63540617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44864 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:320.52, Y:3.82, Z:0.76 [[ 9.96541032e-01 8.27095145e-02 8.06895316e-03 3.20517177e+02] [-8.27085609e-02 9.96573675e-01 -4.52371669e-04 3.81840637e+00] [-8.07872174e-03 -2.16564574e-04 9.99967343e-01 7.62076233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47864 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:320.55, Y:3.82, Z:0.76 [[ 9.96530205e-01 8.28398622e-02 8.06892384e-03 3.20549799e+02] [-8.28389087e-02 9.96562848e-01 -4.52894082e-04 3.81660453e+00] [-8.07870740e-03 -2.17098212e-04 9.99967343e-01 7.61812209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50864 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:320.58, Y:3.82, Z:0.76 [[ 9.96821466e-01 7.92581732e-02 8.06886446e-03 3.20581073e+02] [-7.92570938e-02 9.96854105e-01 -4.53949497e-04 3.81619981e+00] [-8.07945987e-03 -1.87008145e-04 9.99967343e-01 7.61548830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53864 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:320.61, Y:3.81, Z:0.76 [[ 9.97253274e-01 7.36260979e-02 8.06882002e-03 3.20612898e+02] [-7.36248278e-02 9.97285906e-01 -4.54737973e-04 3.81479108e+00] [-8.08040107e-03 -1.40576553e-04 9.99967343e-01 7.61433062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56864 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:320.64, Y:3.81, Z:0.77 [[ 9.97565933e-01 6.92611363e-02 8.06875888e-03 3.20642963e+02] [-6.92597146e-02 9.97598559e-01 -4.55820414e-04 3.81317908e+00] [-8.08095286e-03 -1.04129021e-04 9.99967343e-01 7.69927189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59864 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:320.68, Y:3.81, Z:0.76 [[ 9.97716379e-01 6.70588272e-02 8.07094568e-03 3.20675293e+02] [-6.70576471e-02 9.97749016e-01 -4.17051967e-04 3.81229831e+00] [-8.08074512e-03 -1.25119048e-04 9.99967342e-01 7.60259405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62864 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:320.71, Y:3.81, Z:0.77 [[ 9.97980686e-01 6.30035333e-02 8.06876172e-03 3.20705011e+02] [-6.30019078e-02 9.98013302e-01 -4.55720271e-04 3.80849812e+00] [-8.08144351e-03 -5.35473530e-05 9.99967343e-01 7.69931548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:320.74, Y:3.80, Z:0.76 [[ 9.98007415e-01 6.25784395e-02 8.07083666e-03 3.20737387e+02] [-6.25770978e-02 9.98040045e-01 -4.18903267e-04 3.80333822e+00] [-8.08123249e-03 -8.69809686e-05 9.99967343e-01 7.58362374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:320.77, Y:3.80, Z:0.76 [[ 9.98185697e-01 5.96674934e-02 8.06877192e-03 3.20769363e+02] [-5.96657609e-02 9.98218308e-01 -4.55479986e-04 3.79733814e+00] [-8.08157319e-03 -2.67758086e-05 9.99967343e-01 7.57742258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:320.80, Y:3.79, Z:0.76 [[ 9.98383609e-01 5.62589105e-02 8.06871092e-03 3.20801019e+02] [-5.62570579e-02 9.98416213e-01 -4.56557972e-04 3.79273992e+00] [-8.08161726e-03 1.89805821e-06 9.99967343e-01 7.57943581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:320.83, Y:3.79, Z:0.76 [[ 9.98516989e-01 5.38397566e-02 8.06864937e-03 3.20832524e+02] [-5.38378163e-02 9.98549588e-01 -4.57643178e-04 3.78697484e+00] [-8.08158590e-03 2.25660257e-05 9.99967343e-01 7.56387187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:320.86, Y:3.78, Z:0.76 [[ 9.98669223e-01 5.09380175e-02 8.06858860e-03 3.20864038e+02] [-5.09359738e-02 9.98701815e-01 -4.58712132e-04 3.77988169e+00] [-8.08147997e-03 4.71202712e-05 9.99967343e-01 7.56106929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80864 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:320.89, Y:3.77, Z:0.77 [[ 9.98899603e-01 4.62004503e-02 8.06852784e-03 3.20892417e+02] [-4.61982434e-02 9.98932185e-01 -4.59778381e-04 3.77065122e+00] [-8.08115411e-03 8.65206289e-05 9.99967343e-01 7.70215096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:320.93, Y:3.77, Z:0.76 [[ 9.98829136e-01 4.76988125e-02 8.07345032e-03 3.20925444e+02] [-4.76973544e-02 9.98861764e-01 -3.73169495e-04 3.76700356e+00] [-8.08206056e-03 -1.23496562e-05 9.99967340e-01 7.56052316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:320.95, Y:3.76, Z:0.77 [[ 9.98876455e-01 4.66982859e-02 8.06830562e-03 3.20953648e+02] [-4.66960705e-02 9.98909036e-01 -4.62851057e-04 3.75963482e+00] [-8.08111775e-03 8.55728547e-05 9.99967344e-01 7.69718111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:320.99, Y:3.75, Z:0.76 [[ 9.98677033e-01 5.07840175e-02 8.07257886e-03 3.20986273e+02] [-5.07825380e-02 9.98709659e-01 -3.88279711e-04 3.75414349e+00] [-8.08188089e-03 -2.21800133e-05 9.99967341e-01 7.55399569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:321.02, Y:3.75, Z:0.76 [[ 9.98585478e-01 5.25542401e-02 8.06814567e-03 3.21018233e+02] [-5.25521970e-02 9.98618070e-01 -4.65171459e-04 3.74943084e+00] [-8.08144279e-03 4.05146837e-05 9.99967344e-01 7.56706799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:321.05, Y:3.75, Z:0.77 [[ 9.98328950e-01 5.72207493e-02 8.06808436e-03 3.21047865e+02] [-5.72188499e-02 9.98361551e-01 -4.66232294e-04 3.74501691e+00] [-8.08154338e-03 3.80668807e-06 9.99967344e-01 7.71039404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:321.08, Y:3.74, Z:0.76 [[ 9.98097008e-01 6.11328544e-02 8.07072522e-03 3.21079868e+02] [-6.11314529e-02 9.98129635e-01 -4.20456166e-04 3.74217495e+00] [-8.08133371e-03 -7.37191180e-05 9.99967343e-01 7.57100646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01864 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:321.11, Y:3.74, Z:0.77 [[ 9.98011148e-01 6.25192504e-02 8.06797088e-03 3.21109868e+02] [-6.25175103e-02 9.98043758e-01 -4.67944695e-04 3.73639756e+00] [-8.08144353e-03 -3.73754307e-05 9.99967344e-01 7.70912181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:321.14, Y:3.73, Z:0.77 [[ 9.98092011e-01 6.12146107e-02 8.06906439e-03 3.21139616e+02] [-6.12129803e-02 9.98124626e-01 -4.49097173e-04 3.73282539e+00] [-8.08142319e-03 -4.56911797e-05 9.99967344e-01 7.70053560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:321.17, Y:3.73, Z:0.76 [[ 9.98033625e-01 6.21590293e-02 8.07085275e-03 3.21172217e+02] [-6.21576788e-02 9.98066254e-01 -4.18309662e-04 3.72944962e+00] [-8.08124750e-03 -8.41783647e-05 9.99967343e-01 7.56101903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:321.20, Y:3.72, Z:0.77 [[ 9.98223916e-01 5.90247729e-02 8.06779274e-03 3.21202114e+02] [-5.90228960e-02 9.98256518e-01 -4.70752527e-04 3.72407854e+00] [-8.08151276e-03 -6.26806093e-06 9.99967344e-01 7.69363376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:321.23, Y:3.72, Z:0.76 [[ 9.98221302e-01 5.90687511e-02 8.06936753e-03 3.21233203e+02] [-5.90670936e-02 9.98253916e-01 -4.43777514e-04 3.71976236e+00] [-8.08149112e-03 -3.36459192e-05 9.99967344e-01 7.57252741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:321.26, Y:3.71, Z:0.76 [[ 9.98252268e-01 5.85433255e-02 8.06771827e-03 3.21264686e+02] [-5.85414230e-02 9.98284869e-01 -4.71969591e-04 3.71484639e+00] [-8.08151174e-03 -1.15099293e-06 9.99967344e-01 7.58286143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:321.30, Y:3.71, Z:0.76 [[ 9.98179122e-01 5.97775363e-02 8.06765491e-03 3.21297831e+02] [-5.97756654e-02 9.98211724e-01 -4.73050194e-04 3.71232475e+00] [-8.08150549e-03 -1.00606136e-05 9.99967344e-01 7.57694612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:321.33, Y:3.71, Z:0.77 [[ 9.97909440e-01 6.41222613e-02 8.06755754e-03 3.21329140e+02] [-6.41205189e-02 9.97942049e-01 -4.74705006e-04 3.71000348e+00] [-8.08139406e-03 -4.35833683e-05 9.99967344e-01 7.69524076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:321.36, Y:3.71, Z:0.76 [[ 9.97792067e-01 6.59236159e-02 8.06642947e-03 3.21359483e+02] [-6.59217776e-02 9.97824672e-01 -4.93852713e-04 3.70745554e+00] [-8.08143890e-03 -3.89910501e-05 9.99967344e-01 7.59575240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:321.39, Y:3.71, Z:0.76 [[ 9.97601148e-01 6.87521873e-02 8.06757920e-03 3.21391647e+02] [-6.87505995e-02 9.97633766e-01 -4.74296315e-04 3.70614472e+00] [-8.08109833e-03 -8.14923588e-05 9.99967344e-01 7.59822579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:321.42, Y:3.71, Z:0.76 [[ 9.97317584e-01 7.27499220e-02 8.06751443e-03 3.21423494e+02] [-7.27484562e-02 9.97350207e-01 -4.75395485e-04 3.70595142e+00] [-8.08072218e-03 -1.12778943e-04 9.99967344e-01 7.60947623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:321.46, Y:3.70, Z:0.76 [[ 9.97190972e-01 7.44653089e-02 8.06745012e-03 3.21455679e+02] [-7.44638904e-02 9.97223597e-01 -4.76484417e-04 3.70438464e+00] [-8.08053318e-03 -1.25587763e-04 9.99967344e-01 7.61135222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:321.49, Y:3.70, Z:0.76 [[ 9.97162918e-01 7.48400385e-02 8.06738636e-03 3.21487510e+02] [-7.48386235e-02 9.97195544e-01 -4.77561387e-04 3.70283106e+00] [-8.08050244e-03 -1.27545585e-04 9.99967344e-01 7.61271977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:321.52, Y:3.70, Z:0.76 [[ 9.97137783e-01 7.51741988e-02 8.06732242e-03 3.21519950e+02] [-7.51727860e-02 9.97170408e-01 -4.78639187e-04 3.70206407e+00] [-8.08047651e-03 -1.29173884e-04 9.99967344e-01 7.61168963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:321.55, Y:3.70, Z:0.76 [[ 9.97118320e-01 7.54319262e-02 8.06725834e-03 3.21552395e+02] [-7.54305131e-02 9.97150945e-01 -4.79716747e-04 3.70385657e+00] [-8.08046024e-03 -1.30183079e-04 9.99967344e-01 7.60532630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:321.58, Y:3.70, Z:0.76 [[ 9.97174556e-01 7.46848455e-02 8.06719443e-03 3.21584035e+02] [-7.46833993e-02 9.97207179e-01 -4.80789059e-04 3.70216343e+00] [-8.08057186e-03 -1.23054887e-04 9.99967344e-01 7.60362230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49864 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:321.62, Y:3.70, Z:0.77 [[ 9.97223919e-01 7.40228065e-02 8.06713022e-03 3.21616406e+02] [-7.40213300e-02 9.97256542e-01 -4.81864091e-04 3.69911873e+00] [-8.08066732e-03 -1.16613311e-04 9.99967344e-01 7.70798820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:321.65, Y:3.70, Z:0.76 [[ 9.97535849e-01 6.96937149e-02 8.06323056e-03 3.21645545e+02] [-6.96915710e-02 9.97568437e-01 -5.46895854e-04 3.69608157e+00] [-8.08173951e-03 -1.63909855e-05 9.99967342e-01 7.60539773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:321.68, Y:3.69, Z:0.76 [[ 9.97707760e-01 6.71874132e-02 8.06709880e-03 3.21677728e+02] [-6.71857106e-02 9.97740371e-01 -4.82178502e-04 3.69422577e+00] [-8.08126648e-03 -6.09205324e-05 9.99967344e-01 7.60796779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:321.71, Y:3.69, Z:0.76 [[ 9.97939482e-01 6.36530727e-02 8.06703369e-03 3.21709141e+02] [-6.36512458e-02 9.97972086e-01 -4.83265431e-04 3.68840235e+00] [-8.08143577e-03 -3.12070900e-05 9.99967344e-01 7.59244824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:321.74, Y:3.68, Z:0.76 [[ 9.97961217e-01 6.33113990e-02 8.06696819e-03 3.21741461e+02] [-6.33095522e-02 9.97993821e-01 -4.84356251e-04 3.68474440e+00] [-8.08144968e-03 -2.73473899e-05 9.99967344e-01 7.60042120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:321.77, Y:3.68, Z:0.76 [[ 9.97735273e-01 6.67776240e-02 8.06690234e-03 3.21773331e+02] [-6.67758815e-02 9.97767882e-01 -4.85450512e-04 3.68459784e+00] [-8.08131330e-03 -5.43234165e-05 9.99967344e-01 7.61112912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67864000000003 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:321.81, Y:3.68, Z:0.76 [[ 9.97520451e-01 6.99133444e-02 8.06683691e-03 3.21805156e+02] [-6.99116957e-02 9.97553065e-01 -4.86535474e-04 3.68407491e+00] [-8.08111320e-03 -7.86371609e-05 9.99967344e-01 7.61014950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:321.84, Y:3.68, Z:0.76 [[ 9.97337882e-01 7.24712163e-02 8.06677064e-03 3.21837762e+02] [-7.24696424e-02 9.97370499e-01 -4.87631691e-04 3.68224408e+00] [-8.08089832e-03 -9.82624258e-05 9.99967344e-01 7.61404694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:321.87, Y:3.68, Z:0.76 [[ 9.97046630e-01 7.63737259e-02 8.06667916e-03 3.21869861e+02] [-7.63722674e-02 9.97079253e-01 -4.89140384e-04 3.67963135e+00] [-8.08047590e-03 -1.28374806e-04 9.99967344e-01 7.61900369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:321.90, Y:3.68, Z:0.76 [[ 9.96882766e-01 7.84836325e-02 8.06661361e-03 3.21902000e+02] [-7.84822344e-02 9.96915392e-01 -4.90218930e-04 3.68047365e+00] [-8.08020543e-03 -1.44395057e-04 9.99967344e-01 7.59837732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:321.93, Y:3.69, Z:0.76 [[ 9.96668518e-01 8.11590839e-02 8.06654847e-03 3.21934450e+02] [-8.11577646e-02 9.96701147e-01 -4.91288441e-04 3.68628824e+00] [-8.07981063e-03 -1.65011321e-04 9.99967344e-01 7.59683913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:321.97, Y:3.69, Z:0.76 [[ 9.96560811e-01 8.24710913e-02 8.06648375e-03 3.21966952e+02] [-8.24698064e-02 9.96593442e-01 -4.92348842e-04 3.68685882e+00] [-8.07960935e-03 -1.74585792e-04 9.99967344e-01 7.60465559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:322.00, Y:3.69, Z:0.76 [[ 9.96354084e-01 8.49321636e-02 8.06641866e-03 3.21999760e+02] [-8.49309507e-02 9.96386717e-01 -4.93412946e-04 3.69040535e+00] [-8.07917904e-03 -1.93474602e-04 9.99967344e-01 7.61040673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:322.03, Y:3.69, Z:0.76 [[ 9.96250055e-01 8.61438497e-02 8.06635348e-03 3.22032573e+02] [-8.61426679e-02 9.96282689e-01 -4.94476223e-04 3.69401321e+00] [-8.07896442e-03 -2.02235245e-04 9.99967344e-01 7.60912949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:322.07, Y:3.70, Z:0.76 [[ 9.96042170e-01 8.85151420e-02 8.06628881e-03 3.22065396e+02] [-8.85140293e-02 9.96074807e-01 -4.95528891e-04 3.70394618e+00] [-8.07848888e-03 -2.20412052e-04 9.99967344e-01 7.58831739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:322.10, Y:3.71, Z:0.76 [[ 9.96084487e-01 8.80376677e-02 8.06622417e-03 3.22098189e+02] [-8.80365309e-02 9.96117123e-01 -4.96578934e-04 3.70532141e+00] [-8.07862166e-03 -2.15487821e-04 9.99967344e-01 7.58564491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:322.13, Y:3.71, Z:0.76 [[ 9.96174245e-01 8.70161502e-02 8.06615908e-03 3.22130129e+02] [-8.70149714e-02 9.96206880e-01 -4.97633995e-04 3.70636565e+00] [-8.07886536e-03 -2.06146432e-04 9.99967344e-01 7.58953278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:322.16, Y:3.71, Z:0.76 [[ 9.96440330e-01 8.39142881e-02 8.06609380e-03 3.22163083e+02] [-8.39129992e-02 9.96472960e-01 -4.98689852e-04 3.71278859e+00] [-8.07949157e-03 -1.79935442e-04 9.99967344e-01 7.60369747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:322.20, Y:3.72, Z:0.76 [[ 9.96585270e-01 8.21750515e-02 8.06602766e-03 3.22195152e+02] [-8.21736970e-02 9.96617898e-01 -4.99757416e-04 3.71545908e+00] [-8.07981512e-03 -1.64764433e-04 9.99967344e-01 7.60137472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06864 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:322.23, Y:3.72, Z:0.77 [[ 9.96799303e-01 7.95367203e-02 8.06596098e-03 3.22227770e+02] [-7.95352707e-02 9.96831927e-01 -5.00831227e-04 3.71852079e+00] [-8.08024190e-03 -1.42300172e-04 9.99967344e-01 7.72964098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:322.26, Y:3.72, Z:0.76 [[ 9.97107869e-01 7.55707341e-02 8.05991001e-03 3.22256473e+02] [-7.55683698e-02 9.97140443e-01 -5.97922501e-04 3.71989213e+00] [-8.08204768e-03 -1.28810290e-05 9.99967340e-01 7.59533416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:322.29, Y:3.72, Z:0.76 [[ 9.97282488e-01 7.32296256e-02 8.06601101e-03 3.22289043e+02] [-7.32279815e-02 9.97315102e-01 -4.99379237e-04 3.72165231e+00] [-8.08092395e-03 -9.26355372e-05 9.99967345e-01 7.59284723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15864 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:322.32, Y:3.73, Z:0.77 [[ 9.97614355e-01 6.85604837e-02 8.06594427e-03 3.22320448e+02] [-6.85586782e-02 9.97646960e-01 -5.00454946e-04 3.72713037e+00] [-8.08127622e-03 -5.37294392e-05 9.99967345e-01 7.70650918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18864 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:322.35, Y:3.73, Z:0.77 [[ 9.97806813e-01 6.57001489e-02 8.06557963e-03 3.22352293e+02] [-6.56982024e-02 9.97839411e-01 -5.06341523e-04 3.72828522e+00] [-8.08141994e-03 -2.46630612e-05 9.99967344e-01 7.71908169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:322.38, Y:3.73, Z:0.76 [[ 9.97892702e-01 6.43826589e-02 8.06403582e-03 3.22382018e+02] [-6.43804683e-02 9.97925284e-01 -5.31211109e-04 3.72828478e+00] [-8.08150603e-03 1.09252865e-05 9.99967344e-01 7.59106143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:322.41, Y:3.73, Z:0.77 [[ 9.97920457e-01 6.39507730e-02 8.06597485e-03 3.22413315e+02] [-6.39488212e-02 9.97953054e-01 -4.99926264e-04 3.72883287e+00] [-8.08143491e-03 -1.69229374e-05 9.99967345e-01 7.68485816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:322.44, Y:3.73, Z:0.76 [[ 9.97989891e-01 6.28580390e-02 8.06498331e-03 3.22444091e+02] [-6.28559217e-02 9.98022478e-01 -5.15982352e-04 3.73210929e+00] [-8.08146827e-03 8.01321222e-06 9.99967344e-01 7.57477019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:322.48, Y:3.73, Z:0.77 [[ 9.97938938e-01 6.36617134e-02 8.06613434e-03 3.22475639e+02] [-6.36597732e-02 9.97971536e-01 -4.97313414e-04 3.73171153e+00] [-8.08143230e-03 -1.71998629e-05 9.99967345e-01 7.68151247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:322.51, Y:3.73, Z:0.76 [[ 9.98135022e-01 6.05100330e-02 8.06315561e-03 3.22505497e+02] [-6.05075995e-02 9.98167587e-01 -5.45636752e-04 3.73074538e+00] [-8.08139708e-03 5.67369615e-05 9.99967343e-01 7.55757138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:322.54, Y:3.73, Z:0.76 [[ 9.98181269e-01 5.97418741e-02 8.06620080e-03 3.22536609e+02] [-5.97398155e-02 9.98213859e-01 -4.96127164e-04 3.72921810e+00] [-8.08143299e-03 1.33514948e-05 9.99967345e-01 7.55012098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:322.57, Y:3.73, Z:0.75 [[ 9.98177364e-01 5.98070855e-02 8.06616830e-03 3.22568382e+02] [-5.98050248e-02 9.98209954e-01 -4.96655024e-04 3.72727944e+00] [-8.08143298e-03 1.33524075e-05 9.99967345e-01 7.54754881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:322.60, Y:3.72, Z:0.75 [[ 9.98237025e-01 5.88028776e-02 8.06613582e-03 3.22599448e+02] [-5.88007798e-02 9.98269613e-01 -4.97181970e-04 3.72469269e+00] [-8.08141401e-03 2.20103747e-05 9.99967345e-01 7.53713500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:322.63, Y:3.72, Z:0.75 [[ 9.98468357e-01 5.47346074e-02 8.06610338e-03 3.22631461e+02] [-5.47323726e-02 9.98500936e-01 -4.97707602e-04 3.72022988e+00] [-8.08125361e-03 5.54683164e-05 9.99967345e-01 7.52337054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:322.66, Y:3.72, Z:0.75 [[ 9.98595385e-01 5.23659866e-02 8.06603782e-03 3.22663457e+02] [-5.23636660e-02 9.98627958e-01 -4.98767945e-04 3.71708444e+00] [-8.08108935e-03 7.57000579e-05 9.99967345e-01 7.50924293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:322.70, Y:3.71, Z:0.75 [[ 9.98839068e-01 4.74916413e-02 8.06597377e-03 3.22695529e+02] [-4.74891534e-02 9.98871629e-01 -4.99801537e-04 3.71012479e+00] [-8.08060875e-03 1.16175036e-04 9.99967345e-01 7.51078545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:322.73, Y:3.70, Z:0.76 [[ 9.98904979e-01 4.60845416e-02 8.06590964e-03 3.22727105e+02] [-4.60819995e-02 9.98937535e-01 -5.00834349e-04 3.70418055e+00] [-8.08042061e-03 1.28592681e-04 9.99967345e-01 7.62598377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:322.76, Y:3.70, Z:0.75 [[ 9.99132969e-01 4.08444443e-02 8.06487891e-03 3.22757804e+02] [-4.08415971e-02 9.99165500e-01 -5.17482452e-04 3.69634202e+00] [-8.07928505e-03 1.87651243e-04 9.99967344e-01 7.49498481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:322.79, Y:3.69, Z:0.75 [[ 9.99135286e-01 4.07874870e-02 8.06601169e-03 3.22789440e+02] [-4.07847857e-02 9.99167830e-01 -4.99178479e-04 3.69161138e+00] [-8.07965963e-03 1.69776275e-04 9.99967345e-01 7.48662806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:322.82, Y:3.69, Z:0.75 [[ 9.99137114e-01 4.07426924e-02 8.06594852e-03 3.22821617e+02] [-4.07399814e-02 9.99169657e-01 -5.00197111e-04 3.68659907e+00] [-8.07963039e-03 1.71158905e-04 9.99967345e-01 7.49389638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:322.85, Y:3.68, Z:0.75 [[ 9.99035169e-01 4.31702806e-02 8.06588587e-03 3.22852979e+02] [-4.31676405e-02 9.99067717e-01 -5.01205265e-04 3.67879736e+00] [-8.08000336e-03 1.52536425e-04 9.99967345e-01 7.49888681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:3.68, Z:0.75 [[ 9.98943661e-01 4.52383071e-02 8.06582300e-03 3.22884738e+02] [-4.52357262e-02 9.98976214e-01 -5.02215086e-04 3.67624945e+00] [-8.08028468e-03 1.36821215e-04 9.99967345e-01 7.49099810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:322.91, Y:3.67, Z:0.76 [[ 9.98783645e-01 4.86433288e-02 8.06575923e-03 3.22914299e+02] [-4.86408507e-02 9.98816207e-01 -5.03237117e-04 3.67370380e+00] [-8.08069016e-03 1.10299612e-04 9.99967345e-01 7.61195810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:322.95, Y:3.67, Z:0.76 [[ 9.98629520e-01 5.17105408e-02 8.06859513e-03 3.22946027e+02] [-5.17085299e-02 9.98662114e-01 -4.57775316e-04 3.67139879e+00] [-8.08147208e-03 3.99327514e-05 9.99967344e-01 7.59302846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:322.98, Y:3.67, Z:0.75 [[ 9.98504249e-01 5.40757083e-02 8.06733910e-03 3.22978119e+02] [-5.40736128e-02 9.98536838e-01 -4.77802051e-04 3.66928124e+00] [-8.08137276e-03 4.08572071e-05 9.99967344e-01 7.46538658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:323.01, Y:3.67, Z:0.75 [[ 9.98346678e-01 5.69109715e-02 8.06549243e-03 3.23010305e+02] [-5.69087313e-02 9.98379256e-01 -5.07169586e-04 3.67021787e+00] [-8.08128385e-03 4.73341295e-05 9.99967345e-01 7.45966542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:323.04, Y:3.67, Z:0.76 [[ 9.98380249e-01 5.63189798e-02 8.06542645e-03 3.23039788e+02] [-5.63167118e-02 9.98412825e-01 -5.08216704e-04 3.67077744e+00] [-8.08124746e-03 5.31752217e-05 9.99967345e-01 7.58669744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:323.07, Y:3.67, Z:0.74 [[ 9.98336353e-01 5.70912727e-02 8.06925832e-03 3.23072378e+02] [-5.70895224e-02 9.98368963e-01 -4.47263085e-04 3.66931111e+00] [-8.08163188e-03 -1.41511073e-05 9.99967343e-01 7.44262920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:323.10, Y:3.67, Z:0.74 [[ 9.98391449e-01 5.61200754e-02 8.06541326e-03 3.23104207e+02] [-5.61178004e-02 9.98424025e-01 -5.08277344e-04 3.66803953e+00] [-8.08122693e-03 5.48465027e-05 9.99967345e-01 7.43824533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:323.14, Y:3.67, Z:0.74 [[ 9.98579605e-01 5.26661420e-02 8.06534718e-03 3.23136376e+02] [-5.26637459e-02 9.98612172e-01 -5.09323659e-04 3.66699766e+00] [-8.08097798e-03 8.38488240e-05 9.99967345e-01 7.41934106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:323.17, Y:3.66, Z:0.75 [[ 9.98776013e-01 4.87998721e-02 8.06528059e-03 3.23165994e+02] [-4.87973415e-02 9.98808570e-01 -5.10375976e-04 3.66469724e+00] [-8.08057765e-03 1.16187032e-04 9.99967345e-01 7.52569884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:323.20, Y:3.66, Z:0.74 [[ 9.98969345e-01 4.46669925e-02 8.06890515e-03 3.23197553e+02] [-4.46647912e-02 9.99001928e-01 -4.52892720e-04 3.66062376e+00] [-8.08108116e-03 9.20299802e-05 9.99967343e-01 7.42577714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:323.23, Y:3.66, Z:0.74 [[ 9.99054852e-01 4.27124428e-02 8.06533648e-03 3.23229443e+02] [-4.27097217e-02 9.99087394e-01 -5.09396157e-04 3.65749621e+00] [-8.07973356e-03 1.64446426e-04 9.99967345e-01 7.43155384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:323.26, Y:3.65, Z:0.74 [[ 9.99064506e-01 4.24860423e-02 8.06527161e-03 3.23261578e+02] [-4.24833056e-02 9.99097046e-01 -5.10421157e-04 3.65470726e+00] [-8.07967482e-03 1.67304263e-04 9.99967345e-01 7.42117797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:323.29, Y:3.65, Z:0.74 [[ 9.99048578e-01 4.28589714e-02 8.06520698e-03 3.23293824e+02] [-4.28562386e-02 9.99081118e-01 -5.11440446e-04 3.64888538e+00] [-8.07971582e-03 1.65309416e-04 9.99967345e-01 7.43049479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:323.33, Y:3.64, Z:0.74 [[ 9.99046380e-01 4.29101785e-02 8.06514190e-03 3.23325715e+02] [-4.29074391e-02 9.99078920e-01 -5.12464671e-04 3.64426428e+00] [-8.07970321e-03 1.65921390e-04 9.99967345e-01 7.42826461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:323.36, Y:3.64, Z:0.74 [[ 9.98983541e-01 4.43490704e-02 8.06507678e-03 3.23357491e+02] [-4.43463696e-02 9.99016084e-01 -5.13487372e-04 3.63966567e+00] [-8.07991411e-03 1.55308557e-04 9.99967345e-01 7.43241649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17864000000003 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:323.39, Y:3.64, Z:0.74 [[ 9.98922313e-01 4.57074198e-02 8.06501197e-03 3.23389096e+02] [-4.57047550e-02 9.98954859e-01 -5.14503435e-04 3.63714978e+00] [-8.08009952e-03 1.45339565e-04 9.99967345e-01 7.42723267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:323.42, Y:3.63, Z:0.74 [[ 9.98904495e-01 4.60951860e-02 8.06494681e-03 3.23420408e+02] [-4.60925257e-02 9.98937042e-01 -5.15522691e-04 3.62985433e+00] [-8.08013723e-03 1.43224165e-04 9.99967345e-01 7.41619182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:323.45, Y:3.62, Z:0.74 [[ 9.98961458e-01 4.48437601e-02 8.06488136e-03 3.23452531e+02] [-4.48410508e-02 9.98994001e-01 -5.16544611e-04 3.62381294e+00] [-8.07993190e-03 1.54370403e-04 9.99967345e-01 7.41145270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:323.48, Y:3.62, Z:0.74 [[ 9.99006323e-01 4.38329323e-02 8.06481578e-03 3.23484397e+02] [-4.38301817e-02 9.99038862e-01 -5.17566523e-04 3.61871050e+00] [-8.07975083e-03 1.63569888e-04 9.99967345e-01 7.41247703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:323.52, Y:3.61, Z:0.74 [[ 9.99095463e-01 4.17518389e-02 8.06474954e-03 3.23516261e+02] [-4.17490123e-02 9.99127995e-01 -5.18596667e-04 3.61298927e+00] [-8.07936940e-03 1.81432250e-04 9.99967345e-01 7.40652252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:323.55, Y:3.61, Z:0.74 [[ 9.99058816e-01 4.26197430e-02 8.06468241e-03 3.23548154e+02] [-4.26169362e-02 9.99091351e-01 -5.19638522e-04 3.60983333e+00] [-8.07950130e-03 1.75457391e-04 9.99967345e-01 7.40667422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:323.58, Y:3.61, Z:0.75 [[ 9.98984591e-01 4.43254805e-02 8.06461665e-03 3.23577621e+02] [-4.43227211e-02 9.99017130e-01 -5.20656985e-04 3.60802771e+00] [-8.07976855e-03 1.62682551e-04 9.99967345e-01 7.52661839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:323.61, Y:3.61, Z:0.74 [[ 9.98813692e-01 4.80218328e-02 8.06920176e-03 3.23610479e+02] [-4.80197689e-02 9.98846284e-01 -4.49430453e-04 3.60647742e+00] [-8.08147467e-03 6.14160858e-05 9.99967342e-01 7.41670246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:323.64, Y:3.61, Z:0.74 [[ 9.98624860e-01 5.18010980e-02 8.06449990e-03 3.23642223e+02] [-5.17985708e-02 9.98657416e-01 -5.22062213e-04 3.60569359e+00] [-8.08071603e-03 1.03614734e-04 9.99967345e-01 7.41250414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:323.67, Y:3.60, Z:0.74 [[ 9.98576712e-01 5.27211084e-02 8.06443199e-03 3.23673833e+02] [-5.27186028e-02 9.98609271e-01 -5.23109201e-04 3.60311739e+00] [-8.08079544e-03 9.72190791e-05 9.99967345e-01 7.41199331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:323.71, Y:3.60, Z:0.74 [[ 9.98601198e-01 5.22552678e-02 8.06436404e-03 3.23706169e+02] [-5.22527386e-02 9.98633755e-01 -5.24154598e-04 3.59920859e+00] [-8.08073598e-03 1.02036303e-04 9.99967345e-01 7.41891673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:323.74, Y:3.60, Z:0.74 [[ 9.98678626e-01 5.07540104e-02 8.06429546e-03 3.23738527e+02] [-5.07514237e-02 9.98711178e-01 -5.25207587e-04 3.59784392e+00] [-8.08055841e-03 1.15239115e-04 9.99967345e-01 7.42264535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53864 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:323.77, Y:3.60, Z:0.75 [[ 9.98799130e-01 4.83245939e-02 8.06422696e-03 3.23768367e+02] [-4.83219196e-02 9.98831675e-01 -5.26257370e-04 3.59861516e+00] [-8.08023649e-03 1.35946477e-04 9.99967345e-01 7.54980343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:323.80, Y:3.60, Z:0.74 [[ 9.98905396e-01 4.60749745e-02 8.06880596e-03 3.23800791e+02] [-4.60727949e-02 9.98937981e-01 -4.55904859e-04 3.59783383e+00] [-8.08124253e-03 8.36533827e-05 9.99967343e-01 7.39863053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:323.83, Y:3.59, Z:0.74 [[ 9.99205197e-01 3.90377318e-02 8.06411505e-03 3.23832437e+02] [-3.90347442e-02 9.99237715e-01 -5.27603041e-04 3.59195741e+00] [-8.07856432e-03 2.12403033e-04 9.99967345e-01 7.40087005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:323.86, Y:3.59, Z:0.74 [[ 9.99293712e-01 3.67021451e-02 8.06404851e-03 3.23864491e+02] [-3.66990733e-02 9.99326222e-01 -5.28618032e-04 3.58897700e+00] [-8.07801655e-03 2.32301568e-04 9.99967345e-01 7.41042011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:323.90, Y:3.59, Z:0.74 [[ 9.99359900e-01 3.48534344e-02 8.06398227e-03 3.23896875e+02] [-3.48502944e-02 9.99392404e-01 -5.29626684e-04 3.58661926e+00] [-8.07754193e-03 2.48255514e-04 9.99967345e-01 7.40903780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:323.93, Y:3.58, Z:0.74 [[ 9.99409411e-01 3.34036396e-02 8.06391637e-03 3.23928836e+02] [-3.34004443e-02 9.99441909e-01 -5.30628151e-04 3.58118441e+00] [-8.07714088e-03 2.60976378e-04 9.99967345e-01 7.39002926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71864 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:323.96, Y:3.58, Z:0.75 [[ 9.99430503e-01 3.27665155e-02 8.06385009e-03 3.23957836e+02] [-3.27632914e-02 9.99462998e-01 -5.31633451e-04 3.57755067e+00] [-8.07693956e-03 2.67132417e-04 9.99967345e-01 7.50433254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74864 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:323.99, Y:3.58, Z:0.75 [[ 9.99396275e-01 3.37930732e-02 8.06930585e-03 3.23988273e+02] [-3.37905506e-02 9.99428836e-01 -4.48790743e-04 3.57556203e+00] [-8.07986297e-03 1.75853509e-04 9.99967342e-01 7.52453208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:324.02, Y:3.57, Z:0.74 [[ 9.99309293e-01 3.62740923e-02 8.07017503e-03 3.24021344e+02] [-3.62717570e-02 9.99341868e-01 -4.35596547e-04 3.57295295e+00] [-8.08066466e-03 1.42576250e-04 9.99967341e-01 7.37757834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:324.05, Y:3.57, Z:0.74 [[ 9.99320542e-01 3.59643223e-02 8.06363395e-03 3.24052799e+02] [-3.59611806e-02 9.99353045e-01 -5.34312590e-04 3.56787092e+00] [-8.07763333e-03 2.43971750e-04 9.99967346e-01 7.36850052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:324.08, Y:3.56, Z:0.74 [[ 9.99336450e-01 3.55195474e-02 8.06356735e-03 3.24084614e+02] [-3.55163832e-02 9.99368951e-01 -5.35315665e-04 3.56267796e+00] [-8.07749302e-03 2.48571709e-04 9.99967346e-01 7.36398440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:324.12, Y:3.56, Z:0.74 [[ 9.99411746e-01 3.33337845e-02 8.06350049e-03 3.24116770e+02] [-3.33305411e-02 9.99444239e-01 -5.36320921e-04 3.55793625e+00] [-8.07689672e-03 2.67244594e-04 9.99967346e-01 7.37676127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:324.15, Y:3.56, Z:0.74 [[ 9.99450974e-01 3.21361551e-02 8.06343306e-03 3.24148729e+02] [-3.21328646e-02 9.99483462e-01 -5.37332862e-04 3.55529277e+00] [-8.07653580e-03 2.77936650e-04 9.99967346e-01 7.37449059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:324.18, Y:3.55, Z:0.74 [[ 9.99517155e-01 3.00073134e-02 8.06336677e-03 3.24181795e+02] [-3.00039457e-02 9.99549635e-01 -5.38325756e-04 3.54959539e+00] [-8.07588903e-03 2.96133010e-04 9.99967346e-01 7.36420461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95864 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:324.21, Y:3.54, Z:0.75 [[ 9.99515662e-01 3.00570222e-02 8.06326652e-03 3.24211393e+02] [-3.00536441e-02 9.99548141e-01 -5.39823275e-04 3.54447337e+00] [-8.07584854e-03 2.97231277e-04 9.99967346e-01 7.48145503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:324.24, Y:3.54, Z:0.74 [[ 9.99539112e-01 2.92659845e-02 8.06635127e-03 3.24243618e+02] [-2.92629531e-02 9.99571626e-01 -4.93601195e-04 3.53873244e+00] [-8.07734158e-03 2.57328440e-04 9.99967345e-01 7.35351375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:324.28, Y:3.53, Z:0.74 [[ 9.99538639e-01 2.92829906e-02 8.06322749e-03 3.24275214e+02] [-2.92795841e-02 9.99571115e-01 -5.40225735e-04 3.53126644e+00] [-8.07558872e-03 3.03888549e-04 9.99967346e-01 7.36923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:324.31, Y:3.53, Z:0.74 [[ 9.99500591e-01 3.05541061e-02 8.06316116e-03 3.24307677e+02] [-3.05507329e-02 9.99533071e-01 -5.41213956e-04 3.52704992e+00] [-8.07593254e-03 2.94608186e-04 9.99967346e-01 7.38078486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:324.34, Y:3.52, Z:0.74 [[ 9.99315735e-01 3.60977644e-02 8.06305972e-03 3.24340324e+02] [-3.60945593e-02 9.99348232e-01 -5.42721048e-04 3.51955369e+00] [-8.07739549e-03 2.51317096e-04 9.99967346e-01 7.38565816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:324.37, Y:3.51, Z:0.75 [[ 9.99203604e-01 3.90787201e-02 8.06295669e-03 3.24369649e+02] [-3.90755997e-02 9.99236109e-01 -5.44247379e-04 3.51430350e+00] [-8.07806596e-03 2.28749075e-04 9.99967346e-01 7.50589144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13864 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:324.40, Y:3.51, Z:0.75 [[ 9.98929027e-01 4.55603434e-02 8.06557958e-03 3.24402393e+02] [-4.55577474e-02 9.98961579e-01 -5.05394445e-04 3.51021927e+00] [-8.08023006e-03 1.37403544e-04 9.99967345e-01 7.49422703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:324.43, Y:3.51, Z:0.74 [[ 9.98799970e-01 4.83074916e-02 8.06258968e-03 3.24433054e+02] [-4.83046295e-02 9.98832499e-01 -5.49464208e-04 3.50784042e+00] [-8.07971983e-03 1.59344428e-04 9.99967346e-01 7.38180359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19864 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:324.46, Y:3.50, Z:0.75 [[ 9.98615800e-01 5.19757260e-02 8.06271944e-03 3.24463364e+02] [-5.19729988e-02 9.98648340e-01 -5.47553417e-04 3.50490497e+00] [-8.08028088e-03 1.27751786e-04 9.99967346e-01 7.48584671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:324.50, Y:3.50, Z:0.74 [[ 9.98303728e-01 5.76597421e-02 8.06359544e-03 3.24495082e+02] [-5.76573045e-02 9.98336291e-01 -5.34631316e-04 3.49826370e+00] [-8.08100667e-03 6.87992574e-05 9.99967346e-01 7.37287461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25864 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:324.53, Y:3.50, Z:0.75 [[ 9.97884583e-01 6.45085221e-02 8.06279452e-03 3.24526866e+02] [-6.45062125e-02 9.97917156e-01 -5.46448807e-04 3.49574772e+00] [-8.08125158e-03 2.51925036e-05 9.99967346e-01 7.49998226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:324.56, Y:3.49, Z:0.75 [[ 9.97885091e-01 6.45008965e-02 8.06096679e-03 3.24558461e+02] [-6.44983691e-02 9.97917648e-01 -5.73375241e-04 3.49359803e+00] [-8.08116423e-03 5.22433934e-05 9.99967345e-01 7.49741575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:324.59, Y:3.49, Z:0.74 [[ 9.97728708e-01 6.68763484e-02 8.06099312e-03 3.24588682e+02] [-6.68739017e-02 9.97761271e-01 -5.72987233e-04 3.49222392e+00] [-8.08126603e-03 3.26157502e-05 9.99967346e-01 7.38688722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:324.62, Y:3.49, Z:0.75 [[ 9.97563026e-01 6.93036823e-02 8.06279063e-03 3.24619092e+02] [-6.93015292e-02 9.97595609e-01 -5.46466122e-04 3.49020169e+00] [-8.08127664e-03 -1.36293211e-05 9.99967346e-01 7.47499996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:324.65, Y:3.49, Z:0.74 [[ 9.97315946e-01 7.27727964e-02 8.06372421e-03 3.24649392e+02] [-7.27708682e-02 9.97348543e-01 -5.32657541e-04 3.48572484e+00] [-8.08110658e-03 -5.55763520e-05 9.99967346e-01 7.35573421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:324.68, Y:3.48, Z:0.74 [[ 9.97187696e-01 7.45096756e-02 8.06276134e-03 3.24681779e+02] [-7.45076895e-02 9.97220289e-01 -5.46853997e-04 3.48277072e+00] [-8.08109511e-03 -5.54216415e-05 9.99967346e-01 7.36562779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:324.71, Y:3.48, Z:0.74 [[ 9.97057889e-01 7.62270325e-02 8.06257287e-03 3.24714404e+02] [-7.62250801e-02 9.97090485e-01 -5.49618736e-04 3.48163443e+00] [-8.08101050e-03 -6.65685655e-05 9.99967346e-01 7.36769467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:324.75, Y:3.48, Z:0.74 [[ 9.96933949e-01 7.78312054e-02 8.06249717e-03 3.24746485e+02] [-7.78292964e-02 9.96966548e-01 -5.50726998e-04 3.48021118e+00] [-8.08090372e-03 -7.84600411e-05 9.99967346e-01 7.36038680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49864 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:324.78, Y:3.48, Z:0.75 [[ 9.96626933e-01 8.16685636e-02 8.06242205e-03 3.24777937e+02] [-8.16667713e-02 9.96659538e-01 -5.51824603e-04 3.47805644e+00] [-8.08055655e-03 -1.08468716e-04 9.99967346e-01 7.46666255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:324.81, Y:3.48, Z:0.74 [[ 9.96472822e-01 8.35281088e-02 8.06037795e-03 3.24808265e+02] [-8.35261361e-02 9.96505417e-01 -5.81661005e-04 3.47581728e+00] [-8.08079533e-03 -9.36428418e-05 9.99967345e-01 7.35662088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:324.84, Y:3.48, Z:0.74 [[ 9.95966598e-01 8.93618139e-02 8.06240434e-03 3.24841733e+02] [-8.93602715e-02 9.95999215e-01 -5.52067667e-04 3.47767818e+00] [-8.07948216e-03 -1.70617685e-04 9.99967346e-01 7.35156095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58864 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:324.87, Y:3.48, Z:0.75 [[ 9.95732559e-01 9.19329695e-02 8.06229298e-03 3.24874095e+02] [-9.19314981e-02 9.95765180e-01 -5.53689202e-04 3.47968297e+00] [-8.07905291e-03 -1.89852306e-04 9.99967346e-01 7.46105724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:324.91, Y:3.49, Z:0.74 [[ 9.95240856e-01 9.71116516e-02 8.06013479e-03 3.24905039e+02] [-9.71100963e-02 9.95273473e-01 -5.85024335e-04 3.48618112e+00] [-8.07885102e-03 -2.00480346e-04 9.99967345e-01 7.35958945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:324.94, Y:3.49, Z:0.74 [[ 9.95197748e-01 9.75522650e-02 8.06218419e-03 3.24935461e+02] [-9.75509651e-02 9.95230376e-01 -5.55268109e-04 3.48828306e+00] [-8.07789827e-03 -2.33872278e-04 9.99967346e-01 7.43864081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:324.97, Y:3.49, Z:0.73 [[ 9.94945970e-01 1.00087329e-01 8.06491944e-03 3.24967142e+02] [-1.00086433e-01 9.94978613e-01 -5.15569754e-04 3.48955964e+00] [-8.07602435e-03 -2.94224971e-04 9.99967345e-01 7.34941648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:325.00, Y:3.49, Z:0.74 [[ 9.95210166e-01 9.74255102e-02 8.06198245e-03 3.24996639e+02] [-9.74241839e-02 9.95242793e-01 -5.58003168e-04 3.49459461e+00] [-8.07799368e-03 -2.30101636e-04 9.99967346e-01 7.43726341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:325.03, Y:3.50, Z:0.73 [[ 9.95600270e-01 9.33543908e-02 8.06592694e-03 3.25029450e+02] [-9.33533931e-02 9.95632911e-01 -5.00936280e-04 3.49929097e+00] [-8.07746692e-03 -2.54249352e-04 9.99967344e-01 7.34939684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:325.06, Y:3.50, Z:0.74 [[ 9.95897126e-01 9.01328010e-02 8.06182294e-03 3.25061526e+02] [-9.01312195e-02 9.95929741e-01 -5.60016383e-04 3.49886792e+00] [-8.07948508e-03 -1.68903227e-04 9.99967346e-01 7.35276969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:325.09, Y:3.50, Z:0.73 [[ 9.96285887e-01 8.57288743e-02 8.06174824e-03 3.25094118e+02] [-8.57271399e-02 9.96318495e-01 -5.61089634e-04 3.49749049e+00] [-8.08017046e-03 -1.32104936e-04 9.99967346e-01 7.32943562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:325.12, Y:3.50, Z:0.74 [[ 9.97027911e-01 7.66182340e-02 8.06167250e-03 3.25123337e+02] [-7.66161929e-02 9.97060501e-01 -5.62175841e-04 3.49759680e+00] [-8.08104814e-03 -5.71496509e-05 9.99967346e-01 7.42616953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:325.16, Y:3.50, Z:0.73 [[ 9.97025058e-01 7.66548571e-02 8.06641643e-03 3.25155973e+02] [-7.66533686e-02 9.97057680e-01 -4.93990606e-04 3.49722637e+00] [-8.08054923e-03 -1.25796979e-04 9.99967344e-01 7.31992630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:325.19, Y:3.50, Z:0.74 [[ 9.97174698e-01 7.46835600e-02 8.06149178e-03 3.25185230e+02] [-7.46814381e-02 9.97207283e-01 -5.64338775e-04 3.49649307e+00] [-8.08112514e-03 -3.92994510e-05 9.99967346e-01 7.41253991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:325.22, Y:3.49, Z:0.74 [[ 9.97112872e-01 7.55040685e-02 8.06577991e-03 3.25216685e+02] [-7.55024705e-02 9.97145488e-01 -5.02863306e-04 3.49384378e+00] [-8.08072427e-03 -1.07574835e-04 9.99967345e-01 7.41001864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:325.25, Y:3.49, Z:0.74 [[ 9.96961866e-01 7.74726556e-02 8.06383432e-03 3.25249047e+02] [-7.74708971e-02 9.96994473e-01 -5.30668441e-04 3.49045816e+00] [-8.08071054e-03 -9.56562795e-05 9.99967346e-01 7.39357165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:325.28, Y:3.49, Z:0.74 [[ 9.97029801e-01 7.65937534e-02 8.06052755e-03 3.25279920e+02] [-7.65915854e-02 9.97062383e-01 -5.77763932e-04 3.48798550e+00] [-8.08110191e-03 -4.13207262e-05 9.99967347e-01 7.41070435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:325.31, Y:3.48, Z:0.74 [[ 9.96946163e-01 7.76745171e-02 8.06338641e-03 3.25311984e+02] [-7.76727138e-02 9.96978767e-01 -5.37023117e-04 3.48446250e+00] [-8.08073804e-03 -9.09219695e-05 9.99967346e-01 7.39605701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:325.34, Y:3.48, Z:0.73 [[ 9.96746998e-01 8.01899315e-02 8.06206268e-03 3.25343059e+02] [-8.01880587e-02 9.96779598e-01 -5.55788016e-04 3.48113551e+00] [-8.08066820e-03 -9.25011192e-05 9.99967347e-01 7.28113143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:325.38, Y:3.48, Z:0.73 [[ 9.96448621e-01 8.38162620e-02 8.06099030e-03 3.25375353e+02] [-8.38143854e-02 9.96481221e-01 -5.70929101e-04 3.48432322e+00] [-8.08047859e-03 -1.06725432e-04 9.99967347e-01 7.28810524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:325.41, Y:3.49, Z:0.74 [[ 9.96353018e-01 8.49451927e-02 8.06091342e-03 3.25405938e+02] [-8.49433443e-02 9.96385619e-01 -5.72012417e-04 3.48528679e+00] [-8.08036791e-03 -1.14794646e-04 9.99967347e-01 7.38523970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:325.44, Y:3.48, Z:0.73 [[ 9.96235772e-01 8.63093958e-02 8.06066664e-03 3.25436783e+02] [-8.63075640e-02 9.96268374e-01 -5.75488801e-04 3.48436164e+00] [-8.08025734e-03 -1.22373972e-04 9.99967347e-01 7.28947677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:325.47, Y:3.48, Z:0.74 [[ 9.96067235e-01 8.82331385e-02 8.06086096e-03 3.25468161e+02] [-8.82313917e-02 9.96099841e-01 -5.72754037e-04 3.48386201e+00] [-8.07995820e-03 -1.40719451e-04 9.99967347e-01 7.37088380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:325.50, Y:3.48, Z:0.74 [[ 9.96022565e-01 8.87360505e-02 8.06000025e-03 3.25500358e+02] [-8.87342220e-02 9.96055167e-01 -5.84894107e-04 3.48341025e+00] [-8.08010609e-03 -1.32630123e-04 9.99967347e-01 7.36168578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:325.53, Y:3.49, Z:0.74 [[ 9.95946459e-01 8.95862244e-02 8.05969691e-03 3.25532946e+02] [-8.95843891e-02 9.95979061e-01 -5.89171087e-04 3.48622227e+00] [-8.08007097e-03 -1.35240166e-04 9.99967347e-01 7.36708686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:325.56, Y:3.49, Z:0.73 [[ 9.95913170e-01 8.99555107e-02 8.06002511e-03 3.25564060e+02] [-8.99537249e-02 9.95945774e-01 -5.84553877e-04 3.48568179e+00] [-8.07993179e-03 -1.42864377e-04 9.99967347e-01 7.26813997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.60, Y:3.49, Z:0.73 [[ 9.96075450e-01 8.81403380e-02 8.06093495e-03 3.25596540e+02] [-8.81385965e-02 9.96108057e-01 -5.71725727e-04 3.48674370e+00] [-8.07995435e-03 -1.40997533e-04 9.99967347e-01 7.27080299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:325.63, Y:3.49, Z:0.73 [[ 9.96219316e-01 8.64991175e-02 8.06085791e-03 3.25628773e+02] [-8.64973135e-02 9.96251919e-01 -5.72809885e-04 3.48614384e+00] [-8.08019271e-03 -1.26598282e-04 9.99967347e-01 7.26355670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33864 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:325.66, Y:3.49, Z:0.74 [[ 9.96391244e-01 8.44956351e-02 8.06078039e-03 3.25658583e+02] [-8.44937567e-02 9.96423843e-01 -5.73898773e-04 3.48623889e+00] [-8.08044571e-03 -1.09257904e-04 9.99967347e-01 7.37400785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36864 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:325.69, Y:3.48, Z:0.74 [[ 9.96334710e-01 8.51593393e-02 8.06425660e-03 3.25689970e+02] [-8.51578783e-02 9.96367332e-01 -5.25003672e-04 3.48461095e+00] [-8.07967080e-03 -1.63655601e-04 9.99967346e-01 7.37618351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:325.72, Y:3.48, Z:0.73 [[ 9.96002920e-01 8.89558365e-02 8.06495170e-03 3.25722188e+02] [-8.89545788e-02 9.96035550e-01 -5.15238269e-04 3.48347025e+00] [-8.07881206e-03 -2.04235561e-04 9.99967345e-01 7.25857980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:325.75, Y:3.48, Z:0.73 [[ 9.95784290e-01 9.13710886e-02 8.06057610e-03 3.25754706e+02] [-9.13694149e-02 9.95816900e-01 -5.76425641e-04 3.48421877e+00] [-8.07952654e-03 -1.62494524e-04 9.99967347e-01 7.25280490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:325.79, Y:3.48, Z:0.72 [[ 9.95640888e-01 9.29206689e-02 8.06049849e-03 3.25787264e+02] [-9.29190372e-02 9.95673500e-01 -5.77508902e-04 3.48432587e+00] [-8.07928726e-03 -1.73982283e-04 9.99967347e-01 7.23742570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:325.82, Y:3.49, Z:0.72 [[ 9.95429981e-01 9.51534709e-02 8.06042085e-03 3.25818671e+02] [-9.51519036e-02 9.95462596e-01 -5.78590457e-04 3.48639407e+00] [-8.07890236e-03 -1.91018100e-04 9.99967347e-01 7.24425377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:325.85, Y:3.49, Z:0.72 [[ 9.95304867e-01 9.64533659e-02 8.06038232e-03 3.25850434e+02] [-9.64518367e-02 9.95337484e-01 -5.79126809e-04 3.48633787e+00] [-8.07865939e-03 -2.01030948e-04 9.99967347e-01 7.24400304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:325.88, Y:3.49, Z:0.72 [[ 9.94958687e-01 9.99611997e-02 8.06034384e-03 3.25881626e+02] [-9.99597813e-02 9.94991310e-01 -5.79661798e-04 3.48860134e+00] [-8.07791576e-03 -2.28970665e-04 9.99967347e-01 7.23044348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:325.91, Y:3.49, Z:0.72 [[ 9.94871253e-01 1.00827685e-01 8.06030536e-03 3.25912723e+02] [-1.00826290e-01 9.94903876e-01 -5.80196469e-04 3.48882416e+00] [-8.07772891e-03 -2.35469902e-04 9.99967347e-01 7.22835646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:325.94, Y:3.49, Z:0.72 [[ 9.94622453e-01 1.03253129e-01 8.06026694e-03 3.25944157e+02] [-1.03251810e-01 9.94655079e-01 -5.80729684e-04 3.49250800e+00] [-8.07714761e-03 -2.54630367e-04 9.99967347e-01 7.22857083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:325.97, Y:3.49, Z:0.72 [[ 9.94646782e-01 1.03018499e-01 8.06022896e-03 3.25974347e+02] [-1.03017168e-01 9.94679408e-01 -5.81256343e-04 3.49303171e+00] [-8.07722393e-03 -2.52197210e-04 9.99967347e-01 7.22405339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:326.01, Y:3.49, Z:0.72 [[ 9.94554075e-01 1.03909695e-01 8.06022896e-03 3.26005453e+02] [-1.03908393e-01 9.94586702e-01 -5.81256343e-04 3.49405278e+00] [-8.07699471e-03 -2.59434577e-04 9.99967347e-01 7.22790806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:326.04, Y:3.50, Z:0.72 [[ 9.94570791e-01 1.03749574e-01 8.06022896e-03 3.26035564e+02] [-1.03748266e-01 9.94603418e-01 -5.81256343e-04 3.49793492e+00] [-8.07703637e-03 -2.58134201e-04 9.99967347e-01 7.24060419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:326.07, Y:3.50, Z:0.72 [[ 9.94715353e-01 1.02354280e-01 8.06026693e-03 3.26065545e+02] [-1.02352931e-01 9.94747978e-01 -5.80729338e-04 3.50053541e+00] [-8.07737437e-03 -2.47331556e-04 9.99967347e-01 7.23486784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:326.09, Y:3.50, Z:0.72 [[ 9.94881212e-01 1.00729371e-01 8.06030518e-03 3.26094898e+02] [-1.00727973e-01 9.94913835e-01 -5.80197941e-04 3.49934268e+00] [-8.07775211e-03 -2.34670176e-04 9.99967347e-01 7.21833787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:326.12, Y:3.50, Z:0.72 [[ 9.95040590e-01 9.91426020e-02 8.06034375e-03 3.26124425e+02] [-9.91411567e-02 9.95073211e-01 -5.79661656e-04 3.49746078e+00] [-8.07810130e-03 -2.22324927e-04 9.99967347e-01 7.21645324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:326.15, Y:3.50, Z:0.72 [[ 9.95453339e-01 9.49088003e-02 8.06038189e-03 3.26154356e+02] [-9.49072206e-02 9.95485954e-01 -5.79130765e-04 3.49681247e+00] [-8.07896156e-03 -1.88490789e-04 9.99967347e-01 7.21739644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:326.18, Y:3.50, Z:0.72 [[ 9.95658400e-01 9.27328472e-02 8.06042040e-03 3.26183887e+02] [-9.27312005e-02 9.95691011e-01 -5.78594373e-04 3.49526414e+00] [-8.07934284e-03 -1.71370112e-04 9.99967347e-01 7.21365925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:326.21, Y:3.49, Z:0.72 [[ 9.95920316e-01 8.98763218e-02 8.06045902e-03 3.26213493e+02] [-8.98745860e-02 9.95952923e-01 -5.78055765e-04 3.49294485e+00] [-8.07979125e-03 -1.48732937e-04 9.99967347e-01 7.21827124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:326.24, Y:3.49, Z:0.72 [[ 9.96043382e-01 8.85020362e-02 8.06049748e-03 3.26242769e+02] [-8.85002596e-02 9.96075986e-01 -5.77518947e-04 3.49069404e+00] [-8.07997958e-03 -1.38122195e-04 9.99967347e-01 7.22708462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:326.27, Y:3.49, Z:0.72 [[ 9.95896009e-01 9.01452585e-02 8.06053594e-03 3.26272595e+02] [-9.01435401e-02 9.95928617e-01 -5.76981704e-04 3.48912471e+00] [-8.07973057e-03 -1.51991469e-04 9.99967347e-01 7.21060838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:326.30, Y:3.49, Z:0.72 [[ 9.95788294e-01 9.13274323e-02 8.06057420e-03 3.26301717e+02] [-9.13257570e-02 9.95820904e-01 -5.76446763e-04 3.48712351e+00] [-8.07953369e-03 -1.62119101e-04 9.99967347e-01 7.20939855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:326.33, Y:3.49, Z:0.72 [[ 9.95767132e-01 9.15578759e-02 8.06061236e-03 3.26331266e+02] [-9.15562124e-02 9.95799743e-01 -5.75912655e-04 3.48523094e+00] [-8.07948505e-03 -1.64524244e-04 9.99967347e-01 7.20760836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:326.36, Y:3.48, Z:0.73 [[ 9.95870096e-01 9.04310645e-02 8.06065022e-03 3.26360387e+02] [-9.04293684e-02 9.95902705e-01 -5.75382159e-04 3.48481889e+00] [-8.07965579e-03 -1.55913623e-04 9.99967347e-01 7.30487783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:326.39, Y:3.48, Z:0.72 [[ 9.95756200e-01 9.16765631e-02 8.06214542e-03 3.26390682e+02] [-9.16750776e-02 9.95788819e-01 -5.54392665e-04 3.48373530e+00] [-8.07901908e-03 -1.87057874e-04 9.99967347e-01 7.20710618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:326.42, Y:3.48, Z:0.72 [[ 9.95752043e-01 9.17218098e-02 8.06086456e-03 3.26420256e+02] [-9.17201799e-02 9.95784656e-01 -5.72429577e-04 3.48401355e+00] [-8.07938952e-03 -1.69346027e-04 9.99967347e-01 7.20494251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11864 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:326.45, Y:3.48, Z:0.73 [[ 9.95914207e-01 8.99439532e-02 8.06090244e-03 3.26448588e+02] [-8.99422694e-02 9.95946816e-01 -5.71895551e-04 3.48345389e+00] [-8.07966867e-03 -1.55456956e-04 9.99967347e-01 7.28321521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:326.48, Y:3.48, Z:0.72 [[ 9.95574682e-01 9.36267465e-02 8.06756209e-03 3.26480620e+02] [-9.36259411e-02 9.95607329e-01 -4.78286170e-04 3.48341459e+00] [-8.07690432e-03 -2.79163490e-04 9.99967342e-01 7.19168478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:326.51, Y:3.48, Z:0.72 [[ 9.95617680e-01 9.31690005e-02 8.06055465e-03 3.26509799e+02] [-9.31673867e-02 9.95650293e-01 -5.76298123e-04 3.48114055e+00] [-8.07918672e-03 -1.77208212e-04 9.99967347e-01 7.18941529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:326.54, Y:3.48, Z:0.72 [[ 9.95611467e-01 9.32353483e-02 8.06081838e-03 3.26538493e+02] [-9.32337667e-02 9.95644081e-01 -5.72585458e-04 3.48390977e+00] [-8.07909131e-03 -1.81467812e-04 9.99967347e-01 7.18975322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:326.57, Y:3.49, Z:0.72 [[ 9.95688306e-01 9.24111287e-02 8.06108039e-03 3.26567795e+02] [-9.24095501e-02 9.95720920e-01 -5.68872674e-04 3.49023439e+00] [-8.07915655e-03 -1.78500944e-04 9.99967347e-01 7.20172763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:326.60, Y:3.49, Z:0.72 [[ 9.95753691e-01 9.17038814e-02 8.06134134e-03 3.26596730e+02] [-9.17023097e-02 9.95786306e-01 -5.65150413e-04 3.49240184e+00] [-8.07919980e-03 -1.76493011e-04 9.99967347e-01 7.19249655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:326.62, Y:3.49, Z:0.72 [[ 9.95859919e-01 9.05429903e-02 8.06160276e-03 3.26624503e+02] [-9.05414110e-02 9.95892533e-01 -5.61396529e-04 3.49350994e+00] [-8.07932051e-03 -1.70836587e-04 9.99967347e-01 7.19393805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:326.65, Y:3.50, Z:0.72 [[ 9.96085248e-01 8.80294559e-02 8.06189538e-03 3.26653287e+02] [-8.80278286e-02 9.96117860e-01 -5.57162390e-04 3.49819387e+00] [-8.07964468e-03 -1.54689907e-04 9.99967347e-01 7.18653212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:326.68, Y:3.50, Z:0.72 [[ 9.96315841e-01 8.53800081e-02 8.06215114e-03 3.26681847e+02] [-8.53783242e-02 9.96348451e-01 -5.53436652e-04 3.49983415e+00] [-8.07996422e-03 -1.36935249e-04 9.99967347e-01 7.17599551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:326.71, Y:3.50, Z:0.72 [[ 9.96803152e-01 7.94888286e-02 8.06240507e-03 3.26710285e+02] [-7.94869820e-02 9.96835753e-01 -5.49712350e-04 3.50292539e+00] [-8.08058962e-03 -9.29012442e-05 9.99967347e-01 7.17354029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:326.74, Y:3.50, Z:0.72 [[ 9.97106436e-01 7.55893453e-02 8.06269430e-03 3.26738825e+02] [-7.55874058e-02 9.97139031e-01 -5.45436865e-04 3.50280979e+00] [-8.08085640e-03 -6.55795388e-05 9.99967347e-01 7.17937556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:326.77, Y:3.51, Z:0.72 [[ 9.97563504e-01 6.92967903e-02 8.06294590e-03 3.26767360e+02] [-6.92946755e-02 9.97596088e-01 -5.41691871e-04 3.50681064e+00] [-8.08110080e-03 -1.83471789e-05 9.99967347e-01 7.17168249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:326.80, Y:3.51, Z:0.72 [[ 9.97751786e-01 6.65308751e-02 8.06323004e-03 3.26795808e+02] [-6.65287045e-02 9.97784367e-01 -5.37428868e-04 3.50663452e+00] [-8.08112049e-03 -2.15635155e-07 9.99967347e-01 7.16668589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:326.82, Y:3.51, Z:0.72 [[ 9.98176101e-01 5.98285179e-02 8.06349320e-03 3.26824142e+02] [-5.98261605e-02 9.98208669e-01 -5.33450993e-04 3.50544792e+00] [-8.08096440e-03 5.00701935e-05 9.99967347e-01 7.16798559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:326.85, Y:3.50, Z:0.72 [[ 9.98427297e-01 5.54788981e-02 8.06373438e-03 3.26852745e+02] [-5.54764286e-02 9.98459857e-01 -5.29780067e-04 3.50406387e+00] [-8.08070669e-03 8.15996958e-05 9.99967347e-01 7.16838579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:326.88, Y:3.50, Z:0.72 [[ 9.98613844e-01 5.20131118e-02 8.06397097e-03 3.26882783e+02] [-5.20105586e-02 9.98646396e-01 -5.26154070e-04 3.50240213e+00] [-8.08042246e-03 1.06013104e-04 9.99967347e-01 7.15762157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:326.91, Y:3.50, Z:0.71 [[ 9.98963087e-01 4.48076231e-02 8.06400404e-03 3.26912045e+02] [-4.48048391e-02 9.98995621e-01 -5.25646706e-04 3.49757725e+00] [-8.07945770e-03 1.63795252e-04 9.99967347e-01 7.13597134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:326.94, Y:3.49, Z:0.71 [[ 9.99092896e-01 4.18133465e-02 8.06403699e-03 3.26942338e+02] [-4.18104691e-02 9.99125422e-01 -5.25140646e-04 3.49365816e+00] [-8.07894225e-03 1.87503119e-04 9.99967347e-01 7.13157795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:326.97, Y:3.49, Z:0.72 [[ 9.99332334e-01 3.56350578e-02 8.06403699e-03 3.26973358e+02] [-3.56319794e-02 9.99364841e-01 -5.25140646e-04 3.48941672e+00] [-8.07762847e-03 2.37452427e-04 9.99967347e-01 7.16094195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:327.00, Y:3.48, Z:0.71 [[ 9.99413734e-01 3.32740096e-02 8.06400505e-03 3.27004553e+02] [-3.32708505e-02 9.99446234e-01 -5.25630761e-04 3.48481856e+00] [-8.07702932e-03 2.57026296e-04 9.99967347e-01 7.14160128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.04, Y:3.47, Z:0.71 [[ 9.99526127e-01 2.97067810e-02 8.06397309e-03 3.27035741e+02] [-2.97035020e-02 9.99558615e-01 -5.26120524e-04 3.47365178e+00] [-8.07604313e-03 2.86342969e-04 9.99967347e-01 7.12957646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:327.07, Y:3.47, Z:0.71 [[ 9.99566742e-01 2.83072517e-02 8.06392624e-03 3.27067604e+02] [-2.83039214e-02 9.99599225e-01 -5.26837686e-04 3.46704306e+00] [-8.07560775e-03 2.98368696e-04 9.99967347e-01 7.13394777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:327.10, Y:3.46, Z:0.71 [[ 9.99606653e-01 2.68610032e-02 8.06386265e-03 3.27098993e+02] [-2.68576180e-02 9.99639130e-01 -5.27809191e-04 3.45905629e+00] [-8.07513013e-03 3.11025436e-04 9.99967347e-01 7.13305822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:327.13, Y:3.45, Z:0.71 [[ 9.99605948e-01 2.68872385e-02 8.06379890e-03 3.27130459e+02] [-2.68838464e-02 9.99638424e-01 -5.28781372e-04 3.45299210e+00] [-8.07510070e-03 3.11787073e-04 9.99967347e-01 7.12534769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:327.16, Y:3.45, Z:0.71 [[ 9.99598038e-01 2.71797481e-02 8.06373453e-03 3.27162548e+02] [-2.71763576e-02 9.99630514e-01 -5.29761190e-04 3.44590646e+00] [-8.07515387e-03 3.10405313e-04 9.99967347e-01 7.11703826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:327.19, Y:3.44, Z:0.71 [[ 9.99542874e-01 2.91379590e-02 8.06367084e-03 3.27194089e+02] [-2.91346243e-02 9.99575356e-01 -5.30728899e-04 3.43630219e+00] [-8.07571100e-03 2.95554268e-04 9.99967347e-01 7.12480170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:327.23, Y:3.43, Z:0.71 [[ 9.99494823e-01 3.07420963e-02 8.06359049e-03 3.27226288e+02] [-3.07388040e-02 9.99527310e-01 -5.31946862e-04 3.43195714e+00] [-8.07613207e-03 2.83813008e-04 9.99967347e-01 7.11881629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:327.26, Y:3.42, Z:0.71 [[ 9.99361253e-01 3.48147266e-02 8.06352502e-03 3.27257868e+02] [-3.48115586e-02 9.99393752e-01 -5.32937446e-04 3.42458399e+00] [-8.07719059e-03 2.51893160e-04 9.99967347e-01 7.11430836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:327.29, Y:3.42, Z:0.71 [[ 9.99271175e-01 3.73108586e-02 8.06345995e-03 3.27289402e+02] [-3.73077639e-02 9.99303680e-01 -5.33920209e-04 3.42118907e+00] [-8.07776622e-03 2.32701414e-04 9.99967347e-01 7.10505065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:327.32, Y:3.42, Z:0.71 [[ 9.99147113e-01 4.04972653e-02 8.06339388e-03 3.27322016e+02] [-4.04942662e-02 9.99179628e-01 -5.34916165e-04 3.41970021e+00] [-8.07844153e-03 2.07938723e-04 9.99967347e-01 7.11369302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:327.35, Y:3.42, Z:0.71 [[ 9.98875685e-01 4.67156080e-02 8.06331110e-03 3.27354314e+02] [-4.67128013e-02 9.98908217e-01 -5.36161056e-04 3.41992269e+00] [-8.07955480e-03 1.58898393e-04 9.99967347e-01 7.13023549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:327.39, Y:3.42, Z:0.71 [[ 9.98564605e-01 5.29500971e-02 8.06324326e-03 3.27386755e+02] [-5.29474854e-02 9.98597154e-01 -5.37179346e-04 3.41896155e+00] [-8.08037547e-03 1.09479827e-04 9.99967347e-01 7.12441164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:327.42, Y:3.42, Z:0.71 [[ 9.98381705e-01 5.62934872e-02 8.06317539e-03 3.27418314e+02] [-5.62909763e-02 9.98414261e-01 -5.38196128e-04 3.41843193e+00] [-8.08068624e-03 8.34411536e-05 9.99967347e-01 7.10871932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:327.45, Y:3.42, Z:0.71 [[ 9.98239342e-01 5.87639553e-02 8.06314102e-03 3.27449755e+02] [-5.87615208e-02 9.98271904e-01 -5.38710534e-04 3.41826648e+00] [-8.08086390e-03 6.39596199e-05 9.99967347e-01 7.10302650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:327.48, Y:3.42, Z:0.71 [[ 9.98067582e-01 6.16123946e-02 8.06310623e-03 3.27479967e+02] [-6.16100488e-02 9.98100151e-01 -5.39230791e-04 3.42006230e+00] [-8.08101084e-03 4.14204030e-05 9.99967347e-01 7.09721633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:327.51, Y:3.42, Z:0.71 [[ 9.98109768e-01 6.09251862e-02 8.06310623e-03 3.27510749e+02] [-6.09228180e-02 9.98142334e-01 -5.39230791e-04 3.41941315e+00] [-8.08098041e-03 4.69843662e-05 9.99967347e-01 7.09583054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:327.54, Y:3.42, Z:0.71 [[ 9.98234981e-01 5.88379959e-02 8.06310623e-03 3.27541550e+02] [-5.88355596e-02 9.98267542e-01 -5.39230791e-04 3.41956294e+00] [-8.08086450e-03 6.38816709e-05 9.99967347e-01 7.09657124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:327.57, Y:3.42, Z:0.71 [[ 9.98352444e-01 5.68100750e-02 8.06310623e-03 3.27571736e+02] [-5.68075725e-02 9.98385000e-01 -5.39230791e-04 3.41786587e+00] [-8.08071806e-03 8.02968856e-05 9.99967347e-01 7.08277249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:327.60, Y:3.42, Z:0.71 [[ 9.98430775e-01 5.54163673e-02 8.06310623e-03 3.27602120e+02] [-5.54138194e-02 9.98463328e-01 -5.39230791e-04 3.41554834e+00] [-8.08059809e-03 9.15771036e-05 9.99967347e-01 7.07174060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:327.63, Y:3.41, Z:0.71 [[ 9.98515552e-01 5.38672305e-02 8.06310623e-03 3.27632863e+02] [-5.38646321e-02 9.98548101e-01 -5.39230791e-04 3.41347146e+00] [-8.08044629e-03 1.04114080e-04 9.99967347e-01 7.06586121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:327.66, Y:3.41, Z:0.71 [[ 9.98715928e-01 5.00148152e-02 8.06310623e-03 3.27664449e+02] [-5.00120913e-02 9.98748467e-01 -5.39230791e-04 3.41007858e+00] [-8.07998451e-03 1.35285575e-04 9.99967347e-01 7.06384039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:327.70, Y:3.41, Z:0.71 [[ 9.98807316e-01 4.81552872e-02 8.06307210e-03 3.27695395e+02] [-4.81524985e-02 9.98839850e-01 -5.39740606e-04 3.40650877e+00] [-8.07970909e-03 1.50839798e-04 9.99967347e-01 7.07192186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:327.73, Y:3.40, Z:0.71 [[ 9.98876807e-01 4.66916745e-02 8.06303824e-03 3.27726764e+02] [-4.66888341e-02 9.98909336e-01 -5.40246003e-04 3.40275070e+00] [-8.07946916e-03 1.63185347e-04 9.99967347e-01 7.06170009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:327.76, Y:3.40, Z:0.71 [[ 9.98870918e-01 4.68174835e-02 8.06300416e-03 3.27758420e+02] [-4.68146431e-02 9.98903447e-01 -5.40754116e-04 3.40037377e+00] [-8.07947940e-03 1.62676898e-04 9.99967347e-01 7.07486823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:327.79, Y:3.40, Z:0.71 [[ 9.98797260e-01 4.83634347e-02 8.06297005e-03 3.27789297e+02] [-4.83606405e-02 9.98829793e-01 -5.41262227e-04 3.39892559e+00] [-8.07971201e-03 1.50680833e-04 9.99967347e-01 7.07231947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:327.82, Y:3.40, Z:0.71 [[ 9.98658029e-01 5.11578886e-02 8.06293608e-03 3.27820608e+02] [-5.11551814e-02 9.98690570e-01 -5.41767901e-04 3.39821943e+00] [-8.08009393e-03 1.28579906e-04 9.99967347e-01 7.05523022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:327.85, Y:3.40, Z:0.71 [[ 9.98564486e-01 5.29523982e-02 8.06290190e-03 3.27851987e+02] [-5.29497454e-02 9.98597031e-01 -5.42276099e-04 3.39698867e+00] [-8.08030472e-03 1.14569052e-04 9.99967347e-01 7.06169269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:327.88, Y:3.40, Z:0.71 [[ 9.98483991e-01 5.44491486e-02 8.06286772e-03 3.27882476e+02] [-5.44465405e-02 9.98516539e-01 -5.42783826e-04 3.39720925e+00] [-8.08046089e-03 1.02965708e-04 9.99967347e-01 7.06101172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:327.91, Y:3.40, Z:0.71 [[ 9.98471362e-01 5.46802488e-02 8.06286772e-03 3.27913386e+02] [-5.46776483e-02 9.98503911e-01 -5.42783826e-04 3.39568773e+00] [-8.08048450e-03 1.01095461e-04 9.99967347e-01 7.05198131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:327.94, Y:3.39, Z:0.71 [[ 9.98513836e-01 5.38990601e-02 8.06286772e-03 3.27943499e+02] [-5.38964340e-02 9.98546383e-01 -5.42783826e-04 3.39390641e+00] [-8.08040294e-03 1.07417343e-04 9.99967347e-01 7.06015579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:327.97, Y:3.39, Z:0.70 [[ 9.98565869e-01 5.29263234e-02 8.06286772e-03 3.27974242e+02] [-5.29236657e-02 9.98598413e-01 -5.42783826e-04 3.39230550e+00] [-8.08029446e-03 1.15288888e-04 9.99967347e-01 7.04943285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:328.00, Y:3.39, Z:0.71 [[ 9.98640844e-01 5.14922763e-02 8.06286772e-03 3.28004949e+02] [-5.14895719e-02 9.98673385e-01 -5.42783826e-04 3.39071982e+00] [-8.08012057e-03 1.26892492e-04 9.99967347e-01 7.05189745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:328.04, Y:3.39, Z:0.70 [[ 9.98732347e-01 4.96859140e-02 8.06286772e-03 3.28036637e+02] [-4.96831506e-02 9.98764882e-01 -5.42783826e-04 3.38930785e+00] [-8.07987784e-03 1.41507093e-04 9.99967347e-01 7.03783996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:328.07, Y:3.39, Z:0.70 [[ 9.98757139e-01 4.91850457e-02 8.06283358e-03 3.28068221e+02] [-4.91822619e-02 9.98789673e-01 -5.43290424e-04 3.38644295e+00] [-8.07979668e-03 1.46066796e-04 9.99967347e-01 7.03127863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:328.10, Y:3.38, Z:0.70 [[ 9.98794196e-01 4.84266970e-02 8.06279948e-03 3.28099080e+02] [-4.84238845e-02 9.98826728e-01 -5.43796089e-04 3.38241487e+00] [-8.07967387e-03 1.52708307e-04 9.99967347e-01 7.02032868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:328.13, Y:3.38, Z:0.70 [[ 9.98802600e-01 4.82530646e-02 8.06276537e-03 3.28130572e+02] [-4.82502423e-02 9.98835130e-01 -5.44301380e-04 3.37915366e+00] [-8.07963751e-03 1.54619251e-04 9.99967347e-01 7.02336625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:328.16, Y:3.37, Z:0.70 [[ 9.98725442e-01 4.98245299e-02 8.06273160e-03 3.28161987e+02] [-4.98217548e-02 9.98757977e-01 -5.44801056e-04 3.37450119e+00] [-8.07986196e-03 1.42407238e-04 9.99967347e-01 7.02352594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:328.19, Y:3.37, Z:0.70 [[ 9.98673979e-01 5.08456233e-02 8.06269732e-03 3.28192849e+02] [-5.08428773e-02 9.98706516e-01 -5.45308020e-04 3.37218544e+00] [-8.07999487e-03 1.34654199e-04 9.99967347e-01 7.02012672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:328.22, Y:3.37, Z:0.70 [[ 9.98659425e-01 5.11306824e-02 8.06266294e-03 3.28223796e+02] [-5.11279417e-02 9.98691962e-01 -5.45815826e-04 3.37055358e+00] [-8.08002461e-03 1.32856758e-04 9.99967347e-01 7.01397925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:328.26, Y:3.37, Z:0.70 [[ 9.98535705e-01 5.34924167e-02 8.06264583e-03 3.28255267e+02] [-5.34897509e-02 9.98568249e-01 -5.46068427e-04 3.36923779e+00] [-8.08031265e-03 1.13999906e-04 9.99967347e-01 7.00518382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:328.29, Y:3.37, Z:0.70 [[ 9.98450933e-01 5.50520478e-02 8.06261146e-03 3.28286502e+02] [-5.50494287e-02 9.98483481e-01 -5.46575386e-04 3.36608980e+00] [-8.08047445e-03 1.01886550e-04 9.99967347e-01 7.00613739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:328.32, Y:3.36, Z:0.70 [[ 9.98368269e-01 5.65313619e-02 8.06257659e-03 3.28317257e+02] [-5.65287869e-02 9.98400820e-01 -5.47089276e-04 3.36345289e+00] [-8.08061078e-03 9.04288996e-05 9.99967347e-01 7.01679604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:328.35, Y:3.36, Z:0.70 [[ 9.98378548e-01 5.63495401e-02 8.06255901e-03 3.28347475e+02] [-5.63469571e-02 9.98411098e-01 -5.47348235e-04 3.36123079e+00] [-8.08059122e-03 9.21600693e-05 9.99967347e-01 7.00499836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:328.38, Y:3.35, Z:0.70 [[ 9.98434529e-01 5.53487707e-02 8.06255901e-03 3.28378731e+02] [-5.53461550e-02 9.98467077e-01 -5.47348235e-04 3.35484660e+00] [-8.08049478e-03 1.00259737e-04 9.99967347e-01 6.99358583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:328.41, Y:3.35, Z:0.70 [[ 9.98503791e-01 5.40848784e-02 8.06252423e-03 3.28409685e+02] [-5.40822175e-02 9.98536336e-01 -5.47860107e-04 3.34974655e+00] [-8.08035435e-03 1.11001205e-04 9.99967347e-01 6.99244575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:328.44, Y:3.35, Z:0.70 [[ 9.98502415e-01 5.41102908e-02 8.06248933e-03 3.28440713e+02] [-5.41076265e-02 9.98534959e-01 -5.48373220e-04 3.34585849e+00] [-8.08035009e-03 1.11309823e-04 9.99967347e-01 7.00126552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:328.47, Y:3.34, Z:0.70 [[ 9.98499000e-01 5.41732743e-02 8.06245451e-03 3.28472475e+02] [-5.41706079e-02 9.98531544e-01 -5.48884704e-04 3.34371374e+00] [-8.08035003e-03 1.11312766e-04 9.99967347e-01 6.99869333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:328.50, Y:3.34, Z:0.70 [[ 9.98418663e-01 5.56342607e-02 8.06241986e-03 3.28503598e+02] [-5.56316379e-02 9.98451210e-01 -5.49393249e-04 3.34179129e+00] [-8.08049795e-03 9.99988517e-05 9.99967347e-01 7.01057406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:328.53, Y:3.34, Z:0.70 [[ 9.98312355e-01 5.75103420e-02 8.06238512e-03 3.28534604e+02] [-5.75077762e-02 9.98344907e-01 -5.49902549e-04 3.34018322e+00] [-8.08066620e-03 8.53246700e-05 9.99967347e-01 6.99872877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:328.57, Y:3.34, Z:0.70 [[ 9.97864366e-01 6.48205596e-02 8.06235004e-03 3.28565372e+02] [-6.48182282e-02 9.97896936e-01 -5.50416425e-04 3.33765532e+00] [-8.08107270e-03 2.66536927e-05 9.99967347e-01 6.98137802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:328.60, Y:3.34, Z:0.70 [[ 9.97575575e-01 6.91228677e-02 8.06231460e-03 3.28595753e+02] [-6.91206725e-02 9.97608154e-01 -5.50934958e-04 3.33582486e+00] [-8.08111299e-03 -7.67334908e-06 9.99967347e-01 6.97877695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:328.63, Y:3.33, Z:0.70 [[ 9.97318615e-01 7.27363670e-02 8.06231460e-03 3.28626235e+02] [-7.27342898e-02 9.97351202e-01 -5.50934958e-04 3.33499335e+00] [-8.08103216e-03 -3.69490371e-05 9.99967347e-01 6.98484710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:328.66, Y:3.34, Z:0.70 [[ 9.96861480e-01 7.87539742e-02 8.06231460e-03 3.28656936e+02] [-7.87520938e-02 9.96894079e-01 -5.50934958e-04 3.33657153e+00] [-8.08066201e-03 -8.57183175e-05 9.99967347e-01 6.99070357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:328.69, Y:3.34, Z:0.70 [[ 9.96925152e-01 7.79438313e-02 8.06231460e-03 3.28687046e+02] [-7.79419244e-02 9.96957749e-01 -5.50934958e-04 3.33519814e+00] [-8.08072900e-03 -7.91513982e-05 9.99967347e-01 6.99389356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:328.72, Y:3.33, Z:0.70 [[ 9.97055126e-01 7.62631964e-02 8.06235085e-03 3.28716470e+02] [-7.62612388e-02 9.97087720e-01 -5.50403938e-04 3.33336601e+00] [-8.08084659e-03 -6.60617960e-05 9.99967347e-01 6.99010648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:328.75, Y:3.33, Z:0.70 [[ 9.97228526e-01 7.39612416e-02 8.06238765e-03 3.28746244e+02] [-7.39592131e-02 9.97261115e-01 -5.49864351e-04 3.33187171e+00] [-8.08097436e-03 -4.79474302e-05 9.99967347e-01 6.98161177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:328.78, Y:3.33, Z:0.70 [[ 9.97424681e-01 7.12671249e-02 8.06242377e-03 3.28775327e+02] [-7.12650127e-02 9.97457265e-01 -5.49334249e-04 3.32882988e+00] [-8.08107264e-03 -2.66491948e-05 9.99967347e-01 6.97247652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:328.81, Y:3.32, Z:0.70 [[ 9.97448781e-01 7.09290200e-02 8.06245977e-03 3.28805468e+02] [-7.09269010e-02 9.97481365e-01 -5.48805472e-04 3.32477416e+00] [-8.08107961e-03 -2.44399367e-05 9.99967347e-01 6.96519217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:328.84, Y:3.32, Z:0.70 [[ 9.97437231e-01 7.10912517e-02 8.06245977e-03 3.28836031e+02] [-7.10891380e-02 9.97469816e-01 -5.48805472e-04 3.31897685e+00] [-8.08107553e-03 -2.57543048e-05 9.99967347e-01 6.96923474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:328.87, Y:3.32, Z:0.70 [[ 9.97344447e-01 7.23812833e-02 8.06245977e-03 3.28866731e+02] [-7.23792117e-02 9.97377034e-01 -5.48805472e-04 3.31645756e+00] [-8.08103546e-03 -3.62063926e-05 9.99967347e-01 6.97278004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:328.90, Y:3.31, Z:0.70 [[ 9.97048535e-01 7.63493041e-02 8.06245977e-03 3.28896944e+02] [-7.63473622e-02 9.97081130e-01 -5.48805472e-04 3.31249026e+00] [-8.08082741e-03 -6.83618448e-05 9.99967347e-01 6.97044000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:328.93, Y:3.31, Z:0.70 [[ 9.96832063e-01 7.91254436e-02 8.06245977e-03 3.28927308e+02] [-7.91235925e-02 9.96864663e-01 -5.48805472e-04 3.30912221e+00] [-8.08060571e-03 -9.08638910e-05 9.99967347e-01 6.97505104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:328.96, Y:3.31, Z:0.70 [[ 9.96669814e-01 8.11435618e-02 8.06245977e-03 3.28958052e+02] [-8.11417767e-02 9.96702418e-01 -5.48805472e-04 3.30596550e+00] [-8.08040518e-03 -1.07224462e-04 9.99967347e-01 6.98253909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:328.99, Y:3.30, Z:0.70 [[ 9.96419822e-01 8.41578013e-02 8.06245977e-03 3.28988893e+02] [-8.41561149e-02 9.96452431e-01 -5.48805472e-04 3.30395858e+00] [-8.08004390e-03 -1.31664640e-04 9.99967347e-01 6.97484003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:329.02, Y:3.30, Z:0.70 [[ 9.96566136e-01 8.24071154e-02 8.06245977e-03 3.29018702e+02] [-8.24053717e-02 9.96598742e-01 -5.48805472e-04 3.29955063e+00] [-8.08026274e-03 -1.17469045e-04 9.99967347e-01 6.97112947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:329.05, Y:3.30, Z:0.71 [[ 9.96767503e-01 7.99346100e-02 8.06249591e-03 3.29048603e+02] [-7.99327897e-02 9.96800105e-01 -5.48274030e-04 3.29546296e+00] [-8.08052283e-03 -9.79560545e-05 9.99967347e-01 7.07988455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:329.08, Y:3.29, Z:0.70 [[ 9.96960007e-01 7.74968348e-02 8.06128823e-03 3.29078917e+02] [-7.74947905e-02 9.96992596e-01 -5.66113415e-04 3.29144813e+00] [-8.08091668e-03 -6.03154085e-05 9.99967347e-01 6.96829874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:329.11, Y:3.28, Z:0.70 [[ 9.97411452e-01 7.14520009e-02 8.06270915e-03 3.29110098e+02] [-7.14499290e-02 9.97444039e-01 -5.45096100e-04 3.28371308e+00] [-8.08104938e-03 -3.23949031e-05 9.99967347e-01 6.95023784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:329.14, Y:3.28, Z:0.69 [[ 9.97533062e-01 6.97336641e-02 8.06267333e-03 3.29140996e+02] [-6.97315318e-02 9.97565645e-01 -5.45625462e-04 3.27563656e+00] [-8.08109438e-03 -1.79431231e-05 9.99967347e-01 6.94548963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:329.17, Y:3.27, Z:0.69 [[ 9.97569074e-01 6.92165928e-02 8.06263707e-03 3.29172000e+02] [-6.92144393e-02 9.97601656e-01 -5.46160706e-04 3.27212404e+00] [-8.08110347e-03 -1.32178745e-05 9.99967347e-01 6.94731555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:329.20, Y:3.27, Z:0.70 [[ 9.97619228e-01 6.84899282e-02 8.06260097e-03 3.29203196e+02] [-6.84877466e-02 9.97651808e-01 -5.46693145e-04 3.26830381e+00] [-8.08111140e-03 -6.79777858e-06 9.99967347e-01 6.95026155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:329.23, Y:3.26, Z:0.69 [[ 9.97638939e-01 6.82022108e-02 8.06256482e-03 3.29233737e+02] [-6.82000156e-02 9.97671518e-01 -5.47225683e-04 3.25964282e+00] [-8.08111329e-03 -3.93339632e-06 9.99967347e-01 6.94781386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:329.27, Y:3.25, Z:0.69 [[ 9.97622816e-01 6.84376604e-02 8.06252864e-03 3.29265292e+02] [-6.84354685e-02 9.97655395e-01 -5.47758218e-04 3.25322234e+00] [-8.08111249e-03 -5.30682908e-06 9.99967347e-01 6.94115304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:329.30, Y:3.25, Z:0.70 [[ 9.97424691e-01 7.12669766e-02 8.06245587e-03 3.29297232e+02] [-7.12648685e-02 9.97457276e-01 -5.48827186e-04 3.24595682e+00] [-8.08106853e-03 -2.71560708e-05 9.99967347e-01 6.95486440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:329.33, Y:3.24, Z:0.70 [[ 9.97234201e-01 7.38846815e-02 8.06238317e-03 3.29328893e+02] [-7.38826503e-02 9.97266791e-01 -5.49893217e-04 3.24268479e+00] [-8.08097567e-03 -4.72979126e-05 9.99967347e-01 6.95050891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96864 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:329.36, Y:3.24, Z:0.71 [[ 9.96704268e-01 8.07192778e-02 8.06230961e-03 3.29359259e+02] [-8.07174614e-02 9.96736870e-01 -5.50969510e-04 3.23993671e+00] [-8.08047511e-03 -1.01615503e-04 9.99967347e-01 7.07217380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:329.39, Y:3.24, Z:0.70 [[ 9.96383534e-01 8.45863449e-02 8.06251981e-03 3.29389816e+02] [-8.45846799e-02 9.96416144e-01 -5.47897653e-04 3.23811096e+00] [-8.07996956e-03 -1.36049457e-04 9.99967347e-01 6.95433533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02864 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:329.42, Y:3.24, Z:0.71 [[ 9.96193859e-01 8.67916754e-02 8.06227695e-03 3.29420717e+02] [-8.67900537e-02 9.96226471e-01 -5.51448269e-04 3.23688011e+00] [-8.07971484e-03 -1.50376071e-04 9.99967347e-01 7.06291351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05864 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:329.45, Y:3.24, Z:0.71 [[ 9.95856734e-01 9.05778843e-02 8.06304623e-03 3.29451898e+02] [-9.05764777e-02 9.95889356e-01 -5.40209063e-04 3.23611788e+00] [-8.07883291e-03 -1.92351493e-04 9.99967347e-01 7.07131703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:329.48, Y:3.23, Z:0.69 [[ 9.95631011e-01 9.30261437e-02 8.06388920e-03 3.29482842e+02] [-9.30249170e-02 9.95663641e-01 -5.27878517e-04 3.23491237e+00] [-8.07802778e-03 -2.24570402e-04 9.99967347e-01 6.94906847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:329.51, Y:3.23, Z:0.70 [[ 9.95786605e-01 9.13457057e-02 8.06222272e-03 3.29514037e+02] [-9.13442271e-02 9.95819224e-01 -5.52209003e-04 3.23459782e+00] [-8.07895830e-03 -1.86555175e-04 9.99967347e-01 6.95407646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14864 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:329.54, Y:3.23, Z:0.71 [[ 9.96041587e-01 8.85220784e-02 8.06218628e-03 3.29544330e+02] [-8.85205030e-02 9.96074202e-01 -5.52740588e-04 3.23292864e+00] [-8.07946550e-03 -1.63116172e-04 9.99967347e-01 7.07460959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:329.58, Y:3.23, Z:0.69 [[ 9.96011511e-01 8.88596386e-02 8.06434900e-03 3.29575584e+02] [-8.88583298e-02 9.96044138e-01 -5.21158411e-04 3.23167076e+00] [-8.07875750e-03 -1.97504807e-04 9.99967347e-01 6.94648851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:329.61, Y:3.23, Z:0.70 [[ 9.95916758e-01 8.99155813e-02 8.06219598e-03 3.29606500e+02] [-8.99140529e-02 9.95949375e-01 -5.52571767e-04 3.23177782e+00] [-8.07922386e-03 -1.74589233e-04 9.99967347e-01 6.95530317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:329.64, Y:3.24, Z:0.69 [[ 9.95734850e-01 9.19081573e-02 8.06217772e-03 3.29637907e+02] [-9.19066920e-02 9.95767470e-01 -5.52838105e-04 3.23669525e+00] [-8.07886464e-03 -1.90487917e-04 9.99967347e-01 6.94144661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26864 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:329.67, Y:3.24, Z:0.69 [[ 9.95595655e-01 9.34039293e-02 8.06214101e-03 3.29669751e+02] [-9.34025087e-02 9.95628277e-01 -5.53372796e-04 3.23710465e+00] [-8.07858276e-03 -2.02088646e-04 9.99967347e-01 6.94118882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:329.70, Y:3.24, Z:0.69 [[ 9.95695499e-01 9.23335037e-02 8.06210440e-03 3.29700557e+02] [-9.23320437e-02 9.95728119e-01 -5.53905718e-04 3.23717806e+00] [-8.07880811e-03 -1.92869146e-04 9.99967347e-01 6.93868837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:329.73, Y:3.24, Z:0.69 [[ 9.95779693e-01 9.14210317e-02 8.06210440e-03 3.29731109e+02] [-9.14195418e-02 9.95812312e-01 -5.53905718e-04 3.23700260e+00] [-8.07898145e-03 -1.85465825e-04 9.99967347e-01 6.94981733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35864 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:329.76, Y:3.24, Z:0.69 [[ 9.95920953e-01 8.98691119e-02 8.06210440e-03 3.29761812e+02] [-8.98675712e-02 9.95953570e-01 -5.53905718e-04 3.23703221e+00] [-8.07926067e-03 -1.72875431e-04 9.99967347e-01 6.94245756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:329.79, Y:3.24, Z:0.69 [[ 9.96245962e-01 8.61915590e-02 8.06210440e-03 3.29792599e+02] [-8.61898978e-02 9.96278573e-01 -5.53905718e-04 3.23679162e+00] [-8.07984386e-03 -1.43045620e-04 9.99967347e-01 6.92562389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:329.82, Y:3.24, Z:0.69 [[ 9.96430417e-01 8.40322900e-02 8.06210440e-03 3.29823065e+02] [-8.40305582e-02 9.96463024e-01 -5.53905718e-04 3.23568223e+00] [-8.08013490e-03 -1.25534628e-04 9.99967347e-01 6.92538148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:329.85, Y:3.24, Z:0.69 [[ 9.96922347e-01 7.79797200e-02 8.06210440e-03 3.29853782e+02] [-7.79777902e-02 9.96954943e-01 -5.53905718e-04 3.23732744e+00] [-8.08074824e-03 -7.64640973e-05 9.99967347e-01 6.91955999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47864 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:329.88, Y:3.24, Z:0.70 [[ 9.97288079e-01 7.31538746e-02 8.06210440e-03 3.29883020e+02] [-7.31517871e-02 9.97320665e-01 -5.53905718e-04 3.23655526e+00] [-8.08102367e-03 -3.73537752e-05 9.99967347e-01 7.03581065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:329.92, Y:3.23, Z:0.69 [[ 9.97272568e-01 7.33643263e-02 8.06845117e-03 3.29915233e+02] [-7.33629912e-02 9.97305198e-01 -4.61709798e-04 3.23346107e+00] [-8.08058132e-03 -1.31475197e-04 9.99967343e-01 6.90104794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:329.95, Y:3.23, Z:0.69 [[ 9.97674798e-01 6.76757344e-02 8.06182372e-03 3.29946733e+02] [-6.76734385e-02 9.97707369e-01 -5.57540726e-04 3.22805231e+00] [-8.08107292e-03 1.06729989e-05 9.99967348e-01 6.89346629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:329.98, Y:3.22, Z:0.69 [[ 9.97895819e-01 6.43346037e-02 8.06178689e-03 3.29977651e+02] [-6.43321945e-02 9.97928383e-01 -5.58072798e-04 3.22474899e+00] [-8.08098935e-03 3.82660699e-05 9.99967348e-01 6.88171330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:330.01, Y:3.22, Z:0.69 [[ 9.98194436e-01 5.95220684e-02 8.06175011e-03 3.30009137e+02] [-5.95194980e-02 9.98226987e-01 -5.58603529e-04 3.21906415e+00] [-8.08070576e-03 7.77636153e-05 9.99967348e-01 6.87750844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:330.04, Y:3.21, Z:0.69 [[ 9.98296009e-01 5.77934838e-02 8.06171374e-03 3.30040610e+02] [-5.77908527e-02 9.98328555e-01 -5.59127973e-04 3.21379996e+00] [-8.08055299e-03 9.22819124e-05 9.99967348e-01 6.87542226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:330.07, Y:3.21, Z:0.69 [[ 9.98479346e-01 5.45344395e-02 8.06164089e-03 3.30072065e+02] [-5.45316938e-02 9.98511883e-01 -5.60176405e-04 3.20584235e+00] [-8.08019313e-03 1.19709638e-04 9.99967348e-01 6.86984655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:330.10, Y:3.20, Z:0.69 [[ 9.98491036e-01 5.43199984e-02 8.06156904e-03 3.30104168e+02] [-5.43172374e-02 9.98523571e-01 -5.61208449e-04 3.20210710e+00] [-8.08015155e-03 1.22479446e-04 9.99967348e-01 6.87378064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:330.14, Y:3.20, Z:0.69 [[ 9.98432029e-01 5.53940051e-02 8.06149700e-03 3.30135880e+02] [-5.53912707e-02 9.98464567e-01 -5.62241468e-04 3.19730078e+00] [-8.08026391e-03 1.14823327e-04 9.99967348e-01 6.87887600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:330.17, Y:3.19, Z:0.69 [[ 9.98370552e-01 5.64911827e-02 8.06142494e-03 3.30167570e+02] [-5.64884757e-02 9.98403092e-01 -5.63272724e-04 3.19370622e+00] [-8.08037153e-03 1.06977294e-04 9.99967348e-01 6.87261587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:330.20, Y:3.19, Z:0.69 [[ 9.98189069e-01 5.96120556e-02 8.06135222e-03 3.30199848e+02] [-5.96094420e-02 9.98221617e-01 -5.64311585e-04 3.18990316e+00] [-8.08065582e-03 8.27569481e-05 9.99967348e-01 6.86274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:330.23, Y:3.19, Z:0.69 [[ 9.98063104e-01 6.16851421e-02 8.06127918e-03 3.30231752e+02] [-6.16825877e-02 9.98095656e-01 -5.65353000e-04 3.18851385e+00] [-8.08080161e-03 6.70174099e-05 9.99967348e-01 6.86496514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:330.26, Y:3.19, Z:0.69 [[ 9.97884326e-01 6.45127057e-02 8.06120601e-03 3.30263685e+02] [-6.45102351e-02 9.97916885e-01 -5.66394405e-04 3.18712164e+00] [-8.08095322e-03 4.51658047e-05 9.99967348e-01 6.86406314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86864 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:330.29, Y:3.19, Z:0.70 [[ 9.97634004e-01 6.82745374e-02 8.06113234e-03 3.30294548e+02] [-6.82721811e-02 9.97666571e-01 -5.67440965e-04 3.18597021e+00] [-8.08106403e-03 1.57473155e-05 9.99967348e-01 6.97038576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89864 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:330.33, Y:3.19, Z:0.70 [[ 9.97389249e-01 7.17614116e-02 8.06132399e-03 3.30325270e+02] [-7.17591912e-02 9.97421826e-01 -5.64721065e-04 3.18666424e+00] [-8.08106567e-03 -1.52273699e-05 9.99967348e-01 6.97478400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:330.36, Y:3.19, Z:0.70 [[ 9.97135297e-01 7.52075707e-02 8.06352625e-03 3.30356352e+02] [-7.52057163e-02 9.97167897e-01 -5.33375069e-04 3.18673932e+00] [-8.08080336e-03 -7.45761594e-05 9.99967347e-01 6.98036431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95864 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:330.39, Y:3.19, Z:0.70 [[ 9.96945945e-01 7.76773903e-02 8.06265005e-03 3.30387172e+02] [-7.76755157e-02 9.96978544e-01 -5.45851348e-04 3.18655939e+00] [-8.08068941e-03 -8.20862134e-05 9.99967347e-01 6.99985069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:330.42, Y:3.18, Z:0.70 [[ 9.96934584e-01 7.78230202e-02 8.06309982e-03 3.30417933e+02] [-7.78212021e-02 9.96967186e-01 -5.39457285e-04 3.18442718e+00] [-8.08062813e-03 -8.96764973e-05 9.99967347e-01 6.99735442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:330.45, Y:3.19, Z:0.69 [[ 9.96295036e-01 8.56223660e-02 8.06304143e-03 3.30450137e+02] [-8.56207965e-02 9.96327651e-01 -5.40285940e-04 3.18752127e+00] [-8.07969169e-03 -1.52079830e-04 9.99967347e-01 6.85662308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:330.48, Y:3.19, Z:0.69 [[ 9.96065896e-01 8.82482406e-02 8.06099697e-03 3.30481265e+02] [-8.82465228e-02 9.96098503e-01 -5.69237641e-04 3.18860976e+00] [-8.07978124e-03 -1.44356753e-04 9.99967348e-01 6.86687920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07864 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:330.51, Y:3.19, Z:0.69 [[ 9.95577704e-01 9.35951740e-02 8.06099697e-03 3.30512419e+02] [-9.35936312e-02 9.95610319e-01 -5.69237641e-04 3.19225233e+00] [-8.07888967e-03 -1.87737675e-04 9.99967348e-01 6.86375767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:330.54, Y:3.19, Z:0.70 [[ 9.95444606e-01 9.50002988e-02 8.06099697e-03 3.30542507e+02] [-9.49988021e-02 9.95477224e-01 -5.69237641e-04 3.19257344e+00] [-8.07861664e-03 -1.99140517e-04 9.99967348e-01 6.96913414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13864 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:330.57, Y:3.20, Z:0.69 [[ 9.95015131e-01 9.93978097e-02 8.06010764e-03 3.30572888e+02] [-9.93963552e-02 9.95047751e-01 -5.81829763e-04 3.19674542e+00] [-8.07802459e-03 -2.22215905e-04 9.99967348e-01 6.86778812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:330.60, Y:3.20, Z:0.69 [[ 9.95035667e-01 9.91919314e-02 8.06111572e-03 3.30601808e+02] [-9.91905861e-02 9.95068292e-01 -5.67510742e-04 3.19833624e+00] [-8.07765314e-03 -2.34893363e-04 9.99967348e-01 6.86708156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19864 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:330.63, Y:3.20, Z:0.69 [[ 9.95180375e-01 9.77294031e-02 8.06137615e-03 3.30631172e+02] [-9.77280399e-02 9.95212998e-01 -5.63786915e-04 3.20210985e+00] [-8.07788489e-03 -2.26752817e-04 9.99967348e-01 6.86645588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:330.66, Y:3.20, Z:0.70 [[ 9.95554997e-01 9.38363364e-02 8.06163368e-03 3.30660904e+02] [-9.38348756e-02 9.95587617e-01 -5.60080111e-04 3.20181310e+00] [-8.07861853e-03 -1.98871841e-04 9.99967348e-01 6.97679236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25864 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:330.69, Y:3.20, Z:0.69 [[ 9.95571408e-01 9.36619933e-02 8.06239027e-03 3.30691486e+02] [-9.36606153e-02 9.95604032e-01 -5.49152089e-04 3.20222399e+00] [-8.07838293e-03 -2.08408315e-04 9.99967348e-01 6.87719658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:330.72, Y:3.21, Z:0.69 [[ 9.96018502e-01 8.87814798e-02 8.06182153e-03 3.30719946e+02] [-8.87798754e-02 9.96051115e-01 -5.57378216e-04 3.20699116e+00] [-8.07947118e-03 -1.60568495e-04 9.99967348e-01 6.87213219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31864 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:330.75, Y:3.21, Z:0.69 [[ 9.96469388e-01 8.35689034e-02 8.06211590e-03 3.30748278e+02] [-8.35671630e-02 9.96501994e-01 -5.53087265e-04 3.21027757e+00] [-8.08013546e-03 -1.22593625e-04 9.99967348e-01 6.87426607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters Centerline goodness : 0.988701 Centerline is valid? [True, True] Translation: X:330.78, Y:3.21, Z:0.70 [[ 9.96717544e-01 8.05551666e-02 8.06240766e-03 3.30778285e+02] [-8.05533623e-02 9.96750147e-01 -5.48801080e-04 3.21040421e+00] [-8.08041478e-03 -1.02454381e-04 9.99967348e-01 6.98132110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37864 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:330.81, Y:3.21, Z:0.69 [[ 9.96735451e-01 8.03332884e-02 8.06247080e-03 3.30808319e+02] [-8.03314844e-02 9.96768053e-01 -5.47873021e-04 3.21133120e+00] [-8.08042576e-03 -1.01585784e-04 9.99967348e-01 6.87920838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40864 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:330.84, Y:3.21, Z:0.69 [[ 9.96938026e-01 7.77789803e-02 8.06245070e-03 3.30836807e+02] [-7.77770903e-02 9.96970623e-01 -5.48168635e-04 3.21357123e+00] [-8.08066250e-03 -8.05837991e-05 9.99967348e-01 6.86587909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43864 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:330.87, Y:3.21, Z:0.69 [[ 9.97262667e-01 7.34994201e-02 8.06273593e-03 3.30865155e+02] [-7.34974244e-02 9.97295259e-01 -5.43940646e-04 3.21492746e+00] [-8.08090764e-03 -5.01386251e-05 9.99967348e-01 6.85668005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46864 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:330.89, Y:3.21, Z:0.69 [[ 9.97388867e-01 7.17665382e-02 8.06301913e-03 3.30894226e+02] [-7.17645201e-02 9.97421457e-01 -5.39709796e-04 3.21484119e+00] [-8.08096139e-03 -4.03381567e-05 9.99967348e-01 6.86415352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49864 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:330.92, Y:3.21, Z:0.69 [[ 9.97521997e-01 6.98916900e-02 8.06326539e-03 3.30922925e+02] [-6.98896406e-02 9.97554585e-01 -5.36005315e-04 3.21479299e+00] [-8.08100968e-03 -2.88616275e-05 9.99967348e-01 6.86314703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52864 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:330.95, Y:3.22, Z:0.70 [[ 9.97760949e-01 6.63932917e-02 8.06350773e-03 3.30952804e+02] [-6.63911577e-02 9.97793531e-01 -5.32334492e-04 3.21568881e+00] [-8.08105929e-03 -4.20304574e-06 9.99967348e-01 7.00520110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55864 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:330.98, Y:3.21, Z:0.69 [[ 9.97866283e-01 6.47910173e-02 8.06262881e-03 3.30982497e+02] [-6.47887229e-02 9.97898854e-01 -5.45707229e-04 3.21420394e+00] [-8.08104498e-03 2.21754206e-05 9.99967348e-01 6.85625740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58864 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:331.01, Y:3.21, Z:0.69 [[ 9.97958687e-01 6.33516702e-02 8.06377084e-03 3.31010911e+02] [-6.33494697e-02 9.97991265e-01 -5.28274810e-04 3.21236327e+00] [-8.08103996e-03 1.63608289e-05 9.99967348e-01 6.85453474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61864 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:331.04, Y:3.21, Z:0.69 [[ 9.97997614e-01 6.27354359e-02 8.06400830e-03 3.31039434e+02] [-6.27332447e-02 9.98030192e-01 -5.24624891e-04 3.21076254e+00] [-8.08103632e-03 1.76929833e-05 9.99967348e-01 6.86778316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64864 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:331.07, Y:3.21, Z:0.69 [[ 9.98023345e-01 6.23247225e-02 8.06424439e-03 3.31067647e+02] [-6.23225475e-02 9.98055925e-01 -5.20970388e-04 3.20911176e+00] [-8.08103622e-03 1.73563558e-05 9.99967348e-01 6.85576472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67864 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:331.10, Y:3.21, Z:0.70 [[ 9.97890797e-01 6.44121259e-02 8.06447998e-03 3.31097615e+02] [-6.44100487e-02 9.97923383e-01 -5.17297614e-04 3.20782252e+00] [-8.08105338e-03 -3.22702036e-06 9.99967348e-01 6.99259290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70864 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:331.13, Y:3.21, Z:0.69 [[ 9.97901017e-01 6.42537792e-02 8.06301896e-03 3.31126530e+02] [-6.42515129e-02 9.97933591e-01 -5.40065195e-04 3.20618544e+00] [-8.08105870e-03 2.08704406e-05 9.99967347e-01 6.85254356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73864 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:331.15, Y:3.21, Z:0.69 [[ 9.97816133e-01 6.55585832e-02 8.06454066e-03 3.31154929e+02] [-6.55565516e-02 9.97848722e-01 -5.16296390e-04 3.20664231e+00] [-8.08103925e-03 -1.35146077e-05 9.99967348e-01 6.86041581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76864 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:331.18, Y:3.21, Z:0.69 [[ 9.97794103e-01 6.58930007e-02 8.06477174e-03 3.31183780e+02] [-6.58910094e-02 9.97826694e-01 -5.12661114e-04 3.20611011e+00] [-8.08102531e-03 -1.98657143e-05 9.99967348e-01 6.86459626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79864 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:331.21, Y:3.21, Z:0.69 [[ 9.97698143e-01 6.73303139e-02 8.06500232e-03 3.31212451e+02] [-6.73283991e-02 9.97730739e-01 -5.09007762e-04 3.20673923e+00] [-8.08097238e-03 -3.51675960e-05 9.99967348e-01 6.86522290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82864 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:331.24, Y:3.21, Z:0.69 [[ 9.97615103e-01 6.85496706e-02 8.06523237e-03 3.31240772e+02] [-6.85478252e-02 9.97647703e-01 -5.05336153e-04 3.20641314e+00] [-8.08090118e-03 -4.87231601e-05 9.99967348e-01 6.85811550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85864 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:331.27, Y:3.21, Z:0.70 [[ 9.97493592e-01 7.02956735e-02 8.06549478e-03 3.31270264e+02] [-7.02939194e-02 9.97526197e-01 -5.01112651e-04 3.21008551e+00] [-8.08076838e-03 -6.70985818e-05 9.99967348e-01 6.96788475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88864 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:331.30, Y:3.21, Z:0.68 [[ 9.97263835e-01 7.34831000e-02 8.06704177e-03 3.31301444e+02] [-7.34816516e-02 9.97296455e-01 -4.76198054e-04 3.21089878e+00] [-8.08022467e-03 -1.17884455e-04 9.99967348e-01 6.84981918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91864 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:331.33, Y:3.21, Z:0.70 [[ 9.97220712e-01 7.40661905e-02 8.06546617e-03 3.31331327e+02] [-7.40645562e-02 9.97253323e-01 -5.01536197e-04 3.21385950e+00] [-8.08045981e-03 -9.72228885e-05 9.99967348e-01 6.97005473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94864 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:331.36, Y:3.22, Z:0.69 [[ 9.97236682e-01 7.38509624e-02 8.06446906e-03 3.31360214e+02] [-7.38491906e-02 9.97269286e-01 -5.17667519e-04 3.21503205e+00] [-8.08067755e-03 -7.93174740e-05 9.99967348e-01 6.85605576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97864 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:331.39, Y:3.22, Z:0.69 [[ 9.97349634e-01 7.23094130e-02 8.06575942e-03 3.31389187e+02] [-7.23077603e-02 9.97382244e-01 -4.96714454e-04 3.21603137e+00] [-8.08056236e-03 -8.78190191e-05 9.99967348e-01 6.85620959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00864 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:331.42, Y:3.22, Z:0.68 [[ 9.97448819e-01 7.09280845e-02 8.06598424e-03 3.31418399e+02] [-7.09264163e-02 9.97481429e-01 -4.93036388e-04 3.21787520e+00] [-8.08063961e-03 -8.03127935e-05 9.99967348e-01 6.82787665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03864 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:331.45, Y:3.22, Z:0.68 [[ 9.97518612e-01 6.99396496e-02 8.06620924e-03 3.31446796e+02] [-6.99379791e-02 9.97551222e-01 -4.89327480e-04 3.21807413e+00] [-8.08068027e-03 -7.60211040e-05 9.99967348e-01 6.82054797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06864 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:331.48, Y:3.22, Z:0.70 [[ 9.97642531e-01 6.81491973e-02 8.06646054e-03 3.31476257e+02] [-6.81475021e-02 9.97675139e-01 -4.85149080e-04 3.22367492e+00] [-8.08076966e-03 -6.57037805e-05 9.99967348e-01 6.96253101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09864 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:331.50, Y:3.22, Z:0.70 [[ 9.97789163e-01 6.59676744e-02 8.06547847e-03 3.31504103e+02] [-6.59657751e-02 9.97821760e-01 -5.01576229e-04 3.22474589e+00] [-8.08099774e-03 -3.15782126e-05 9.99967348e-01 6.95977495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12864 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:331.53, Y:3.22, Z:0.68 [[ 9.98065636e-01 6.16434622e-02 8.06655221e-03 3.31533123e+02] [-6.16415678e-02 9.98098233e-01 -4.83499795e-04 3.22412658e+00] [-8.08101611e-03 -1.46703941e-05 9.99967348e-01 6.81278852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15864 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:331.56, Y:3.22, Z:0.69 [[ 9.98235977e-01 5.88205490e-02 8.06698887e-03 3.31562342e+02] [-5.88186222e-02 9.98268573e-01 -4.76101028e-04 3.22316201e+00] [-8.08102599e-03 7.72004995e-07 9.99967348e-01 6.94937241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18864 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:331.59, Y:3.22, Z:0.68 [[ 9.98383352e-01 5.62636683e-02 8.06737193e-03 3.31592591e+02] [-5.62617108e-02 9.98415945e-01 -4.69567711e-04 3.22453804e+00] [-8.08101238e-03 1.49244391e-05 9.99967348e-01 6.80742987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:331.62, Y:3.23, Z:0.68 [[ 9.98610701e-01 5.20729082e-02 8.06719513e-03 3.31620932e+02] [-5.20707895e-02 9.98643284e-01 -4.72585746e-04 3.22694155e+00] [-8.08085916e-03 5.18639634e-05 9.99967348e-01 6.78723160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:331.65, Y:3.22, Z:0.68 [[ 9.98725761e-01 4.98173772e-02 8.06743367e-03 3.31648459e+02] [-4.98152181e-02 9.98758341e-01 -4.68477960e-04 3.22493883e+00] [-8.08075502e-03 6.60000384e-05 9.99967348e-01 6.77875472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:331.68, Y:3.22, Z:0.68 [[ 9.98802063e-01 4.82633645e-02 8.06766807e-03 3.31676520e+02] [-4.82611876e-02 9.98834642e-01 -4.64406033e-04 3.22350129e+00] [-8.08068015e-03 7.44944610e-05 9.99967348e-01 6.78218064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:331.70, Y:3.22, Z:0.68 [[ 9.99022753e-01 4.34562738e-02 8.06790021e-03 3.31704300e+02] [-4.34539730e-02 9.99055324e-01 -4.60337574e-04 3.22249259e+00] [-8.08028321e-03 1.09305393e-04 9.99967348e-01 6.78405612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:331.73, Y:3.22, Z:0.68 [[ 9.99151021e-01 4.03997739e-02 8.06812985e-03 3.31732695e+02] [-4.03974062e-02 9.99183587e-01 -4.56276989e-04 3.21925568e+00] [-8.07997641e-03 1.29958100e-04 9.99967348e-01 6.78698874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:331.76, Y:3.22, Z:0.68 [[ 9.99277619e-01 3.71368099e-02 8.06832507e-03 3.31761748e+02] [-3.71343640e-02 9.99310179e-01 -4.52798372e-04 3.21564427e+00] [-8.07957486e-03 1.52859160e-04 9.99967348e-01 6.78601123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:331.79, Y:3.21, Z:0.68 [[ 9.99509599e-01 3.02566319e-02 8.06835260e-03 3.31791841e+02] [-3.02539658e-02 9.99542142e-01 -4.52307258e-04 3.20888671e+00] [-8.07834373e-03 2.07985783e-04 9.99967348e-01 6.78945087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:331.82, Y:3.20, Z:0.68 [[ 9.99714919e-01 2.24718168e-02 8.06835260e-03 3.31822767e+02] [-2.24688974e-02 9.99747440e-01 -4.52307258e-04 3.20020305e+00] [-8.07647902e-03 2.70891327e-04 9.99967348e-01 6.79637031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:331.85, Y:3.19, Z:0.68 [[ 9.99790722e-01 1.87993382e-02 8.06832564e-03 3.31854413e+02] [-1.87962955e-02 9.99823232e-01 -4.52787681e-04 3.19332219e+00] [-8.07541152e-03 3.01038290e-04 9.99967348e-01 6.78372705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:331.89, Y:3.19, Z:0.68 [[ 9.99864300e-01 1.43626449e-02 8.06827159e-03 3.31886303e+02] [-1.43594502e-02 9.99896795e-01 -4.53748661e-04 3.18556916e+00] [-8.07395594e-03 3.37831143e-04 9.99967348e-01 6.77702981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:331.92, Y:3.17, Z:0.68 [[ 9.99930876e-01 8.55260473e-03 8.06821824e-03 3.31918147e+02] [-8.54921367e-03 9.99963351e-01 -4.54695397e-04 3.17438097e+00] [-8.07181138e-03 3.85687045e-04 9.99967348e-01 6.77913839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:331.94, Y:3.17, Z:0.69 [[ 9.99966077e-01 1.65801957e-03 8.06816545e-03 3.31943694e+02] [-1.65439715e-03 9.99998528e-01 -4.55630197e-04 3.16847147e+00] [-8.06890901e-03 4.42266791e-04 9.99967348e-01 6.94891224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57864 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:331.98, Y:3.16, Z:0.68 [[ 9.99909145e-01 1.07916945e-02 8.07717539e-03 3.31978321e+02] [-1.07896579e-02 9.99941746e-01 -2.95677109e-04 3.15651530e+00] [-8.07989572e-03 2.08500286e-04 9.99967335e-01 6.78895123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:332.01, Y:3.15, Z:0.68 [[ 9.99861999e-01 1.45221423e-02 8.06785992e-03 3.32010575e+02] [-1.45189081e-02 9.99894490e-01 -4.59307681e-04 3.15091784e+00] [-8.07367881e-03 3.42107780e-04 9.99967349e-01 6.79821884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63864 meters Centerline goodness : 0.985756 Centerline is valid? [True, True] Translation: X:332.04, Y:3.14, Z:0.69 [[ 9.99766727e-01 2.00350202e-02 8.06780648e-03 3.32038715e+02] [-2.00319576e-02 9.99799234e-01 -4.60244513e-04 3.14404454e+00] [-8.07540775e-03 2.98523193e-04 9.99967349e-01 6.93751430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters Centerline goodness : 0.986226 Centerline is valid? [True, True] Translation: X:332.07, Y:3.14, Z:0.69 [[ 9.99677638e-01 2.40721066e-02 8.07181796e-03 3.32069985e+02] [-2.40697423e-02 9.99710206e-01 -3.89930532e-04 3.13811687e+00] [-8.07886524e-03 1.95518255e-04 9.99967346e-01 6.93793044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69864 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:332.10, Y:3.13, Z:0.68 [[ 9.99431679e-01 3.27283462e-02 8.07301603e-03 3.32103015e+02] [-3.27264325e-02 9.99464279e-01 -3.69080059e-04 3.12817864e+00] [-8.08077052e-03 1.04669290e-04 9.99967345e-01 6.78897592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:332.13, Y:3.12, Z:0.68 [[ 9.99357938e-01 3.49088817e-02 8.06734841e-03 3.32134885e+02] [-3.49062488e-02 9.99390482e-01 -4.66990060e-04 3.12463256e+00] [-8.07873331e-03 1.85089353e-04 9.99967349e-01 6.78233667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75864 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:332.17, Y:3.12, Z:0.68 [[ 9.99188592e-01 3.94597978e-02 8.06729079e-03 3.32167253e+02] [-3.94573051e-02 9.99221148e-01 -4.67983243e-04 3.12055540e+00] [-8.07947409e-03 1.49289964e-04 9.99967349e-01 6.75734596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:332.20, Y:3.12, Z:0.67 [[ 9.99110498e-01 4.13899966e-02 8.06723209e-03 3.32198027e+02] [-4.13875586e-02 9.99143058e-01 -4.68993039e-04 3.11643150e+00] [-8.07973055e-03 1.34692828e-04 9.99967349e-01 6.74661811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81864 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:332.23, Y:3.11, Z:0.68 [[ 9.98979012e-01 4.44505798e-02 8.06720299e-03 3.32229140e+02] [-4.44482375e-02 9.99011578e-01 -4.69492992e-04 3.11257166e+00] [-8.08009843e-03 1.10440691e-04 9.99967349e-01 6.75948954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:332.26, Y:3.11, Z:0.68 [[ 9.98943980e-01 4.52310130e-02 8.06717372e-03 3.32260662e+02] [-4.52286921e-02 9.98976549e-01 -4.69995411e-04 3.11208077e+00] [-8.08017573e-03 1.04631370e-04 9.99967349e-01 6.76848998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87864 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:332.29, Y:3.11, Z:0.68 [[ 9.98909274e-01 4.59911158e-02 8.06714446e-03 3.32291481e+02] [-4.59888157e-02 9.98941844e-01 -4.70497003e-04 3.11089538e+00] [-8.08024685e-03 9.89853997e-05 9.99967349e-01 6.76764078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90864 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:332.32, Y:3.11, Z:0.68 [[ 9.98906353e-01 4.60545362e-02 8.06711501e-03 3.32323258e+02] [-4.60522341e-02 9.98938922e-01 -4.71001448e-04 3.10905723e+00] [-8.08024693e-03 9.89776695e-05 9.99967349e-01 6.76506914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93864 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:332.35, Y:3.10, Z:0.69 [[ 9.98880229e-01 4.66177065e-02 8.06708508e-03 3.32354007e+02] [-4.66154186e-02 9.98912799e-01 -4.71513609e-04 3.10435378e+00] [-8.08029542e-03 9.49350738e-05 9.99967349e-01 6.87407897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96864 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:332.38, Y:3.10, Z:0.67 [[ 9.99095816e-01 4.17432486e-02 8.06540609e-03 3.32383803e+02] [-4.17405693e-02 9.99128357e-01 -5.00304384e-04 3.10067644e+00] [-8.07926027e-03 1.63197375e-04 9.99967349e-01 6.72810745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99864 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:332.42, Y:3.10, Z:0.67 [[ 9.99208239e-01 3.89591603e-02 8.06714874e-03 3.32415470e+02] [-3.89566315e-02 9.99240792e-01 -4.70420009e-04 3.09826789e+00] [-8.07935126e-03 1.55778607e-04 9.99967349e-01 6.73009593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02864 meters Centerline goodness : 0.986010 Centerline is valid? [True, True] Translation: X:332.45, Y:3.09, Z:0.69 [[ 9.99275545e-01 3.71928233e-02 8.06711956e-03 3.32446217e+02] [-3.71902330e-02 9.99308093e-01 -4.70919957e-04 3.09437725e+00] [-8.07905270e-03 1.70560740e-04 9.99967349e-01 6.87065170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05864 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:332.48, Y:3.08, Z:0.67 [[ 9.99492481e-01 3.08172268e-02 8.06715824e-03 3.32477351e+02] [-3.08144343e-02 9.99525012e-01 -4.70257717e-04 3.08495924e+00] [-8.07781848e-03 2.21434135e-04 9.99967349e-01 6.71479584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08864 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:332.51, Y:3.08, Z:0.67 [[ 9.99533343e-01 2.94621643e-02 8.06706281e-03 3.32509321e+02] [-2.94593145e-02 9.99565869e-01 -4.71889230e-04 3.08017685e+00] [-8.07746352e-03 2.34018879e-04 9.99967349e-01 6.70144396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:332.54, Y:3.07, Z:0.67 [[ 9.99540611e-01 2.92145641e-02 8.06700486e-03 3.32541095e+02] [-2.92116983e-02 9.99573135e-01 -4.72877729e-04 3.07339372e+00] [-8.07737626e-03 2.37009582e-04 9.99967349e-01 6.67910525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14864 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:332.57, Y:3.07, Z:0.67 [[ 9.99518830e-01 2.99504931e-02 8.06694742e-03 3.32572598e+02] [-2.99476433e-02 9.99551356e-01 -4.73855668e-04 3.06797940e+00] [-8.07752044e-03 2.32041599e-04 9.99967349e-01 6.69168890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:332.60, Y:3.06, Z:0.67 [[ 9.99482812e-01 3.11293081e-02 8.06688981e-03 3.32604161e+02] [-3.11264888e-02 9.99515341e-01 -4.74834293e-04 3.05710876e+00] [-8.07776138e-03 2.23494759e-04 9.99967349e-01 6.69887929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:332.64, Y:3.05, Z:0.67 [[ 9.99501911e-01 3.05099246e-02 8.06683137e-03 3.32635577e+02] [-3.05070772e-02 9.99534438e-01 -4.75825090e-04 3.05072535e+00] [-8.07759315e-03 2.29492639e-04 9.99967349e-01 6.69314346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23864 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:332.67, Y:3.04, Z:0.67 [[ 9.99496704e-01 3.06800489e-02 8.06677294e-03 3.32667100e+02] [-3.06771990e-02 9.99529230e-01 -4.76813561e-04 3.04439021e+00] [-8.07760402e-03 2.29107584e-04 9.99967349e-01 6.70082444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26864 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:332.70, Y:3.03, Z:0.67 [[ 9.99499925e-01 3.05749616e-02 8.06671449e-03 3.32698524e+02] [-3.05721003e-02 9.99532450e-01 -4.77800420e-04 3.03168552e+00] [-8.07755163e-03 2.30945079e-04 9.99967349e-01 6.68027665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:332.73, Y:3.02, Z:0.67 [[ 9.99493333e-01 3.07897002e-02 8.06665573e-03 3.32730217e+02] [-3.07868380e-02 9.99525858e-01 -4.78790486e-04 3.02451671e+00] [-8.07757280e-03 2.30201076e-04 9.99967349e-01 6.67697084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32864 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:332.76, Y:3.01, Z:0.68 [[ 9.99422343e-01 3.30137888e-02 8.06659676e-03 3.32760657e+02] [-3.30109910e-02 9.99454874e-01 -4.79781964e-04 3.01332219e+00] [-8.07803886e-03 2.13218462e-04 9.99967349e-01 6.81786616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35864 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:332.79, Y:3.01, Z:0.67 [[ 9.99412295e-01 3.33164821e-02 8.06698582e-03 3.32792128e+02] [-3.33137467e-02 9.99444831e-01 -4.73257310e-04 3.00694494e+00] [-8.07827455e-03 2.04237652e-04 9.99967349e-01 6.68606751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38864 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:332.82, Y:3.00, Z:0.68 [[ 9.99171632e-01 3.98871060e-02 8.06652419e-03 3.32822108e+02] [-3.98845222e-02 9.99204180e-01 -4.80999087e-04 2.99877665e+00] [-8.07929035e-03 1.58871180e-04 9.99967349e-01 6.84378553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41864 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:332.85, Y:2.99, Z:0.67 [[ 9.99055472e-01 4.26977629e-02 8.06632737e-03 3.32853254e+02] [-4.26952440e-02 9.99088025e-01 -4.84300727e-04 2.99484524e+00] [-8.07964964e-03 1.39449476e-04 9.99967349e-01 6.71093761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44864 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:332.88, Y:2.99, Z:0.68 [[ 9.98733371e-01 4.96647280e-02 8.06648493e-03 3.32882364e+02] [-4.96624574e-02 9.98765943e-01 -4.81662159e-04 2.98936450e+00] [-8.08045204e-03 8.04506072e-05 9.99967349e-01 6.83666673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47864 meters Centerline goodness : 0.987828 Centerline is valid? [True, True] Translation: X:332.91, Y:2.99, Z:0.68 [[ 9.98466017e-01 5.47766675e-02 8.07030541e-03 3.32914710e+02] [-5.47750814e-02 9.98498631e-01 -4.17602712e-04 2.98668098e+00] [-8.08106379e-03 -2.50895195e-05 9.99967347e-01 6.83567776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50864 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:332.95, Y:2.99, Z:0.69 [[ 9.98022387e-01 6.23393347e-02 8.06982814e-03 3.32947006e+02] [-6.23379312e-02 9.98055009e-01 -4.25580959e-04 2.98834177e+00] [-8.08066284e-03 -7.83170670e-05 9.99967348e-01 6.85455709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53864 meters Centerline goodness : 0.987465 Centerline is valid? [True, True] Translation: X:332.98, Y:2.99, Z:0.69 [[ 9.97922340e-01 6.39209684e-02 8.06927953e-03 3.32977992e+02] [-6.39195427e-02 9.97954960e-01 -4.34724949e-04 2.98801646e+00] [-8.08056557e-03 -8.19629185e-05 9.99967348e-01 6.86100462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56864 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:333.01, Y:2.98, Z:0.67 [[ 9.97716929e-01 6.70506631e-02 8.07079259e-03 3.33011032e+02] [-6.70495424e-02 9.97749563e-01 -4.09658016e-04 2.98461387e+00] [-8.08009762e-03 -1.32420213e-04 9.99967347e-01 6.71422267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59864 meters Centerline goodness : 0.987791 Centerline is valid? [True, True] Translation: X:333.04, Y:2.98, Z:0.69 [[ 9.97846573e-01 6.50934483e-02 8.06592133e-03 3.33041108e+02] [-6.50916151e-02 9.97879172e-01 -4.89866464e-04 2.98218038e+00] [-8.08070199e-03 -3.62122739e-05 9.99967350e-01 6.85698433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62864 meters Centerline goodness : 0.986148 Centerline is valid? [True, True] Translation: X:333.07, Y:2.98, Z:0.69 [[ 9.97977869e-01 6.30479739e-02 8.07003286e-03 3.33073197e+02] [-6.30466213e-02 9.98010494e-01 -4.22147456e-04 2.98320471e+00] [-8.08059302e-03 -8.74944872e-05 9.99967348e-01 6.85612944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65864 meters Centerline goodness : 0.987068 Centerline is valid? [True, True] Translation: X:333.11, Y:2.98, Z:0.69 [[ 9.97945903e-01 6.35520678e-02 8.06909631e-03 3.33105121e+02] [-6.35506074e-02 9.97978521e-01 -4.37523472e-04 2.98333701e+00] [-8.08059032e-03 -7.61712149e-05 9.99967349e-01 6.85500423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68864 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:333.14, Y:2.98, Z:0.68 [[ 9.97917867e-01 6.39908832e-02 8.06825872e-03 3.33137394e+02] [-6.39893262e-02 9.97950481e-01 -4.51233955e-04 2.98218284e+00] [-8.08059753e-03 -6.59880128e-05 9.99967349e-01 6.84332246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71864 meters Centerline goodness : 0.988200 Centerline is valid? [True, True] Translation: X:333.17, Y:2.98, Z:0.68 [[ 9.97934206e-01 6.37356305e-02 8.06781402e-03 3.33169420e+02] [-6.37340065e-02 9.97966816e-01 -4.58486216e-04 2.97982194e+00] [-8.08063258e-03 -5.66550334e-05 9.99967350e-01 6.82307431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74864 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:333.20, Y:2.98, Z:0.67 [[ 9.97924948e-01 6.38803422e-02 8.06849415e-03 3.33201938e+02] [-6.38788124e-02 9.97957563e-01 -4.47420860e-04 2.97859932e+00] [-8.08059615e-03 -6.89133864e-05 9.99967349e-01 6.66446206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77864 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:333.23, Y:2.98, Z:0.68 [[ 9.98094735e-01 6.11706694e-02 8.06535677e-03 3.33231300e+02] [-6.11686406e-02 9.98127321e-01 -4.98210995e-04 2.97583653e+00] [-8.08072884e-03 3.91486144e-06 9.99967350e-01 6.80560473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80864 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:333.26, Y:2.97, Z:0.68 [[ 9.98198450e-01 5.94538115e-02 8.06840660e-03 3.33263144e+02] [-5.94521254e-02 9.98231057e-01 -4.48871318e-04 2.97233590e+00] [-8.08082116e-03 -3.16212675e-05 9.99967349e-01 6.80312237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83864 meters Centerline goodness : 0.988388 Centerline is valid? [True, True] Translation: X:333.30, Y:2.97, Z:0.68 [[ 9.98479947e-01 5.45224294e-02 8.06842321e-03 3.33295465e+02] [-5.45205844e-02 9.98512546e-01 -4.48604295e-04 2.96762037e+00] [-8.08088080e-03 8.02724435e-06 9.99967349e-01 6.79699441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86864 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:333.33, Y:2.96, Z:0.68 [[ 9.98716622e-01 4.99999867e-02 8.06912087e-03 3.33327692e+02] [-4.99980844e-02 9.98749218e-01 -4.37437226e-04 2.96171848e+00] [-8.08090001e-03 3.34352425e-05 9.99967348e-01 6.80335324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89864 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:333.36, Y:2.96, Z:0.68 [[ 9.98783307e-01 4.86496308e-02 8.06959366e-03 3.33359355e+02] [-4.86477453e-02 9.98815905e-01 -4.29897927e-04 2.95643536e+00] [-8.08095287e-03 3.68073364e-05 9.99967348e-01 6.80248681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters Centerline goodness : 0.984717 Centerline is valid? [True, True] Translation: X:333.39, Y:2.95, Z:0.68 [[ 9.98804902e-01 4.82041727e-02 8.07005380e-03 3.33389034e+02] [-4.82023316e-02 9.98837503e-01 -4.22596771e-04 2.95214521e+00] [-8.08104332e-03 3.30963172e-05 9.99967347e-01 6.82716194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95864 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:333.42, Y:2.95, Z:0.66 [[ 9.98678607e-01 5.07532680e-02 8.07128816e-03 3.33422570e+02] [-5.07516672e-02 9.98711222e-01 -4.03156918e-04 2.94777139e+00] [-8.08134760e-03 -7.00714162e-06 9.99967345e-01 6.64277454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:333.45, Y:2.94, Z:0.66 [[ 9.98658205e-01 5.11542932e-02 8.06401814e-03 3.33454338e+02] [-5.11517888e-02 9.98690757e-01 -5.16633901e-04 2.94309169e+00] [-8.07988842e-03 1.03451731e-04 9.99967352e-01 6.63650343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01864 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:333.49, Y:2.94, Z:0.66 [[ 9.98675412e-01 5.08172708e-02 8.06395121e-03 3.33486503e+02] [-5.08147471e-02 9.98707962e-01 -5.17676446e-04 2.93951725e+00] [-8.07983918e-03 1.07223097e-04 9.99967352e-01 6.63347800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:333.52, Y:2.94, Z:0.68 [[ 9.98743256e-01 4.94659749e-02 8.06388363e-03 3.33515416e+02] [-4.94633987e-02 9.98775802e-01 -5.18726982e-04 2.93687832e+00] [-8.07967118e-03 1.19207984e-04 9.99967352e-01 6.78423711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07864 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:333.55, Y:2.94, Z:0.66 [[ 9.98682929e-01 5.06686491e-02 8.06819436e-03 3.33547967e+02] [-5.06666547e-02 9.98715518e-01 -4.51530460e-04 2.93511868e+00] [-8.08070935e-03 4.21473437e-05 9.99967350e-01 6.64880419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:333.58, Y:2.93, Z:0.66 [[ 9.98681430e-01 5.06988981e-02 8.06373702e-03 3.33580511e+02] [-5.06963471e-02 9.98713978e-01 -5.20575185e-04 2.93185879e+00] [-8.07975946e-03 1.11086759e-04 9.99967352e-01 6.64628445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13864 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:333.61, Y:2.92, Z:0.66 [[ 9.98724572e-01 4.98418223e-02 8.06365275e-03 3.33611922e+02] [-4.98392329e-02 9.98757117e-01 -5.21877299e-04 2.92445568e+00] [-8.07964189e-03 1.19325415e-04 9.99967352e-01 6.63628838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:333.64, Y:2.92, Z:0.66 [[ 9.98677376e-01 5.07787128e-02 8.06358464e-03 3.33644193e+02] [-5.07761454e-02 9.98709923e-01 -5.22927577e-04 2.91967356e+00] [-8.07973558e-03 1.12798194e-04 9.99967352e-01 6.62292940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:333.68, Y:2.92, Z:0.66 [[ 9.98584565e-01 5.25723031e-02 8.06351711e-03 3.33676624e+02] [-5.25697858e-02 9.98617115e-01 -5.23966717e-04 2.91710610e+00] [-8.07991234e-03 9.93277084e-05 9.99967352e-01 6.62393960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters Centerline goodness : 0.986492 Centerline is valid? [True, True] Translation: X:333.71, Y:2.91, Z:0.68 [[ 9.98506522e-01 5.40343071e-02 8.06344928e-03 3.33707193e+02] [-5.40318290e-02 9.98539076e-01 -5.25008627e-04 2.91414982e+00] [-8.08003766e-03 8.85416255e-05 9.99967352e-01 6.77074039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25864 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:333.74, Y:2.91, Z:0.66 [[ 9.98198434e-01 5.94545842e-02 8.06468539e-03 3.33738265e+02] [-5.94524363e-02 9.98231011e-01 -5.06018806e-04 2.91236155e+00] [-8.08050419e-03 2.56419854e-05 9.99967352e-01 6.62783280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:333.77, Y:2.91, Z:0.68 [[ 9.97964499e-01 6.32601110e-02 8.06337160e-03 3.33768948e+02] [-6.32579247e-02 9.97997073e-01 -5.26152821e-04 2.91146613e+00] [-8.08050575e-03 1.50096821e-05 9.99967352e-01 6.75556092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:333.80, Y:2.91, Z:0.66 [[ 9.97475212e-01 7.05562523e-02 8.06324988e-03 3.33800769e+02] [-7.05542891e-02 9.97507801e-01 -5.28018616e-04 2.91324370e+00] [-8.08040967e-03 -4.22113821e-05 9.99967352e-01 6.64381300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:333.83, Y:2.91, Z:0.66 [[ 9.97242076e-01 7.37782080e-02 8.06332103e-03 3.33832824e+02] [-7.37763589e-02 9.97274672e-01 -5.26929798e-04 2.91275083e+00] [-8.08022177e-03 -6.94059009e-05 9.99967352e-01 6.63691182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37864 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:333.87, Y:2.92, Z:0.66 [[ 9.96751415e-01 8.01348912e-02 8.06324989e-03 3.33865823e+02] [-8.01332412e-02 9.96784021e-01 -5.28016217e-04 2.91728509e+00] [-8.07963117e-03 -1.19833437e-04 9.99967352e-01 6.64094612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40864 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:333.90, Y:2.92, Z:0.66 [[ 9.96562644e-01 8.24492627e-02 8.06317922e-03 3.33898115e+02] [-8.24476797e-02 9.96595254e-01 -5.29093232e-04 2.92067973e+00] [-8.07934949e-03 -1.37515868e-04 9.99967352e-01 6.64852689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43864 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:333.93, Y:2.93, Z:0.68 [[ 9.96299414e-01 8.55714010e-02 8.06310875e-03 3.33930338e+02] [-8.55699115e-02 9.96332028e-01 -5.30165000e-04 2.92763147e+00] [-8.07890045e-03 -1.61756423e-04 9.99967352e-01 6.75580154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46864 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:333.96, Y:2.93, Z:0.66 [[ 9.96285665e-01 8.57315031e-02 8.06120669e-03 3.33960863e+02] [-8.57297850e-02 9.96318268e-01 -5.59079360e-04 2.92836793e+00] [-8.07945821e-03 -1.34082764e-04 9.99967352e-01 6.63059335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49864 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:333.99, Y:2.93, Z:0.66 [[ 9.96561585e-01 8.24620801e-02 8.06308855e-03 3.33993767e+02] [-8.24604864e-02 9.96594194e-01 -5.30475692e-04 2.93295415e+00] [-8.07937136e-03 -1.36234508e-04 9.99967352e-01 6.64809325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52864 meters Centerline goodness : 0.987951 Centerline is valid? [True, True] Translation: X:334.03, Y:2.93, Z:0.68 [[ 9.96789711e-01 7.96571383e-02 8.06301791e-03 3.34025761e+02] [-7.96554441e-02 9.96822315e-01 -5.31547219e-04 2.93388761e+00] [-8.07973771e-03 -1.12422474e-04 9.99967352e-01 6.75780385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55864 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:334.06, Y:2.93, Z:0.66 [[ 9.97437100e-01 7.10932686e-02 8.06096938e-03 3.34056506e+02] [-7.10910432e-02 9.97469672e-01 -5.62634908e-04 2.93276950e+00] [-8.08057204e-03 -1.18697915e-05 9.99967352e-01 6.62736284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58864 meters Centerline goodness : 0.987014 Centerline is valid? [True, True] Translation: X:334.09, Y:2.93, Z:0.68 [[ 9.97765820e-01 6.63201046e-02 8.06300331e-03 3.34087393e+02] [-6.63179725e-02 9.97798398e-01 -5.31796866e-04 2.93071799e+00] [-8.08052062e-03 -4.11329600e-06 9.99967352e-01 6.75018973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:334.12, Y:2.93, Z:0.66 [[ 9.98070014e-01 6.15730779e-02 8.06240706e-03 3.34118085e+02] [-6.15707177e-02 9.98102577e-01 -5.40854660e-04 2.93043762e+00] [-8.08041135e-03 4.34026292e-05 9.99967352e-01 6.58913284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64864 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:334.15, Y:2.93, Z:0.67 [[ 9.98370340e-01 5.64946873e-02 8.06316072e-03 3.34149899e+02] [-5.64922542e-02 9.98402897e-01 -5.29375380e-04 2.93142653e+00] [-8.08018992e-03 7.30065532e-05 9.99967352e-01 6.73441450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67864 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:334.18, Y:2.93, Z:0.66 [[ 9.98765558e-01 4.90138811e-02 8.06222851e-03 3.34181269e+02] [-4.90110894e-02 9.98798087e-01 -5.43592953e-04 2.92519659e+00] [-8.07918201e-03 1.47783316e-04 9.99967352e-01 6.58810512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70864 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:334.21, Y:2.92, Z:0.67 [[ 9.98909258e-01 4.59921688e-02 8.06323094e-03 3.34212210e+02] [-4.59894021e-02 9.98941788e-01 -5.28293069e-04 2.92091859e+00] [-8.07899568e-03 1.56893667e-04 9.99967352e-01 6.73643675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:334.24, Y:2.92, Z:0.66 [[ 9.99245724e-01 3.79864900e-02 8.06290373e-03 3.34243423e+02] [-3.79834225e-02 9.99278227e-01 -5.33288522e-04 2.91726063e+00] [-8.07734191e-03 2.26629595e-04 9.99967352e-01 6.57092323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:334.28, Y:2.91, Z:0.66 [[ 9.99359832e-01 3.48555817e-02 8.06316998e-03 3.34275872e+02] [-3.48524451e-02 9.99392329e-01 -5.29232046e-04 2.91269797e+00] [-8.07671692e-03 2.47872060e-04 9.99967352e-01 6.56915692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:334.31, Y:2.91, Z:0.66 [[ 9.99355524e-01 3.49789109e-02 8.06308822e-03 3.34308465e+02] [-3.49757683e-02 9.99388020e-01 -5.30474869e-04 2.91058603e+00] [-8.07670920e-03 2.48120285e-04 9.99967352e-01 6.56651821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:334.34, Y:2.90, Z:0.66 [[ 9.99510151e-01 3.02397892e-02 8.06302263e-03 3.34340388e+02] [-3.02364845e-02 9.99542632e-01 -5.31469866e-04 2.90258568e+00] [-8.07540640e-03 2.87412068e-04 9.99967352e-01 6.57433352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:334.37, Y:2.90, Z:0.66 [[ 9.99544231e-01 2.90915778e-02 8.06295723e-03 3.34372591e+02] [-2.90882278e-02 9.99576706e-01 -5.32460187e-04 2.89916025e+00] [-8.07503434e-03 2.97680371e-04 9.99967352e-01 6.56987186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:334.40, Y:2.90, Z:0.66 [[ 9.99572280e-01 2.81113274e-02 8.06289182e-03 3.34404859e+02] [-2.81079377e-02 9.99604752e-01 -5.33448889e-04 2.89555534e+00] [-8.07470093e-03 3.06589462e-04 9.99967352e-01 6.56760430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:334.44, Y:2.89, Z:0.66 [[ 9.99635243e-01 2.57754187e-02 8.06282718e-03 3.34437117e+02] [-2.57719452e-02 9.99667705e-01 -5.34424071e-04 2.88605680e+00] [-8.07392295e-03 3.26434396e-04 9.99967352e-01 6.55589864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94864 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:334.47, Y:2.88, Z:0.67 [[ 9.99628836e-01 2.60227228e-02 8.06272927e-03 3.34466508e+02] [-2.60192455e-02 9.99661298e-01 -5.35897111e-04 2.87681878e+00] [-8.07394392e-03 3.25912074e-04 9.99967352e-01 6.71321811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97864 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:334.50, Y:2.87, Z:0.67 [[ 9.99630950e-01 2.59407832e-02 8.06467631e-03 3.34498638e+02] [-2.59375387e-02 9.99663437e-01 -5.06661920e-04 2.87207747e+00] [-8.07510524e-03 2.97297083e-04 9.99967352e-01 6.71137441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:334.53, Y:2.87, Z:0.65 [[ 9.99589384e-01 2.74958631e-02 8.06473700e-03 3.34530233e+02] [-2.74926764e-02 9.99621877e-01 -5.05755041e-04 2.86759508e+00] [-8.07559371e-03 2.83826165e-04 9.99967352e-01 6.52931468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:334.56, Y:2.86, Z:0.65 [[ 9.99439962e-01 3.24770498e-02 8.06244842e-03 3.34562193e+02] [-3.24737497e-02 9.99472443e-01 -5.39929058e-04 2.85876104e+00] [-8.07573033e-03 2.77808745e-04 9.99967352e-01 6.54221733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:334.59, Y:2.85, Z:0.65 [[ 9.99231520e-01 3.83584103e-02 8.06238255e-03 3.34594385e+02] [-3.83552934e-02 9.99264019e-01 -5.40910990e-04 2.85305287e+00] [-8.07719727e-03 2.31260263e-04 9.99967352e-01 6.54998919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:334.63, Y:2.85, Z:0.65 [[ 9.99103354e-01 4.15630573e-02 8.06231552e-03 3.34625920e+02] [-4.15600366e-02 9.99135861e-01 -5.41908251e-04 2.85044565e+00] [-8.07787192e-03 2.06352222e-04 9.99967352e-01 6.54797151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:334.66, Y:2.84, Z:0.65 [[ 9.98847947e-01 4.73051625e-02 8.06226464e-03 3.34657432e+02] [-4.73023227e-02 9.98880471e-01 -5.42664111e-04 2.84454184e+00] [-8.07890952e-03 1.60675089e-04 9.99967352e-01 6.53610296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:334.69, Y:2.84, Z:0.65 [[ 9.98732183e-01 4.96893074e-02 8.06219608e-03 3.34689018e+02] [-4.96865370e-02 9.98764713e-01 -5.43680770e-04 2.84040100e+00] [-8.07925208e-03 1.42408878e-04 9.99967352e-01 6.53212165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18864 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:334.72, Y:2.84, Z:0.67 [[ 9.98490601e-01 5.43279050e-02 8.06212655e-03 3.34720234e+02] [-5.43252774e-02 9.98523143e-01 -5.44709812e-04 2.83705169e+00] [-8.07981289e-03 1.05910366e-04 9.99967352e-01 6.70190471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:334.75, Y:2.84, Z:0.65 [[ 9.98412882e-01 5.57380046e-02 8.06178956e-03 3.34751343e+02] [-5.57353827e-02 9.98445424e-01 -5.49697587e-04 2.83531821e+00] [-8.07989594e-03 9.94982252e-05 9.99967352e-01 6.52658474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:334.78, Y:2.83, Z:0.65 [[ 9.98354440e-01 5.67751328e-02 8.06205786e-03 3.34783201e+02] [-5.67725767e-02 9.98386987e-01 -5.45734075e-04 2.83049935e+00] [-8.08003778e-03 8.71322387e-05 9.99967352e-01 6.52264219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27864 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:334.81, Y:2.83, Z:0.66 [[ 9.98347098e-01 5.69040917e-02 8.06198596e-03 3.34814324e+02] [-5.69015313e-02 9.98379646e-01 -5.46794108e-04 2.82646313e+00] [-8.08003751e-03 8.71509648e-05 9.99967352e-01 6.63912209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:334.84, Y:2.82, Z:0.65 [[ 9.98370818e-01 5.64865060e-02 8.06132519e-03 3.34844746e+02] [-5.64838534e-02 9.98403358e-01 -5.56519428e-04 2.82124618e+00] [-8.07988998e-03 1.00278046e-04 9.99967352e-01 6.50770933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33864 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:334.88, Y:2.82, Z:0.66 [[ 9.98309054e-01 5.75676908e-02 8.06185987e-03 3.34876021e+02] [-5.75651369e-02 9.98341602e-01 -5.48663028e-04 2.81722712e+00] [-8.08007536e-03 8.36532013e-05 9.99967352e-01 6.64005340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36864 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:334.91, Y:2.81, Z:0.67 [[ 9.98252496e-01 5.85403499e-02 8.06112311e-03 3.34907799e+02] [-5.85377403e-02 9.98285039e-01 -5.59505154e-04 2.81258030e+00] [-8.08005223e-03 8.66474858e-05 9.99967352e-01 6.66879003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:334.94, Y:2.81, Z:0.65 [[ 9.98295269e-01 5.78065896e-02 8.05946555e-03 3.34938596e+02] [-5.78037591e-02 9.98327794e-01 -5.83884703e-04 2.81085323e+00] [-8.07974085e-03 1.17021931e-04 9.99967352e-01 6.51929609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:334.97, Y:2.81, Z:0.67 [[ 9.98062742e-01 6.16909191e-02 8.06185001e-03 3.34970685e+02] [-6.16884981e-02 9.98095300e-01 -5.48861133e-04 2.81062019e+00] [-8.08035435e-03 5.04744282e-05 9.99967352e-01 6.66206338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:335.00, Y:2.81, Z:0.65 [[ 9.97720562e-01 6.69978679e-02 8.06014283e-03 3.35001188e+02] [-6.69954179e-02 9.97753118e-01 -5.73889254e-04 2.81066497e+00] [-8.08048200e-03 3.25884718e-05 9.99967352e-01 6.51937708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:335.03, Y:2.81, Z:0.65 [[ 9.97557537e-01 6.93827642e-02 8.06180309e-03 3.35033770e+02] [-6.93805888e-02 9.97590112e-01 -5.49532828e-04 2.80918794e+00] [-8.08050315e-03 -1.11420308e-05 9.99967352e-01 6.51217993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51864 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:335.07, Y:2.81, Z:0.66 [[ 9.97305498e-01 7.29160634e-02 8.06172922e-03 3.35065248e+02] [-7.29139947e-02 9.97338080e-01 -5.50614325e-04 2.80689620e+00] [-8.08041817e-03 -3.86821879e-05 9.99967352e-01 6.64990576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:335.10, Y:2.81, Z:0.66 [[ 9.97236682e-01 7.38516244e-02 8.05836122e-03 3.35097980e+02] [-7.38491887e-02 9.97269240e-01 -5.99809030e-04 2.80515851e+00] [-8.08065264e-03 3.04812859e-06 9.99967351e-01 6.64933088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:335.13, Y:2.80, Z:0.65 [[ 9.97384622e-01 7.18262294e-02 8.05652934e-03 3.35126577e+02] [-7.18235112e-02 9.97417160e-01 -6.26584321e-04 2.80430946e+00] [-8.08072580e-03 4.62973411e-05 9.99967349e-01 6.51266501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:335.16, Y:2.80, Z:0.65 [[ 9.97502417e-01 7.01707649e-02 8.06180201e-03 3.35158532e+02] [-7.01686181e-02 9.97534994e-01 -5.49183877e-04 2.80386702e+00] [-8.08046627e-03 -1.78732617e-05 9.99967352e-01 6.50382891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63864 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:335.19, Y:2.80, Z:0.66 [[ 9.97543573e-01 6.95832421e-02 8.06172775e-03 3.35189717e+02] [-6.95810673e-02 9.97576149e-01 -5.50271800e-04 2.80116028e+00] [-8.08047702e-03 -1.20235243e-05 9.99967352e-01 6.64178999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:335.22, Y:2.80, Z:0.65 [[ 9.97628031e-01 6.83618682e-02 8.06017753e-03 3.35219897e+02] [-6.83594703e-02 9.97660591e-01 -5.72938543e-04 2.79750619e+00] [-8.08048863e-03 2.05900842e-05 9.99967352e-01 6.48329753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69864 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:335.25, Y:2.79, Z:0.66 [[ 9.97688888e-01 6.74677032e-02 8.06170598e-03 3.35250002e+02] [-6.74654570e-02 9.97721459e-01 -5.50557831e-04 2.79471162e+00] [-8.08048192e-03 5.39875258e-06 9.99967352e-01 6.60536968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:335.28, Y:2.79, Z:0.65 [[ 9.97662118e-01 6.78620577e-02 8.06474599e-03 3.35281847e+02] [-6.78601840e-02 9.97694712e-01 -5.06061570e-04 2.79010331e+00] [-8.08049682e-03 -4.23966902e-05 9.99967351e-01 6.48487066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:335.31, Y:2.79, Z:0.66 [[ 9.97774895e-01 6.61836099e-02 8.06150382e-03 3.35311084e+02] [-6.61812997e-02 9.97807461e-01 -5.53299704e-04 2.78555499e+00] [-8.08044803e-03 1.85477542e-05 9.99967352e-01 6.58834774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:335.34, Y:2.78, Z:0.66 [[ 9.97759316e-01 6.64177342e-02 8.06421427e-03 3.35342935e+02] [-6.64157515e-02 9.97791904e-01 -5.13706267e-04 2.78073977e+00] [-8.08052691e-03 -2.30356370e-05 9.99967352e-01 6.58651482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81864 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:335.38, Y:2.78, Z:0.66 [[ 9.97744628e-01 6.66382361e-02 8.06244709e-03 3.35375414e+02] [-6.66360528e-02 9.97777202e-01 -5.39421099e-04 2.77892677e+00] [-8.08047197e-03 9.54854262e-07 9.99967352e-01 6.58805787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:335.41, Y:2.78, Z:0.65 [[ 9.97515599e-01 6.99830064e-02 8.06273556e-03 3.35406875e+02] [-6.99809662e-02 9.97548183e-01 -5.35241942e-04 2.77517610e+00] [-8.08042505e-03 -3.03258379e-05 9.99967352e-01 6.48021982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:335.44, Y:2.77, Z:0.65 [[ 9.97423783e-01 7.12798334e-02 8.06115137e-03 3.35439324e+02] [-7.12776505e-02 9.97456357e-01 -5.58123001e-04 2.77093099e+00] [-8.08042960e-03 -1.78947748e-05 9.99967353e-01 6.48045268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:335.47, Y:2.77, Z:0.65 [[ 9.97161477e-01 7.48599269e-02 8.06105648e-03 3.35471347e+02] [-7.48578500e-02 9.97194058e-01 -5.59490090e-04 2.76893296e+00] [-8.08032102e-03 -4.55313924e-05 9.99967353e-01 6.48490415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:335.50, Y:2.77, Z:0.65 [[ 9.97033149e-01 7.65501196e-02 8.06098064e-03 3.35503990e+02] [-7.65480891e-02 9.97065733e-01 -5.60580723e-04 2.76871176e+00] [-8.08024009e-03 -5.81351011e-05 9.99967353e-01 6.47948274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:335.54, Y:2.77, Z:0.65 [[ 9.96853732e-01 7.88521376e-02 8.06090457e-03 3.35536212e+02] [-7.88501735e-02 9.96886320e-01 -5.61672444e-04 2.76834484e+00] [-8.08009456e-03 -7.56984519e-05 9.99967353e-01 6.47061030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:335.57, Y:2.77, Z:0.65 [[ 9.96532035e-01 8.28186314e-02 8.06082823e-03 3.35567914e+02] [-8.28167882e-02 9.96564631e-01 -5.62765881e-04 2.76764523e+00] [-8.07974381e-03 -1.06757675e-04 9.99967353e-01 6.46906755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02864 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:335.60, Y:2.77, Z:0.66 [[ 9.96442796e-01 8.38855122e-02 8.06077102e-03 3.35598829e+02] [-8.38836972e-02 9.96475392e-01 -5.63584108e-04 2.76974355e+00] [-8.07963651e-03 -1.14587951e-04 9.99967353e-01 6.58885668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:335.63, Y:2.77, Z:0.65 [[ 9.96220664e-01 8.64835502e-02 8.06125714e-03 3.35630996e+02] [-8.64818765e-02 9.96253269e-01 -5.56631082e-04 2.77117514e+00] [-8.07919320e-03 -1.42625257e-04 9.99967353e-01 6.46867948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08864 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:335.66, Y:2.78, Z:0.66 [[ 9.96010696e-01 8.88691085e-02 8.06075594e-03 3.35663050e+02] [-8.88674549e-02 9.96043301e-01 -5.63796771e-04 2.77520768e+00] [-8.07896608e-03 -1.54791251e-04 9.99967353e-01 6.58919649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:335.69, Y:2.78, Z:0.65 [[ 9.95978642e-01 8.92278125e-02 8.05862712e-03 3.35693913e+02] [-8.92259244e-02 9.96011236e-01 -5.94234681e-04 2.77584285e+00] [-8.07950542e-03 -1.27193403e-04 9.99967352e-01 6.46620265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:335.73, Y:2.78, Z:0.65 [[ 9.96010307e-01 8.88734629e-02 8.06073600e-03 3.35726370e+02] [-8.88718070e-02 9.96042913e-01 -5.64099821e-04 2.77737979e+00] [-8.07897247e-03 -1.54522938e-04 9.99967353e-01 6.46528374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:335.76, Y:2.78, Z:0.65 [[ 9.96151802e-01 8.72732099e-02 8.06066108e-03 3.35758692e+02] [-8.72714930e-02 9.96184404e-01 -5.65168322e-04 2.78302064e+00] [-8.07922891e-03 -1.40472484e-04 9.99967353e-01 6.47025482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:335.79, Y:2.78, Z:0.65 [[ 9.96480192e-01 8.34401189e-02 8.06058576e-03 3.35790729e+02] [-8.34382679e-02 9.96512787e-01 -5.66240586e-04 2.78381825e+00] [-8.07972396e-03 -1.08313785e-04 9.99967353e-01 6.46617751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:335.82, Y:2.78, Z:0.65 [[ 9.96654964e-01 8.13259535e-02 8.06050892e-03 3.35823069e+02] [-8.13240245e-02 9.96687554e-01 -5.67332254e-04 2.78299836e+00] [-8.07994776e-03 -9.00785171e-05 9.99967353e-01 6.46226258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:335.86, Y:2.79, Z:0.65 [[ 9.96860701e-01 7.87640327e-02 8.06043259e-03 3.35855649e+02] [-7.87620112e-02 9.96893285e-01 -5.68414658e-04 2.78669238e+00] [-8.08016176e-03 -6.82256475e-05 9.99967353e-01 6.45825216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:335.89, Y:2.79, Z:0.65 [[ 9.96963982e-01 7.74457888e-02 8.06035538e-03 3.35887797e+02] [-7.74437154e-02 9.96996563e-01 -5.69507406e-04 2.78684714e+00] [-8.08025256e-03 -5.64454976e-05 9.99967353e-01 6.45499056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:335.92, Y:2.78, Z:0.64 [[ 9.97180727e-01 7.46031539e-02 8.06025243e-03 3.35919971e+02] [-7.46009758e-02 9.97213301e-01 -5.70960764e-04 2.78337483e+00] [-8.08038641e-03 -3.19516269e-05 9.99967353e-01 6.42758447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35864 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:335.95, Y:2.78, Z:0.65 [[ 9.97298337e-01 7.30141139e-02 8.06017394e-03 3.35951814e+02] [-7.30118750e-02 9.97330907e-01 -5.72066689e-04 2.77988524e+00] [-8.08042953e-03 -1.79672540e-05 9.99967353e-01 6.53400088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:335.98, Y:2.78, Z:0.64 [[ 9.97439566e-01 7.10589744e-02 8.05818162e-03 3.35982688e+02] [-7.10564453e-02 9.97472116e-01 -6.00092292e-04 2.77797717e+00] [-8.08045341e-03 2.59700540e-05 9.99967352e-01 6.43002832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41864 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:336.01, Y:2.78, Z:0.65 [[ 9.97595186e-01 6.88395235e-02 8.06010858e-03 3.36014594e+02] [-6.88371408e-02 9.97627746e-01 -5.72986013e-04 2.77670319e+00] [-8.08043204e-03 1.67732582e-05 9.99967353e-01 6.51703895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:336.05, Y:2.77, Z:0.64 [[ 9.97833354e-01 6.52967012e-02 8.05846679e-03 3.36045698e+02] [-6.52940167e-02 9.97865891e-01 -5.96040050e-04 2.77084318e+00] [-8.08018859e-03 6.85789767e-05 9.99967352e-01 6.41568256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47864 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:336.08, Y:2.77, Z:0.65 [[ 9.97774023e-01 6.61969460e-02 8.06003540e-03 3.36078372e+02] [-6.61944688e-02 9.97806576e-01 -5.74014427e-04 2.76694879e+00] [-8.08035433e-03 3.92069221e-05 9.99967353e-01 6.50877093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:336.11, Y:2.76, Z:0.65 [[ 9.97949904e-01 6.34910146e-02 8.05486081e-03 3.36108209e+02] [-6.34878643e-02 9.97982401e-01 -6.46459855e-04 2.76337890e+00] [-8.07965372e-03 1.33748640e-04 9.99967350e-01 6.51786148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:336.14, Y:2.76, Z:0.65 [[ 9.97928096e-01 6.38325321e-02 8.05745661e-03 3.36139765e+02] [-6.38296868e-02 9.97960620e-01 -6.10051678e-04 2.75932025e+00] [-8.07996554e-03 9.44827777e-05 9.99967352e-01 6.51566591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:336.17, Y:2.75, Z:0.65 [[ 9.97803100e-01 6.57575224e-02 8.05744953e-03 3.36171889e+02] [-6.57547390e-02 9.97835629e-01 -6.10150999e-04 2.75328380e+00] [-8.08013224e-03 7.89950671e-05 9.99967352e-01 6.51387860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:336.20, Y:2.75, Z:0.64 [[ 9.97759939e-01 6.64092834e-02 8.05679735e-03 3.36201931e+02] [-6.64064471e-02 9.97792463e-01 -6.19332050e-04 2.75087290e+00] [-8.08014107e-03 8.29214213e-05 9.99967352e-01 6.41195247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.23, Y:2.75, Z:0.64 [[ 9.97418889e-01 7.13484022e-02 8.06012644e-03 3.36233956e+02] [-7.13461057e-02 9.97451455e-01 -5.72459100e-04 2.74967635e+00] [-8.08042889e-03 -4.07711407e-06 9.99967353e-01 6.39628314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65864 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:336.27, Y:2.75, Z:0.65 [[ 9.97187334e-01 7.45148034e-02 8.06004910e-03 3.36265846e+02] [-7.45126016e-02 9.97219907e-01 -5.73545941e-04 2.74706106e+00] [-8.08037908e-03 -2.86424796e-05 9.99967353e-01 6.49823996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:336.30, Y:2.74, Z:0.64 [[ 9.97118843e-01 7.54262876e-02 8.05533389e-03 3.36295278e+02] [-7.54235814e-02 9.97151380e-01 -6.39643484e-04 2.74417084e+00] [-8.08063324e-03 3.02384392e-05 9.99967351e-01 6.38905326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:336.33, Y:2.74, Z:0.64 [[ 9.97108477e-01 7.55626885e-02 8.06013881e-03 3.36327861e+02] [-7.55605339e-02 9.97141053e-01 -5.71928422e-04 2.74183577e+00] [-8.08031175e-03 -3.87537142e-05 9.99967353e-01 6.38640500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:336.36, Y:2.74, Z:0.64 [[ 9.96797765e-01 7.95565913e-02 8.06006010e-03 3.36359585e+02] [-7.95545584e-02 9.96830349e-01 -5.73035461e-04 2.73901108e+00] [-8.08010127e-03 -7.00140548e-05 9.99967353e-01 6.38893588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:336.39, Y:2.74, Z:0.65 [[ 9.96420809e-01 8.41463451e-02 8.05998160e-03 3.36392835e+02] [-8.41444533e-02 9.96453401e-01 -5.74137591e-04 2.73743638e+00] [-8.07970766e-03 -1.06120103e-04 9.99967353e-01 6.49989394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:336.43, Y:2.74, Z:0.65 [[ 9.95931351e-01 8.97546332e-02 8.05291577e-03 3.36425247e+02] [-8.97521262e-02 9.95963906e-01 -6.72908714e-04 2.73969874e+00] [-8.08081012e-03 -5.25954265e-05 9.99967348e-01 6.50056403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:336.45, Y:2.74, Z:0.64 [[ 9.95719838e-01 9.20714036e-02 8.05358505e-03 3.36454638e+02] [-9.20690479e-02 9.95752404e-01 -6.63555144e-04 2.74028611e+00] [-8.08047113e-03 -8.07708872e-05 9.99967349e-01 6.36822853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:336.49, Y:2.74, Z:0.64 [[ 9.95468102e-01 9.47538639e-02 8.06002415e-03 3.36486809e+02] [-9.47523287e-02 9.95500712e-01 -5.72977331e-04 2.74108545e+00] [-8.07805160e-03 -1.93325401e-04 9.99967353e-01 6.36131206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:336.52, Y:2.74, Z:0.64 [[ 9.95383054e-01 9.56431497e-02 8.05994868e-03 3.36519420e+02] [-9.56416351e-02 9.95415666e-01 -5.74037097e-04 2.73984488e+00] [-8.07790189e-03 -1.99479872e-04 9.99967353e-01 6.35458051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.55, Y:2.74, Z:0.63 [[ 9.95361727e-01 9.58648591e-02 8.05987217e-03 3.36551791e+02] [-9.58633430e-02 9.95394338e-01 -5.75109266e-04 2.73863734e+00] [-8.07788390e-03 -2.00204539e-04 9.99967353e-01 6.34602332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.58, Y:2.74, Z:0.64 [[ 9.95639483e-01 9.29357862e-02 8.05979630e-03 3.36584137e+02] [-9.29341656e-02 9.95672089e-01 -5.76170639e-04 2.73949051e+00] [-8.07846109e-03 -1.75372207e-04 9.99967353e-01 6.35817261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:336.62, Y:2.74, Z:0.64 [[ 9.95651674e-01 9.28050940e-02 8.05972053e-03 3.36616159e+02] [-9.28034605e-02 9.95684280e-01 -5.77228529e-04 2.73960153e+00] [-8.07850678e-03 -1.73251406e-04 9.99967353e-01 6.35090122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.65, Y:2.74, Z:0.63 [[ 9.95604686e-01 9.33078344e-02 8.05964430e-03 3.36648792e+02] [-9.33062088e-02 9.95637292e-01 -5.78290922e-04 2.73857313e+00] [-8.07844150e-03 -1.76265703e-04 9.99967353e-01 6.34400229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:336.68, Y:2.74, Z:0.65 [[ 9.95429117e-01 9.51625786e-02 8.05956756e-03 3.36681244e+02] [-9.51610052e-02 9.95461726e-01 -5.79358454e-04 2.73819293e+00] [-8.07812428e-03 -1.90246277e-04 9.99967353e-01 6.46168015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:336.71, Y:2.74, Z:0.64 [[ 9.95268786e-01 9.68254401e-02 8.05468063e-03 3.36710944e+02] [-9.68233724e-02 9.95301369e-01 -6.47181008e-04 2.74159055e+00] [-8.07949825e-03 -1.35762286e-04 9.99967351e-01 6.35553707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:336.74, Y:2.74, Z:0.64 [[ 9.95129274e-01 9.82485141e-02 8.05962531e-03 3.36743208e+02] [-9.82470506e-02 9.95161888e-01 -5.78264283e-04 2.73946379e+00] [-8.07744554e-03 -2.16386700e-04 9.99967353e-01 6.35072034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:336.78, Y:2.74, Z:0.64 [[ 9.95204854e-01 9.74799589e-02 8.05954915e-03 3.36775728e+02] [-9.74784616e-02 9.95237466e-01 -5.79323772e-04 2.73754325e+00] [-8.07763773e-03 -2.09086623e-04 9.99967353e-01 6.35791228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:336.81, Y:2.74, Z:0.64 [[ 9.95327542e-01 9.62191691e-02 8.05947247e-03 3.36808238e+02] [-9.62176219e-02 9.95360152e-01 -5.80388598e-04 2.73692507e+00] [-8.07792225e-03 -1.97786518e-04 9.99967353e-01 6.35414983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19864 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:336.84, Y:2.74, Z:0.64 [[ 9.95617392e-01 9.31721838e-02 8.05937729e-03 3.36840001e+02] [-9.31705261e-02 9.95649996e-01 -5.81707284e-04 2.73809290e+00] [-8.07851790e-03 -1.71738533e-04 9.99967353e-01 6.43756641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:336.87, Y:2.74, Z:0.63 [[ 9.95838776e-01 9.07755411e-02 8.05818114e-03 3.36870293e+02] [-9.07736705e-02 9.95871369e-01 -5.98328242e-04 2.73568824e+00] [-8.07922545e-03 -1.35632216e-04 9.99967353e-01 6.34576636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:336.90, Y:2.73, Z:0.63 [[ 9.96075436e-01 8.81406232e-02 8.05956038e-03 3.36902030e+02] [-8.81388217e-02 9.96108033e-01 -5.79133952e-04 2.73274769e+00] [-8.07923806e-03 -1.33499051e-04 9.99967354e-01 6.34726661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:336.93, Y:2.73, Z:0.64 [[ 9.96186518e-01 8.68761481e-02 8.05950222e-03 3.36934402e+02] [-8.68742987e-02 9.96219112e-01 -5.79942253e-04 2.73095138e+00] [-8.07941329e-03 -1.22432949e-04 9.99967354e-01 6.35450312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:336.97, Y:2.73, Z:0.63 [[ 9.96213738e-01 8.65634714e-02 8.05942473e-03 3.36966550e+02] [-8.65616030e-02 9.96246331e-01 -5.81017094e-04 2.72917052e+00] [-8.07946717e-03 -1.18819514e-04 9.99967354e-01 6.34776597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:337.00, Y:2.73, Z:0.63 [[ 9.96174280e-01 8.70163866e-02 8.05934682e-03 3.36998749e+02] [-8.70145243e-02 9.96206873e-01 -5.82095740e-04 2.72642875e+00] [-8.07942857e-03 -1.21411425e-04 9.99967354e-01 6.34080764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:337.03, Y:2.72, Z:0.63 [[ 9.96120789e-01 8.76266092e-02 8.05926919e-03 3.37031236e+02] [-8.76247582e-02 9.96153383e-01 -5.83168661e-04 2.72473445e+00] [-8.07936935e-03 -1.25285088e-04 9.99967354e-01 6.34353777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:337.06, Y:2.72, Z:0.63 [[ 9.96093097e-01 8.79408359e-02 8.05919099e-03 3.37063089e+02] [-8.79389864e-02 9.96125692e-01 -5.84247287e-04 2.72365949e+00] [-8.07934640e-03 -1.26752397e-04 9.99967354e-01 6.33648059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:337.09, Y:2.72, Z:0.63 [[ 9.96058499e-01 8.83318616e-02 8.05911281e-03 3.37094976e+02] [-8.83300163e-02 9.96091093e-01 -5.85323759e-04 2.72228734e+00] [-8.07931322e-03 -1.28844861e-04 9.99967354e-01 6.32140248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:337.13, Y:2.72, Z:0.63 [[ 9.96041297e-01 8.85256301e-02 8.05903408e-03 3.37126799e+02] [-8.85237823e-02 9.96073891e-01 -5.86405741e-04 2.71972698e+00] [-8.07930537e-03 -1.29331844e-04 9.99967354e-01 6.32502613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:337.16, Y:2.72, Z:0.63 [[ 9.96076362e-01 8.81302177e-02 8.05895478e-03 3.37158821e+02] [-8.81283482e-02 9.96108954e-01 -5.87493526e-04 2.71909125e+00] [-8.07937295e-03 -1.25033960e-04 9.99967354e-01 6.33850624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:337.19, Y:2.72, Z:0.63 [[ 9.96093420e-01 8.79372136e-02 8.05887521e-03 3.37190378e+02] [-8.79353290e-02 9.96126012e-01 -5.88583014e-04 2.71768882e+00] [-8.07941357e-03 -1.22376176e-04 9.99967354e-01 6.33767110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:337.22, Y:2.72, Z:0.63 [[ 9.96197602e-01 8.67490220e-02 8.05883587e-03 3.37222398e+02] [-8.67470941e-02 9.96230192e-01 -5.89121156e-04 2.71544657e+00] [-8.07956129e-03 -1.12199512e-04 9.99967354e-01 6.33032450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:337.25, Y:2.71, Z:0.63 [[ 9.96355850e-01 8.49121692e-02 8.05875736e-03 3.37254599e+02] [-8.49101726e-02 9.96388435e-01 -5.90193176e-04 2.71168188e+00] [-8.07976722e-03 -9.62280546e-05 9.99967354e-01 6.31804135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:337.29, Y:2.71, Z:0.63 [[ 9.96562116e-01 8.24560948e-02 8.05867851e-03 3.37286221e+02] [-8.24540092e-02 9.96594695e-01 -5.91267917e-04 2.70956312e+00] [-8.07998989e-03 -7.52351456e-05 9.99967354e-01 6.31743551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64864 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:337.32, Y:2.71, Z:0.64 [[ 9.96762184e-01 8.00013017e-02 8.05859951e-03 3.37315557e+02] [-7.99991272e-02 9.96794758e-01 -5.92342647e-04 2.70828588e+00] [-8.08015793e-03 -5.42561766e-05 9.99967354e-01 6.43939317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:337.35, Y:2.71, Z:0.63 [[ 9.96590683e-01 8.21095786e-02 8.06391721e-03 3.37347744e+02] [-8.21080587e-02 9.96623297e-01 -5.19912686e-04 2.70628005e+00] [-8.07937757e-03 -1.43972449e-04 9.99967351e-01 6.32233804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:337.38, Y:2.70, Z:0.63 [[ 9.96608000e-01 8.18996775e-02 8.05840998e-03 3.37379817e+02] [-8.18975471e-02 9.96640576e-01 -5.94556149e-04 2.70141117e+00] [-8.08003232e-03 -6.74245966e-05 9.99967354e-01 6.32943352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73864 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:337.41, Y:2.70, Z:0.63 [[ 9.96571209e-01 8.23461537e-02 8.05833040e-03 3.37412008e+02] [-8.23440292e-02 9.96603786e-01 -5.95632749e-04 2.69833691e+00] [-8.08001065e-03 -6.99649454e-05 9.99967354e-01 6.33304681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76864 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:337.44, Y:2.70, Z:0.63 [[ 9.96426955e-01 8.40737009e-02 8.05825090e-03 3.37443630e+02] [-8.40716242e-02 9.96459536e-01 -5.96706367e-04 2.69698135e+00] [-8.07988826e-03 -8.28959329e-05 9.99967354e-01 6.32259409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:337.48, Y:2.69, Z:0.63 [[ 9.96314699e-01 8.53937110e-02 8.05819128e-03 3.37475234e+02] [-8.53916709e-02 9.96347282e-01 -5.97510429e-04 2.69420908e+00] [-8.07978061e-03 -9.27939945e-05 9.99967354e-01 6.32293058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:337.51, Y:2.69, Z:0.63 [[ 9.96103431e-01 8.78238078e-02 8.05810992e-03 3.37507131e+02] [-8.78218384e-02 9.96136018e-01 -5.98605709e-04 2.68906456e+00] [-8.07954536e-03 -1.11404827e-04 9.99967354e-01 6.32402185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85864 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:337.54, Y:2.69, Z:0.64 [[ 9.96105061e-01 8.78053262e-02 8.05802974e-03 3.37536948e+02] [-8.78033474e-02 9.96137647e-01 -5.99683107e-04 2.68636787e+00] [-8.07956216e-03 -1.10174607e-04 9.99967354e-01 6.42261844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:337.57, Y:2.68, Z:0.63 [[ 9.95749323e-01 9.17513756e-02 8.06050226e-03 3.37569012e+02] [-9.17497952e-02 9.95781931e-01 -5.66417805e-04 2.68453856e+00] [-8.07847212e-03 -1.75539286e-04 9.99967353e-01 6.31943108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91864 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:337.60, Y:2.68, Z:0.63 [[ 9.95676613e-01 9.25372919e-02 8.05802701e-03 3.37601447e+02] [-9.25354681e-02 9.95709208e-01 -5.99678443e-04 2.68215423e+00] [-8.07894431e-03 -1.48567500e-04 9.99967354e-01 6.30999508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94864 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:337.63, Y:2.68, Z:0.63 [[ 9.95599062e-01 9.33679671e-02 8.05794640e-03 3.37633793e+02] [-9.33661617e-02 9.95631658e-01 -6.00759666e-04 2.67913948e+00] [-8.07883824e-03 -1.54223767e-04 9.99967354e-01 6.32325716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97864 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:337.67, Y:2.68, Z:0.63 [[ 9.95633593e-01 9.29990288e-02 8.05786558e-03 3.37665862e+02] [-9.29972026e-02 9.95666188e-01 -6.01841725e-04 2.67528731e+00] [-8.07891500e-03 -1.50145119e-04 9.99967354e-01 6.33452528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00864 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:337.70, Y:2.67, Z:0.63 [[ 9.95713078e-01 9.21441227e-02 8.05778509e-03 3.37697508e+02] [-9.21422598e-02 9.95745671e-01 -6.02917413e-04 2.67225227e+00] [-8.07905992e-03 -1.42129775e-04 9.99967354e-01 6.32991577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03864 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:337.73, Y:2.67, Z:0.63 [[ 9.95854330e-01 9.06047801e-02 8.05770337e-03 3.37729777e+02] [-9.06028580e-02 9.95886920e-01 -6.04007602e-04 2.66959984e+00] [-8.07928737e-03 -1.28547369e-04 9.99967354e-01 6.32490478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06864 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:337.76, Y:2.67, Z:0.63 [[ 9.95921974e-01 8.98582011e-02 8.05762108e-03 3.37761652e+02] [-8.98562457e-02 9.95954562e-01 -6.05103443e-04 2.66769206e+00] [-8.07939798e-03 -1.21391764e-04 9.99967354e-01 6.32338947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09864 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:337.79, Y:2.66, Z:0.63 [[ 9.95907264e-01 9.00210956e-02 8.05753948e-03 3.37793583e+02] [-9.00191367e-02 9.95939851e-01 -6.06188005e-04 2.66491574e+00] [-8.07939438e-03 -1.21625712e-04 9.99967354e-01 6.32127274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12864 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:337.83, Y:2.66, Z:0.63 [[ 9.95974416e-01 8.92750852e-02 8.05745760e-03 3.37826147e+02] [-8.92730932e-02 9.96007001e-01 -6.07274496e-04 2.66270417e+00] [-8.07949866e-03 -1.14484301e-04 9.99967354e-01 6.31746233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:337.86, Y:2.66, Z:0.63 [[ 9.96021806e-01 8.87448051e-02 8.05737548e-03 3.37858316e+02] [-8.87427869e-02 9.96054390e-01 -6.08362068e-04 2.66266869e+00] [-8.07957319e-03 -1.09092070e-04 9.99967354e-01 6.32777244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18864 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:337.89, Y:2.66, Z:0.63 [[ 9.96155041e-01 8.72365466e-02 8.05729328e-03 3.37890413e+02] [-8.72344703e-02 9.96187621e-01 -6.09448773e-04 2.66022476e+00] [-8.07974203e-03 -9.57682444e-05 9.99967354e-01 6.32815206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21864 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:337.92, Y:2.66, Z:0.63 [[ 9.96364200e-01 8.48142870e-02 8.05721038e-03 3.37922229e+02] [-8.48121226e-02 9.96396774e-01 -6.10542824e-04 2.65672406e+00] [-8.07996118e-03 -7.50261026e-05 9.99967354e-01 6.33004450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24864 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:337.95, Y:2.65, Z:0.64 [[ 9.96401505e-01 8.43749006e-02 8.05712726e-03 3.37954118e+02] [-8.43727130e-02 9.96434078e-01 -6.11637730e-04 2.65484871e+00] [-8.08000305e-03 -7.03649319e-05 9.99967354e-01 6.42880481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27864 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:337.99, Y:2.65, Z:0.63 [[ 9.96618960e-01 8.17665327e-02 8.05500488e-03 3.37985074e+02] [-8.17640342e-02 9.96651511e-01 -6.39560572e-04 2.65171777e+00] [-8.08032743e-03 -2.12115030e-05 9.99967353e-01 6.32328516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30864 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:338.02, Y:2.65, Z:0.63 [[ 9.96710134e-01 8.06473334e-02 8.05706702e-03 3.38017024e+02] [-8.06450176e-02 9.96742698e-01 -6.12431429e-04 2.64770180e+00] [-8.08021368e-03 -3.93456998e-05 9.99967354e-01 6.32538157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33864 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:338.05, Y:2.64, Z:0.63 [[ 9.96776755e-01 7.98197057e-02 8.05698427e-03 3.38049465e+02] [-7.98173540e-02 9.96809317e-01 -6.13518092e-04 2.64387375e+00] [-8.08024782e-03 -3.15465926e-05 9.99967354e-01 6.33234878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36864 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:338.08, Y:2.64, Z:0.64 [[ 9.96790699e-01 7.96453901e-02 8.05690201e-03 3.38081840e+02] [-7.96430240e-02 9.96823260e-01 -6.14596412e-04 2.64221862e+00] [-8.08025710e-03 -2.90520536e-05 9.99967354e-01 6.43848174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39864 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:338.11, Y:2.64, Z:0.63 [[ 9.96828465e-01 7.91716717e-02 8.05340151e-03 3.38111777e+02] [-7.91689203e-02 9.96860996e-01 -6.60359841e-04 2.64004041e+00] [-8.08040365e-03 2.06863836e-05 9.99967353e-01 6.31630553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:338.14, Y:2.64, Z:0.63 [[ 9.96843396e-01 7.89831148e-02 8.05678674e-03 3.38143622e+02] [-7.89807150e-02 9.96875954e-01 -6.16090336e-04 2.63655419e+00] [-8.08027770e-03 -2.21851953e-05 9.99967354e-01 6.31052352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45864 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:338.18, Y:2.63, Z:0.63 [[ 9.96777600e-01 7.98091835e-02 8.05670450e-03 3.38176188e+02] [-7.98068020e-02 9.96810159e-01 -6.17163978e-04 2.63419166e+00] [-8.08026025e-03 -2.78045921e-05 9.99967354e-01 6.30979098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:338.21, Y:2.63, Z:0.63 [[ 9.96739543e-01 8.02830902e-02 8.05662171e-03 3.38208923e+02] [-8.02807155e-02 9.96772103e-01 -6.18242870e-04 2.63453968e+00] [-8.08025021e-03 -3.05642398e-05 9.99967354e-01 6.31660914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51864 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:338.24, Y:2.63, Z:0.63 [[ 9.96635075e-01 8.15697170e-02 8.05653897e-03 3.38240627e+02] [-8.15673756e-02 9.96667638e-01 -6.19319230e-04 2.63277139e+00] [-8.08020935e-03 -3.99154731e-05 9.99967354e-01 6.32668930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:338.27, Y:2.63, Z:0.63 [[ 9.96572898e-01 8.23258979e-02 8.05645546e-03 3.38272798e+02] [-8.23235725e-02 9.96605461e-01 -6.20403646e-04 2.63108883e+00] [-8.08018279e-03 -4.49587365e-05 9.99967354e-01 6.31881727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57864 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:338.30, Y:2.63, Z:0.63 [[ 9.96508660e-01 8.30998483e-02 8.05637194e-03 3.38304807e+02] [-8.30975395e-02 9.96541225e-01 -6.21486352e-04 2.62990573e+00] [-8.08015218e-03 -5.01481532e-05 9.99967354e-01 6.30414470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:338.34, Y:2.63, Z:0.63 [[ 9.96497415e-01 8.32346004e-02 8.05628790e-03 3.38337386e+02] [-8.32322871e-02 9.96529979e-01 -6.22573777e-04 2.62742159e+00] [-8.08015209e-03 -5.01501091e-05 9.99967354e-01 6.30150502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:338.37, Y:2.63, Z:0.63 [[ 9.96589374e-01 8.21262326e-02 8.05620357e-03 3.38369885e+02] [-8.21238743e-02 9.96621934e-01 -6.23663141e-04 2.62632804e+00] [-8.08020829e-03 -4.00705907e-05 9.99967354e-01 6.30344466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:338.40, Y:2.62, Z:0.63 [[ 9.96593945e-01 8.20707530e-02 8.05611889e-03 3.38401998e+02] [-8.20683841e-02 9.96626505e-01 -6.24755076e-04 2.62353987e+00] [-8.08021573e-03 -3.85255337e-05 9.99967354e-01 6.30096489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69864 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:338.43, Y:2.62, Z:0.64 [[ 9.96627395e-01 8.16635517e-02 8.05603507e-03 3.38433096e+02] [-8.16611607e-02 9.96659954e-01 -6.25834122e-04 2.62157278e+00] [-8.08023537e-03 -3.41417435e-05 9.99967354e-01 6.40223628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:338.46, Y:2.62, Z:0.63 [[ 9.96555099e-01 8.25411295e-02 8.05589525e-03 3.38464411e+02] [-8.25387527e-02 9.96587658e-01 -6.27633160e-04 2.62255992e+00] [-8.08021133e-03 -3.94525206e-05 9.99967354e-01 6.30108528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:338.50, Y:2.62, Z:0.63 [[ 9.96498215e-01 8.32250492e-02 8.05596046e-03 3.38496855e+02] [-8.32227015e-02 9.96530777e-01 -6.26794991e-04 2.62125475e+00] [-8.08017758e-03 -4.58387033e-05 9.99967354e-01 6.30694475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:338.53, Y:2.62, Z:0.63 [[ 9.96640109e-01 8.15082511e-02 8.05587707e-03 3.38528015e+02] [-8.15058387e-02 9.96672666e-01 -6.27864969e-04 2.62058481e+00] [-8.08024866e-03 -3.08456061e-05 9.99967354e-01 6.30020187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:338.56, Y:2.62, Z:0.63 [[ 9.96772303e-01 7.98754028e-02 8.05583486e-03 3.38559687e+02] [-7.98729327e-02 9.96804855e-01 -6.28406096e-04 2.61890358e+00] [-8.08028949e-03 -1.70653642e-05 9.99967354e-01 6.28659580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:338.59, Y:2.62, Z:0.64 [[ 9.97098042e-01 7.57007218e-02 8.05579286e-03 3.38590087e+02] [-7.56981110e-02 9.97130583e-01 -6.28944034e-04 2.61610714e+00] [-8.08028895e-03 1.73105620e-05 9.99967354e-01 6.39215328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:338.62, Y:2.61, Z:0.63 [[ 9.97122692e-01 7.53748754e-02 8.06005175e-03 3.38622651e+02] [-7.53726944e-02 9.97155267e-01 -5.74444493e-04 2.61248317e+00] [-8.08042174e-03 -3.47161776e-05 9.99967352e-01 6.27468983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:338.65, Y:2.61, Z:0.63 [[ 9.97457553e-01 7.08063344e-02 8.05561192e-03 3.38654097e+02] [-7.08035464e-02 9.97490080e-01 -6.31115133e-04 2.60812657e+00] [-8.08007992e-03 5.91446641e-05 9.99967354e-01 6.28012286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:338.69, Y:2.61, Z:0.63 [[ 9.97569189e-01 6.92157571e-02 8.05552880e-03 3.38686014e+02] [-6.92129087e-02 9.97601711e-01 -6.32174317e-04 2.60547406e+00] [-8.07996573e-03 7.30910423e-05 9.99967354e-01 6.28337243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:338.72, Y:2.60, Z:0.63 [[ 9.97679181e-01 6.76118440e-02 8.05544611e-03 3.38717737e+02] [-6.76089348e-02 9.97711697e-01 -6.33226151e-04 2.60275565e+00] [-8.07982640e-03 8.71364168e-05 9.99967354e-01 6.27461631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:338.75, Y:2.60, Z:0.63 [[ 9.97611931e-01 6.85969800e-02 8.05536375e-03 3.38750230e+02] [-6.85940945e-02 9.97644450e-01 -6.34272179e-04 2.59931471e+00] [-8.07989809e-03 8.02071115e-05 9.99967354e-01 6.27373627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:338.78, Y:2.60, Z:0.63 [[ 9.97568854e-01 6.92206121e-02 8.05528044e-03 3.38781700e+02] [-6.92177384e-02 9.97601374e-01 -6.35328456e-04 2.59525577e+00] [-8.07993666e-03 7.62155859e-05 9.99967354e-01 6.28296221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:338.81, Y:2.59, Z:0.64 [[ 9.97677777e-01 6.76325814e-02 8.05521729e-03 3.38810316e+02] [-6.76296495e-02 9.97710292e-01 -6.36128145e-04 2.59201262e+00] [-8.07979618e-03 8.98793925e-05 9.99967354e-01 6.39756604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:338.84, Y:2.59, Z:0.63 [[ 9.97572639e-01 6.91652595e-02 8.06200441e-03 3.38843711e+02] [-6.91630738e-02 9.97605216e-01 -5.49932853e-04 2.58856324e+00] [-8.08073390e-03 -8.99503769e-06 9.99967350e-01 6.28279318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:338.88, Y:2.58, Z:0.63 [[ 9.97620432e-01 6.84732799e-02 8.05503811e-03 3.38875233e+02] [-6.84703611e-02 9.97652947e-01 -6.37899757e-04 2.58372738e+00] [-8.07981160e-03 8.48504634e-05 9.99967354e-01 6.28240471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:338.91, Y:2.58, Z:0.63 [[ 9.97644309e-01 6.81245165e-02 8.05495445e-03 3.38907445e+02] [-6.81215777e-02 9.97676823e-01 -6.38954378e-04 2.57724138e+00] [-8.07976982e-03 8.87329930e-05 9.99967354e-01 6.26664917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:338.94, Y:2.57, Z:0.63 [[ 9.97698656e-01 6.73239263e-02 8.05487072e-03 3.38939683e+02] [-6.73209529e-02 9.97731166e-01 -6.40008182e-04 2.57117501e+00] [-8.07968342e-03 9.62737307e-05 9.99967354e-01 6.26224882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:338.97, Y:2.56, Z:0.63 [[ 9.97741851e-01 6.66807184e-02 8.05478782e-03 3.38971151e+02] [-6.66777157e-02 9.97774359e-01 -6.41049759e-04 2.56469651e+00] [-8.07960642e-03 1.02527321e-04 9.99967354e-01 6.25969690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:339.00, Y:2.56, Z:0.64 [[ 9.97703515e-01 6.72519015e-02 8.05470486e-03 3.39001321e+02] [-6.72489090e-02 9.97736023e-01 -6.42090539e-04 2.55756771e+00] [-8.07965100e-03 9.89458738e-05 9.99967354e-01 6.36418965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:339.03, Y:2.55, Z:0.63 [[ 9.97589098e-01 6.89283103e-02 8.05483624e-03 3.39032727e+02] [-6.89253858e-02 9.97621612e-01 -6.40442730e-04 2.55455703e+00] [-8.07982336e-03 8.37159895e-05 9.99967354e-01 6.27988119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:339.06, Y:2.55, Z:0.63 [[ 9.97211190e-01 7.41954526e-02 8.05466172e-03 3.39064511e+02] [-7.41926822e-02 9.97243718e-01 -6.42630172e-04 2.54987602e+00] [-8.08014104e-03 4.32410412e-05 9.99967354e-01 6.28227391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:339.10, Y:2.55, Z:0.63 [[ 9.96893849e-01 7.83439655e-02 8.05457653e-03 3.39096238e+02] [-7.83413218e-02 9.96926388e-01 -6.43696220e-04 2.54632740e+00] [-8.08024960e-03 1.06906305e-05 9.99967354e-01 6.28497498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:339.13, Y:2.55, Z:0.63 [[ 9.96234789e-01 8.63213203e-02 8.05449054e-03 3.39128384e+02] [-8.63189285e-02 9.96267347e-01 -6.44770402e-04 2.54512362e+00] [-8.08008335e-03 -5.29122872e-05 9.99967354e-01 6.27822159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.16, Y:2.54, Z:0.63 [[ 9.95881867e-01 9.03019009e-02 8.05440441e-03 3.39160469e+02] [-9.02996305e-02 9.95914434e-01 -6.45844573e-04 2.54426263e+00] [-8.07981860e-03 -8.41248426e-05 9.99967354e-01 6.26780010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:339.19, Y:2.54, Z:0.64 [[ 9.95710132e-01 9.21762503e-02 8.05431769e-03 3.39190316e+02] [-9.21740325e-02 9.95742702e-01 -6.46924232e-04 2.54367620e+00] [-8.07965911e-03 -9.82499277e-05 9.99967354e-01 6.35257976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:339.22, Y:2.55, Z:0.63 [[ 9.95211030e-01 9.74171609e-02 8.05615401e-03 3.39222568e+02] [-9.74152997e-02 9.95243623e-01 -6.24044714e-04 2.54709031e+00] [-8.07862858e-03 -1.63736475e-04 9.99967354e-01 6.28436866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.26, Y:2.55, Z:0.63 [[ 9.95097437e-01 9.85708850e-02 8.05424131e-03 3.39255683e+02] [-9.85688692e-02 9.95130021e-01 -6.47824931e-04 2.55093915e+00] [-8.07887400e-03 -1.49248529e-04 9.99967354e-01 6.29175991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:339.29, Y:2.55, Z:0.63 [[ 9.95101717e-01 9.85276777e-02 8.05413264e-03 3.39288077e+02] [-9.85256495e-02 9.95134300e-01 -6.49173093e-04 2.55104905e+00] [-8.07890517e-03 -1.47545391e-04 9.99967354e-01 6.28717268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.32, Y:2.55, Z:0.63 [[ 9.95174709e-01 9.77876790e-02 8.05404510e-03 3.39320684e+02] [-9.77856179e-02 9.95207290e-01 -6.50257420e-04 2.55138402e+00] [-8.07903156e-03 -1.40450038e-04 9.99967354e-01 6.27427127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:339.35, Y:2.55, Z:0.63 [[ 9.95339382e-01 9.60970785e-02 8.05395772e-03 3.39352658e+02] [-9.60949533e-02 9.95371958e-01 -6.51337875e-04 2.55447115e+00] [-8.07927534e-03 -1.25642453e-04 9.99967354e-01 6.27564864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:339.38, Y:2.55, Z:0.63 [[ 9.95488623e-01 9.45385404e-02 8.05391415e-03 3.39383922e+02] [-9.45363598e-02 9.95521196e-01 -6.51876213e-04 2.55362038e+00] [-8.07946967e-03 -1.12452372e-04 9.99967354e-01 6.28437416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.42, Y:2.55, Z:0.63 [[ 9.95938564e-01 8.96744725e-02 8.05387085e-03 3.39415193e+02] [-8.96721285e-02 9.95971126e-01 -6.52410773e-04 2.55221221e+00] [-8.07992741e-03 -7.24466927e-05 9.99967354e-01 6.28865061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:339.45, Y:2.55, Z:0.63 [[ 9.96220466e-01 8.64865246e-02 8.05382683e-03 3.39446128e+02] [-8.64840720e-02 9.96253020e-01 -6.52953692e-04 2.54991608e+00] [-8.08012099e-03 -4.60419080e-05 9.99967354e-01 6.27544930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:339.48, Y:2.55, Z:0.63 [[ 9.96690021e-01 8.08958494e-02 8.05378337e-03 3.39477928e+02] [-8.08932099e-02 9.96722560e-01 -6.53489287e-04 2.54909864e+00] [-8.08025215e-03 -1.70137438e-07 9.99967354e-01 6.27948015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:339.51, Y:2.55, Z:0.63 [[ 9.96842410e-01 7.89958722e-02 8.05373963e-03 3.39509529e+02] [-7.89931663e-02 9.96874943e-01 -6.54027935e-04 2.54650806e+00] [-8.08023674e-03 1.57723890e-05 9.99967354e-01 6.27361230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:339.54, Y:2.54, Z:0.63 [[ 9.97019857e-01 7.67238016e-02 8.05369640e-03 3.39541110e+02] [-7.67210172e-02 9.97052384e-01 -6.54559787e-04 2.54250039e+00] [-8.08017752e-03 3.47213247e-05 9.99967354e-01 6.26635935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:339.57, Y:2.54, Z:0.63 [[ 9.97213954e-01 7.41583982e-02 8.05365295e-03 3.39571851e+02] [-7.41555259e-02 9.97246473e-01 -6.55094015e-04 2.53701876e+00] [-8.08005772e-03 5.60460240e-05 9.99967354e-01 6.26726423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.60, Y:2.53, Z:0.63 [[ 9.97258166e-01 7.35614626e-02 8.05360975e-03 3.39603955e+02] [-7.35585665e-02 9.97290684e-01 -6.55624623e-04 2.53495505e+00] [-8.08001868e-03 6.14150207e-05 9.99967354e-01 6.26920528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83864 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:339.64, Y:2.53, Z:0.63 [[ 9.97285148e-01 7.31947671e-02 8.05352327e-03 3.39635445e+02] [-7.31918505e-02 9.97317663e-01 -6.56685170e-04 2.53433234e+00] [-8.07998693e-03 6.54500955e-05 9.99967354e-01 6.26616801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:339.67, Y:2.53, Z:0.63 [[ 9.97337611e-01 7.24764189e-02 8.05348063e-03 3.39667189e+02] [-7.24734746e-02 9.97370124e-01 -6.57207779e-04 2.53076544e+00] [-8.07993304e-03 7.17943122e-05 9.99967354e-01 6.26007320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:339.70, Y:2.52, Z:0.62 [[ 9.97332506e-01 7.25466402e-02 8.05339379e-03 3.39699346e+02] [-7.25436897e-02 9.97365018e-01 -6.58270165e-04 2.52460892e+00] [-8.07992853e-03 7.22913330e-05 9.99967354e-01 6.24537747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.73, Y:2.52, Z:0.62 [[ 9.97283366e-01 7.32190647e-02 8.05330733e-03 3.39731162e+02] [-7.32161275e-02 9.97315880e-01 -6.59326183e-04 2.52149604e+00] [-8.07996653e-03 6.79030580e-05 9.99967354e-01 6.24020096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:339.76, Y:2.52, Z:0.64 [[ 9.97349716e-01 7.23096720e-02 8.05322015e-03 3.39760756e+02] [-7.23066967e-02 9.97382226e-01 -6.60389364e-04 2.51996272e+00] [-8.07989118e-03 7.63373981e-05 9.99967354e-01 6.35138308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:339.79, Y:2.52, Z:0.63 [[ 9.97223770e-01 7.40258972e-02 8.05726965e-03 3.39792854e+02] [-7.40233762e-02 9.97256319e-01 -6.11056309e-04 2.51653682e+00] [-8.08039706e-03 1.29335731e-05 9.99967353e-01 6.25220153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:339.82, Y:2.51, Z:0.63 [[ 9.97128643e-01 7.52968685e-02 8.05298415e-03 3.39824459e+02] [-7.52939686e-02 9.97161160e-01 -6.63101384e-04 2.51080694e+00] [-8.08005247e-03 5.48562478e-05 9.99967354e-01 6.26159493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:339.86, Y:2.51, Z:0.63 [[ 9.97133973e-01 7.52262581e-02 8.05289640e-03 3.39856854e+02] [-7.52233473e-02 9.97166489e-01 -6.64165341e-04 2.50842181e+00] [-8.08004110e-03 5.64960035e-05 9.99967354e-01 6.25746819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.89, Y:2.51, Z:0.63 [[ 9.97032346e-01 7.65614355e-02 8.05280806e-03 3.39888935e+02] [-7.65585596e-02 9.97064865e-01 -6.65234683e-04 2.50837279e+00] [-8.08010330e-03 4.67491110e-05 9.99967354e-01 6.25553193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:339.92, Y:2.51, Z:0.63 [[ 9.97020319e-01 7.67179043e-02 8.05272054e-03 3.39920588e+02] [-7.67150250e-02 9.97052838e-01 -6.66292464e-04 2.50608759e+00] [-8.08010442e-03 4.65424683e-05 9.99967354e-01 6.25453505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:339.95, Y:2.51, Z:0.63 [[ 9.96959398e-01 7.75055686e-02 8.05263183e-03 3.39952510e+02] [-7.75027063e-02 9.96991918e-01 -6.67362840e-04 2.50574818e+00] [-8.08013319e-03 4.12328956e-05 9.99967354e-01 6.25554329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:339.98, Y:2.51, Z:0.63 [[ 9.96907876e-01 7.81654838e-02 8.05254282e-03 3.39983755e+02] [-7.81626344e-02 9.96940397e-01 -6.68435094e-04 2.50537553e+00] [-8.08015379e-03 3.69602497e-05 9.99967354e-01 6.25696749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:340.02, Y:2.51, Z:0.63 [[ 9.96879471e-01 7.85269187e-02 8.05249887e-03 3.40015587e+02] [-7.85240768e-02 9.96911993e-01 -6.68964198e-04 2.50525031e+00] [-8.08016439e-03 3.45616358e-05 9.99967354e-01 6.26507694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:340.05, Y:2.51, Z:0.63 [[ 9.96896494e-01 7.83105257e-02 8.05245472e-03 3.40047624e+02] [-7.83076725e-02 9.96929015e-01 -6.69495141e-04 2.50810952e+00] [-8.08015427e-03 3.68483719e-05 9.99967354e-01 6.27627749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:340.08, Y:2.51, Z:0.63 [[ 9.96951322e-01 7.76094135e-02 8.05241051e-03 3.40078826e+02] [-7.76065331e-02 9.96983840e-01 -6.70026495e-04 2.50762265e+00] [-8.08012351e-03 4.30641361e-05 9.99967354e-01 6.27971765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:340.11, Y:2.51, Z:0.63 [[ 9.97174431e-01 7.46881057e-02 8.05236659e-03 3.40110225e+02] [-7.46851258e-02 9.97206941e-01 -6.70553955e-04 2.50878760e+00] [-8.07995825e-03 6.72672476e-05 9.99967354e-01 6.29132075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:340.14, Y:2.51, Z:0.63 [[ 9.97274231e-01 7.33434923e-02 8.05232289e-03 3.40141571e+02] [-7.33404644e-02 9.97306736e-01 -6.71078287e-04 2.50866292e+00] [-8.07985508e-03 7.86879831e-05 9.99967354e-01 6.28825156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:340.17, Y:2.51, Z:0.63 [[ 9.97524218e-01 6.98612620e-02 8.05227948e-03 3.40173501e+02] [-6.98581163e-02 9.97556711e-01 -6.71598733e-04 2.50934377e+00] [-8.07952417e-03 1.07418924e-04 9.99967354e-01 6.28494949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:340.21, Y:2.51, Z:0.63 [[ 9.97733863e-01 6.68004477e-02 8.05223582e-03 3.40205244e+02] [-6.67971982e-02 9.97766347e-01 -6.72121758e-04 2.50697481e+00] [-8.07914795e-03 1.32731846e-04 9.99967354e-01 6.28547864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:340.24, Y:2.50, Z:0.63 [[ 9.98110360e-01 6.09169172e-02 8.05219274e-03 3.40236923e+02] [-6.09134721e-02 9.98142824e-01 -6.72637497e-04 2.50414061e+00] [-8.07821340e-03 1.80879437e-04 9.99967354e-01 6.29369325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:340.27, Y:2.50, Z:0.63 [[ 9.98302375e-01 5.76847533e-02 8.05215015e-03 3.40268698e+02] [-5.76811989e-02 9.98334827e-01 -6.73147001e-04 2.50190005e+00] [-8.07757224e-03 2.07546576e-04 9.99967354e-01 6.29414339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:340.30, Y:2.50, Z:0.63 [[ 9.98584206e-01 5.25808709e-02 8.05206529e-03 3.40300477e+02] [-5.25771425e-02 9.98616638e-01 -6.74160483e-04 2.49870231e+00] [-8.07637432e-03 2.49851427e-04 9.99967354e-01 6.29371984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:340.33, Y:2.49, Z:0.63 [[ 9.98675591e-01 5.08156455e-02 8.05198124e-03 3.40331925e+02] [-5.08118518e-02 9.98708015e-01 -6.75162846e-04 2.49425954e+00] [-8.07588704e-03 2.65132576e-04 9.99967354e-01 6.28950972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:340.36, Y:2.49, Z:0.63 [[ 9.98669313e-01 5.09388882e-02 8.05189747e-03 3.40364490e+02] [-5.09350904e-02 9.98701737e-01 -6.76160454e-04 2.49155807e+00] [-8.07588685e-03 2.65136570e-04 9.99967354e-01 6.28687000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:340.40, Y:2.49, Z:0.63 [[ 9.98711905e-01 5.00968919e-02 8.05181391e-03 3.40396021e+02] [-5.00930588e-02 9.98744325e-01 -6.77154067e-04 2.48720894e+00] [-8.07562676e-03 2.72941841e-04 9.99967354e-01 6.30109417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:340.43, Y:2.48, Z:0.63 [[ 9.98665663e-01 5.10104245e-02 8.05173040e-03 3.40427632e+02] [-5.10066131e-02 9.98698085e-01 -6.78145529e-04 2.48480924e+00] [-8.07584023e-03 2.66549157e-04 9.99967354e-01 6.30006110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:340.46, Y:2.48, Z:0.63 [[ 9.98515216e-01 5.38751740e-02 8.05164672e-03 3.40459718e+02] [-5.38714476e-02 9.98547648e-01 -6.79137693e-04 2.48099473e+00] [-8.07654156e-03 2.44375456e-04 9.99967354e-01 6.30053630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:340.49, Y:2.48, Z:0.63 [[ 9.98444194e-01 5.51757506e-02 8.05156211e-03 3.40491560e+02] [-5.51720584e-02 9.98476630e-01 -6.80139275e-04 2.47715530e+00] [-8.07682380e-03 2.34859856e-04 9.99967354e-01 6.29460648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:340.52, Y:2.47, Z:0.63 [[ 9.98331249e-01 5.71829679e-02 8.05147596e-03 3.40523365e+02] [-5.71793327e-02 9.98363691e-01 -6.81157579e-04 2.47289686e+00] [-8.07725187e-03 2.19642874e-04 9.99967354e-01 6.28583259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:340.56, Y:2.47, Z:0.63 [[ 9.98312230e-01 5.75140583e-02 8.05139016e-03 3.40555673e+02] [-5.75104256e-02 9.98344673e-01 -6.82170234e-04 2.46941471e+00] [-8.07729686e-03 2.17980012e-04 9.99967354e-01 6.28775210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:340.59, Y:2.46, Z:0.63 [[ 9.98399785e-01 5.59736223e-02 8.05130422e-03 3.40587924e+02] [-5.59699314e-02 9.98432221e-01 -6.83183080e-04 2.46396276e+00] [-8.07692178e-03 2.31458895e-04 9.99967354e-01 6.29478656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:340.62, Y:2.46, Z:0.63 [[ 9.98437748e-01 5.52923192e-02 8.05121878e-03 3.40619367e+02] [-5.52885982e-02 9.98470181e-01 -6.84188468e-04 2.45932878e+00] [-8.07673224e-03 2.37978993e-04 9.99967354e-01 6.28338934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:340.65, Y:2.45, Z:0.63 [[ 9.98565955e-01 5.29264917e-02 8.05113336e-03 3.40651350e+02] [-5.29226857e-02 9.98598378e-01 -6.85192182e-04 2.45184545e+00] [-8.07611353e-03 2.58121985e-04 9.99967354e-01 6.28862526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:340.68, Y:2.45, Z:0.63 [[ 9.98597928e-01 5.23197667e-02 8.05104765e-03 3.40682705e+02] [-5.23159329e-02 9.98630348e-01 -6.86197748e-04 2.44576166e+00] [-8.07592223e-03 2.64037581e-04 9.99967354e-01 6.29492370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:340.71, Y:2.44, Z:0.63 [[ 9.98691740e-01 5.04974270e-02 8.05096225e-03 3.40714146e+02] [-5.04935260e-02 9.98724152e-01 -6.87198331e-04 2.43623676e+00] [-8.07539219e-03 2.79777825e-04 9.99967354e-01 6.31303893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:340.75, Y:2.43, Z:0.63 [[ 9.98779243e-01 4.87361020e-02 8.05087704e-03 3.40746136e+02] [-4.87321358e-02 9.98811647e-01 -6.88195092e-04 2.42984993e+00] [-8.07484970e-03 2.95018540e-04 9.99967354e-01 6.30281636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:340.78, Y:2.42, Z:0.63 [[ 9.98785688e-01 4.86038584e-02 8.05079192e-03 3.40777748e+02] [-4.85998799e-02 9.98818090e-01 -6.89189491e-04 2.42232492e+00] [-8.07477388e-03 2.97085079e-04 9.99967354e-01 6.29791090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:340.81, Y:2.41, Z:0.63 [[ 9.98804740e-01 4.82107702e-02 8.05070606e-03 3.40808431e+02] [-4.82067710e-02 9.98837139e-01 -6.90190967e-04 2.40827853e+00] [-8.07461885e-03 3.01267466e-04 9.99967354e-01 6.28655331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:340.84, Y:2.40, Z:0.63 [[ 9.98722923e-01 4.98769583e-02 8.05062123e-03 3.40839982e+02] [-4.98730051e-02 9.98755328e-01 -6.91179065e-04 2.40059932e+00] [-8.07507476e-03 2.88787702e-04 9.99967354e-01 6.29472601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:340.87, Y:2.39, Z:0.63 [[ 9.98492830e-01 5.42886461e-02 8.05053628e-03 3.40871284e+02] [-5.42848281e-02 9.98525252e-01 -6.92167152e-04 2.38985565e+00] [-8.07624058e-03 2.54101961e-04 9.99967354e-01 6.29128792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:340.90, Y:2.38, Z:0.63 [[ 9.98272359e-01 5.82021236e-02 8.05042848e-03 3.40903218e+02] [-5.81984227e-02 9.98304795e-01 -6.93418671e-04 2.38313222e+00] [-8.07713979e-03 2.23698453e-04 9.99967354e-01 6.28777750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:340.93, Y:2.37, Z:0.63 [[ 9.97925672e-01 6.38713117e-02 8.05034035e-03 3.40934884e+02] [-6.38677868e-02 9.97958127e-01 -6.94440259e-04 2.37200348e+00] [-8.07825739e-03 1.78842341e-04 9.99967354e-01 6.27859900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:340.97, Y:2.37, Z:0.63 [[ 9.97796849e-01 6.58531784e-02 8.05025132e-03 3.40966964e+02] [-6.58497096e-02 9.97829310e-01 -6.95470855e-04 2.36532195e+00] [-8.07857569e-03 1.63831916e-04 9.99967354e-01 6.26548072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:341.00, Y:2.36, Z:0.63 [[ 9.97584091e-01 6.90012783e-02 8.05016163e-03 3.40998171e+02] [-6.89979037e-02 9.97616562e-01 -6.96507495e-04 2.35726663e+00] [-8.07903447e-03 1.39380520e-04 9.99967354e-01 6.26013018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:341.03, Y:2.35, Z:0.63 [[ 9.97540121e-01 6.96340605e-02 8.05007113e-03 3.41030307e+02] [-6.96306981e-02 9.97572594e-01 -6.97551828e-04 2.35191080e+00] [-8.07910371e-03 1.35303863e-04 9.99967354e-01 6.26224890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:341.06, Y:2.34, Z:0.63 [[ 9.97538553e-01 6.96565312e-02 8.04998005e-03 3.41062114e+02] [-6.96531610e-02 9.97571025e-01 -6.98601351e-04 2.34195001e+00] [-8.07908900e-03 1.36175224e-04 9.99967354e-01 6.25494469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:341.09, Y:2.34, Z:0.63 [[ 9.97497050e-01 7.02483872e-02 8.04984114e-03 3.41094713e+02] [-7.02450234e-02 9.97529522e-01 -7.00198320e-04 2.33688547e+00] [-8.07914199e-03 1.32984478e-04 9.99967354e-01 6.25940740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:341.13, Y:2.33, Z:0.62 [[ 9.97262772e-01 7.34994226e-02 8.04970286e-03 3.41127124e+02] [-7.34961519e-02 9.97295254e-01 -7.01784455e-04 2.33404535e+00] [-8.07951121e-03 1.08241327e-04 9.99967354e-01 6.23961179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:341.16, Y:2.33, Z:0.62 [[ 9.97120824e-01 7.54007010e-02 8.04960953e-03 3.41159527e+02] [-7.53974836e-02 9.97153311e-01 -7.02853372e-04 2.33059974e+00] [-8.07969043e-03 9.39094313e-05 9.99967354e-01 6.21883658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:341.19, Y:2.33, Z:0.62 [[ 9.96973933e-01 7.73186992e-02 8.04951556e-03 3.41192110e+02] [-7.73155355e-02 9.97006425e-01 -7.03927956e-04 2.32594575e+00] [-8.07984553e-03 7.94452170e-05 9.99967354e-01 6.22107476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:341.22, Y:2.32, Z:0.62 [[ 9.96741737e-01 8.02565760e-02 8.04937449e-03 3.41224104e+02] [-8.02534951e-02 9.96774237e-01 -7.05537405e-04 2.31754487e+00] [-8.08003313e-03 5.72481423e-05 9.99967354e-01 6.21887061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:341.26, Y:2.31, Z:0.62 [[ 9.96603578e-01 8.19543634e-02 8.04923142e-03 3.41256287e+02] [-8.19513248e-02 9.96636082e-01 -7.07165913e-04 2.31249775e+00] [-8.08010979e-03 4.51189012e-05 9.99967354e-01 6.22292679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:341.29, Y:2.31, Z:0.62 [[ 9.96585467e-01 8.21743182e-02 8.04913517e-03 3.41288364e+02] [-8.21712779e-02 9.96617971e-01 -7.08259733e-04 2.30809652e+00] [-8.08011352e-03 4.44336341e-05 9.99967354e-01 6.20585208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:341.32, Y:2.30, Z:0.62 [[ 9.96548586e-01 8.26203943e-02 8.04903927e-03 3.41321054e+02] [-8.26173597e-02 9.96581090e-01 -7.09347892e-04 2.30232190e+00] [-8.08012693e-03 4.19092654e-05 9.99967354e-01 6.19411285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:341.35, Y:2.29, Z:0.62 [[ 9.96393459e-01 8.44706464e-02 8.04889408e-03 3.41353629e+02] [-8.44676589e-02 9.96425968e-01 -7.10991588e-04 2.29496241e+00] [-8.08018499e-03 2.85561285e-05 9.99967354e-01 6.19224701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:341.39, Y:2.29, Z:0.62 [[ 9.96195645e-01 8.67724281e-02 8.04874877e-03 3.41386458e+02] [-8.67695025e-02 9.96228159e-01 -7.12632679e-04 2.29269884e+00] [-8.08022705e-03 1.15356440e-05 9.99967354e-01 6.18968661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:341.42, Y:2.29, Z:0.62 [[ 9.95625008e-01 9.30916963e-02 8.04860110e-03 3.41418339e+02] [-9.30889636e-02 9.95657539e-01 -7.14296637e-04 2.29057471e+00] [-8.08014545e-03 -3.80643401e-05 9.99967354e-01 6.18140050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:341.45, Y:2.29, Z:0.62 [[ 9.95288388e-01 9.66242500e-02 8.04850346e-03 3.41450760e+02] [-9.66216239e-02 9.95320928e-01 -7.15395204e-04 2.28716659e+00] [-8.07996845e-03 -6.56349343e-05 9.99967354e-01 6.17362914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:341.48, Y:2.29, Z:0.62 [[ 9.94776499e-01 1.01759224e-01 8.04840566e-03 3.41483288e+02] [-1.01756757e-01 9.94809052e-01 -7.16493757e-04 2.28646245e+00] [-8.07953665e-03 -1.06228507e-04 9.99967354e-01 6.16315160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.52, Y:2.28, Z:0.62 [[ 9.94554155e-01 1.03909857e-01 8.04830880e-03 3.41515815e+02] [-1.03907452e-01 9.94586711e-01 -7.17580105e-04 2.28495345e+00] [-8.07930463e-03 -1.22606983e-04 9.99967354e-01 6.15065533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:341.55, Y:2.28, Z:0.61 [[ 9.94349912e-01 1.05846490e-01 8.04821222e-03 3.41547496e+02] [-1.05844139e-01 9.94382473e-01 -7.18661714e-04 2.28190412e+00] [-8.07906899e-03 -1.37254882e-04 9.99967354e-01 6.14191721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.58, Y:2.28, Z:0.61 [[ 9.94209452e-01 1.07157793e-01 8.04811542e-03 3.41579256e+02] [-1.07155476e-01 9.94242016e-01 -7.19744159e-04 2.27939028e+00] [-8.07890069e-03 -1.46823196e-04 9.99967354e-01 6.12972379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.61, Y:2.28, Z:0.61 [[ 9.93874705e-01 1.10219324e-01 8.04801928e-03 3.41611241e+02] [-1.10217099e-01 9.93907275e-01 -7.20817478e-04 2.28002845e+00] [-8.07843293e-03 -1.70627077e-04 9.99967354e-01 6.13353966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:341.64, Y:2.28, Z:0.61 [[ 9.93739702e-01 1.11429956e-01 8.04792301e-03 3.41643535e+02] [-1.11427762e-01 9.93772274e-01 -7.21890784e-04 2.27824087e+00] [-8.07824301e-03 -1.79390517e-04 9.99967354e-01 6.11883226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:341.68, Y:2.28, Z:0.61 [[ 9.93554016e-01 1.13073647e-01 8.04782740e-03 3.41675605e+02] [-1.13071499e-01 9.93586591e-01 -7.22955118e-04 2.27520491e+00] [-8.07796056e-03 -1.91684945e-04 9.99967354e-01 6.10602501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:341.71, Y:2.27, Z:0.61 [[ 9.93239326e-01 1.15805330e-01 8.04773263e-03 3.41707514e+02] [-1.15803262e-01 9.93271906e-01 -7.24008571e-04 2.27231606e+00] [-8.07743078e-03 -2.12839908e-04 9.99967354e-01 6.10957703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.74, Y:2.27, Z:0.61 [[ 9.93001533e-01 1.17826957e-01 8.04763871e-03 3.41740151e+02] [-1.17824947e-01 9.93034116e-01 -7.25051011e-04 2.27152370e+00] [-8.07701035e-03 -2.28235843e-04 9.99967354e-01 6.09772928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:341.77, Y:2.28, Z:0.61 [[ 9.92561573e-01 1.21477406e-01 8.04754411e-03 3.41773182e+02] [-1.21475507e-01 9.92594164e-01 -7.26099419e-04 2.27511715e+00] [-8.07614999e-03 -2.56881123e-04 9.99967354e-01 6.09499128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.81, Y:2.28, Z:0.61 [[ 9.92081662e-01 1.25336404e-01 8.04740237e-03 3.41806146e+02] [-1.25334620e-01 9.92114259e-01 -7.27666995e-04 2.27787454e+00] [-8.07514581e-03 -2.86713036e-04 9.99967354e-01 6.08350757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.84, Y:2.28, Z:0.61 [[ 9.91978635e-01 1.26149228e-01 8.04730876e-03 3.41838509e+02] [-1.26147462e-01 9.92011233e-01 -7.28700725e-04 2.27779127e+00] [-8.07494572e-03 -2.92292023e-04 9.99967354e-01 6.06234203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:341.87, Y:2.28, Z:0.61 [[ 9.92013464e-01 1.25875053e-01 8.04721532e-03 3.41871222e+02] [-1.25873270e-01 9.92046061e-01 -7.29731143e-04 2.27738689e+00] [-8.07506321e-03 -2.89026187e-04 9.99967354e-01 6.06779370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:341.90, Y:2.28, Z:0.61 [[ 9.92326565e-01 1.23382463e-01 8.04712348e-03 3.41903779e+02] [-1.23380590e-01 9.92359157e-01 -7.30742519e-04 2.27911253e+00] [-8.07579749e-03 -2.67723628e-04 9.99967354e-01 6.06490717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:341.94, Y:2.28, Z:0.62 [[ 9.92307735e-01 1.23533821e-01 8.04703010e-03 3.41937792e+02] [-1.23531945e-01 9.92340326e-01 -7.31769425e-04 2.27885589e+00] [-8.07579075e-03 -2.67924816e-04 9.99967354e-01 6.20312909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:341.97, Y:2.28, Z:0.62 [[ 9.92563336e-01 1.21463681e-01 8.03734772e-03 3.41969178e+02] [-1.21460875e-01 9.92595866e-01 -8.38142872e-04 2.28028374e+00] [-8.07964204e-03 -1.44313398e-04 9.99967349e-01 6.17946814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:342.00, Y:2.28, Z:0.60 [[ 9.92820965e-01 1.19339283e-01 8.04152936e-03 3.41998765e+02] [-1.19336781e-01 9.92853517e-01 -7.92002025e-04 2.27995269e+00] [-8.07857766e-03 -1.73334014e-04 9.99967353e-01 6.04694473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08864 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:342.03, Y:2.28, Z:0.62 [[ 9.92833625e-01 1.19233519e-01 8.04741234e-03 3.42031430e+02] [-1.19231541e-01 9.92866210e-01 -7.26869902e-04 2.27814740e+00] [-8.07667105e-03 -2.37844494e-04 9.99967355e-01 6.17392941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:342.06, Y:2.28, Z:0.61 [[ 9.93056371e-01 1.17364392e-01 8.04006475e-03 3.42060317e+02] [-1.17361694e-01 9.93088908e-01 -8.08255826e-04 2.27654287e+00] [-8.07935958e-03 -1.40952022e-04 9.99967352e-01 6.05745070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:342.09, Y:2.27, Z:0.61 [[ 9.93279347e-01 1.15461575e-01 8.04754014e-03 3.42092921e+02] [-1.15459486e-01 9.93311925e-01 -7.25314918e-04 2.27492582e+00] [-8.07746360e-03 -2.08724519e-04 9.99967355e-01 6.06541670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:342.12, Y:2.27, Z:0.62 [[ 9.93385559e-01 1.14544181e-01 8.04744544e-03 3.42124747e+02] [-1.14542052e-01 9.93418135e-01 -7.26364110e-04 2.27033713e+00] [-8.07767902e-03 -2.00211300e-04 9.99967355e-01 6.15969567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:342.15, Y:2.27, Z:0.61 [[ 9.93507711e-01 1.13480091e-01 8.04345261e-03 3.42154155e+02] [-1.13477570e-01 9.93540260e-01 -7.70545188e-04 2.26736111e+00] [-8.07893553e-03 -1.47208874e-04 9.99967354e-01 6.05576617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:342.19, Y:2.27, Z:0.61 [[ 9.93507859e-01 1.13478507e-01 8.04752788e-03 3.42186337e+02] [-1.13476352e-01 9.93540433e-01 -7.25330226e-04 2.26605350e+00] [-8.07785372e-03 -1.92582828e-04 9.99967355e-01 6.05193304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:342.22, Y:2.27, Z:0.60 [[ 9.93395869e-01 1.14454737e-01 8.04743142e-03 3.42219127e+02] [-1.14452605e-01 9.93428444e-01 -7.26398854e-04 2.26690741e+00] [-8.07768706e-03 -1.99447872e-04 9.99967355e-01 6.04999221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:342.25, Y:2.26, Z:0.60 [[ 9.93252265e-01 1.15694331e-01 8.04733545e-03 3.42251697e+02] [-1.15692232e-01 9.93284842e-01 -7.27460441e-04 2.26462521e+00] [-8.07745938e-03 -2.08462470e-04 9.99967355e-01 6.04981051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:342.29, Y:2.26, Z:0.61 [[ 9.92677448e-01 1.20526866e-01 8.04723992e-03 3.42285051e+02] [-1.20524916e-01 9.92710035e-01 -7.28515663e-04 2.26318654e+00] [-8.07638154e-03 -2.46711850e-04 9.99967355e-01 6.13746339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:342.32, Y:2.26, Z:0.60 [[ 9.92421542e-01 1.22616608e-01 8.04058322e-03 3.42315198e+02] [-1.22614133e-01 9.92454095e-01 -8.01961642e-04 2.26334770e+00] [-8.07824357e-03 -1.90005131e-04 9.99967352e-01 6.04874807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:342.35, Y:2.27, Z:0.60 [[ 9.92154882e-01 1.24755484e-01 8.04725967e-03 3.42348136e+02] [-1.24753676e-01 9.92187477e-01 -7.28179109e-04 2.26868300e+00] [-8.07523461e-03 -2.81458769e-04 9.99967355e-01 6.04765597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:342.38, Y:2.27, Z:0.60 [[ 9.92138849e-01 1.24882936e-01 8.04716636e-03 3.42380673e+02] [-1.24881124e-01 9.92171443e-01 -7.29208752e-04 2.26576334e+00] [-8.07523440e-03 -2.81462850e-04 9.99967355e-01 6.04501651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:342.41, Y:2.27, Z:0.60 [[ 9.92105727e-01 1.25145796e-01 8.04707256e-03 3.42413267e+02] [-1.25143984e-01 9.92138322e-01 -7.30242452e-04 2.26542239e+00] [-8.07519584e-03 -2.82565001e-04 9.99967355e-01 6.04119918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:342.45, Y:2.27, Z:0.60 [[ 9.92316341e-01 1.23464675e-01 8.04697855e-03 3.42445386e+02] [-1.23462800e-01 9.92348932e-01 -7.31276915e-04 2.26670678e+00] [-8.07569744e-03 -2.67844474e-04 9.99967355e-01 6.03354581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:342.48, Y:2.27, Z:0.60 [[ 9.92424604e-01 1.22591406e-01 8.04688439e-03 3.42477165e+02] [-1.22589494e-01 9.92457193e-01 -7.32311578e-04 2.26621121e+00] [-8.07596340e-03 -2.59699459e-04 9.99967355e-01 6.03131311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:342.51, Y:2.27, Z:0.60 [[ 9.92605679e-01 1.21116532e-01 8.04681295e-03 3.42509069e+02] [-1.21114565e-01 9.92638265e-01 -7.33095780e-04 2.26535137e+00] [-8.07636446e-03 -2.46911215e-04 9.99967355e-01 6.02595115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:342.54, Y:2.26, Z:0.60 [[ 9.92916735e-01 1.18539474e-01 8.04671778e-03 3.42541313e+02] [-1.18537414e-01 9.92949315e-01 -7.34138889e-04 2.26499990e+00] [-8.07700735e-03 -2.24898329e-04 9.99967355e-01 6.02716517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:342.57, Y:2.26, Z:0.60 [[ 9.93123680e-01 1.16793014e-01 8.04662111e-03 3.42573802e+02] [-1.16790888e-01 9.93156256e-01 -7.35196902e-04 2.26352651e+00] [-8.07741796e-03 -2.09630576e-04 9.99967355e-01 6.02906604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:342.61, Y:2.26, Z:0.60 [[ 9.93301319e-01 1.15272475e-01 8.04652479e-03 3.42606575e+02] [-1.15270291e-01 9.93333890e-01 -7.36249615e-04 2.26360486e+00] [-8.07775509e-03 -1.96207539e-04 9.99967355e-01 6.01792061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65864 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:342.64, Y:2.26, Z:0.61 [[ 9.93577296e-01 1.12869009e-01 8.04640329e-03 3.42636297e+02] [-1.12866735e-01 9.93609861e-01 -7.37575106e-04 2.26297861e+00] [-8.07823503e-03 -1.75333389e-04 9.99967355e-01 6.10891426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68864 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:342.67, Y:2.26, Z:0.61 [[ 9.93475388e-01 1.13762268e-01 8.04977120e-03 3.42669289e+02] [-1.13760322e-01 9.93507976e-01 -7.00752917e-04 2.26174700e+00] [-8.07723113e-03 -2.19563789e-04 9.99967355e-01 6.12408925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:342.70, Y:2.26, Z:0.60 [[ 9.93478346e-01 1.13736791e-01 8.04471336e-03 3.42700442e+02] [-1.13734397e-01 9.93510904e-01 -7.55964328e-04 2.26059554e+00] [-8.07849140e-03 -1.63926431e-04 9.99967355e-01 6.02728195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:342.73, Y:2.26, Z:0.60 [[ 9.93871221e-01 1.10250856e-01 8.04646757e-03 3.42731828e+02] [-1.10248503e-01 9.93903780e-01 -7.36807150e-04 2.26005877e+00] [-8.07864815e-03 -1.54819582e-04 9.99967355e-01 6.02228800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77864 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:342.76, Y:2.26, Z:0.61 [[ 9.94428812e-01 1.05102773e-01 8.04641858e-03 3.42762858e+02] [-1.05100246e-01 9.94461359e-01 -7.37341735e-04 2.25747082e+00] [-8.07934902e-03 -1.12446709e-04 9.99967355e-01 6.09996953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:342.79, Y:2.25, Z:0.60 [[ 9.94778674e-01 1.01738275e-01 8.04441281e-03 3.42793754e+02] [-1.01735462e-01 9.94811198e-01 -7.59214589e-04 2.25493361e+00] [-8.07991313e-03 -6.31515729e-05 9.99967355e-01 6.00722177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:342.83, Y:2.25, Z:0.60 [[ 9.95069971e-01 9.88484069e-02 8.04642994e-03 3.42825219e+02] [-9.88456772e-02 9.95102502e-01 -7.37197910e-04 2.25398713e+00] [-8.07989340e-03 -6.17913133e-05 9.99967355e-01 6.00507181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:342.86, Y:2.25, Z:0.60 [[ 9.95708337e-01 9.21963294e-02 8.04638038e-03 3.42856217e+02] [-9.21933781e-02 9.95740848e-01 -7.37738402e-04 2.25215245e+00] [-8.08012640e-03 -7.25071085e-06 9.99967355e-01 5.98740567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:342.89, Y:2.25, Z:0.60 [[ 9.95967383e-01 8.93545104e-02 8.04633112e-03 3.42887707e+02] [-8.93514619e-02 9.95999885e-01 -7.38275286e-04 2.24740446e+00] [-8.08011310e-03 1.63466556e-05 9.99967355e-01 5.98612708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:342.92, Y:2.24, Z:0.60 [[ 9.96376381e-01 8.46721059e-02 8.04628195e-03 3.42919270e+02] [-8.46689003e-02 9.96408868e-01 -7.38810802e-04 2.24066545e+00] [-8.07994335e-03 5.48637880e-05 9.99967355e-01 5.98455153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:342.95, Y:2.24, Z:0.60 [[ 9.96607095e-01 8.19118898e-02 8.04618393e-03 3.42951199e+02] [-8.19085857e-02 9.96639572e-01 -7.39876787e-04 2.23567113e+00] [-8.07975001e-03 7.83149098e-05 9.99967355e-01 5.96969795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:342.98, Y:2.23, Z:0.60 [[ 9.96672749e-01 8.11091300e-02 8.04608757e-03 3.42982741e+02] [-8.11057912e-02 9.96705223e-01 -7.40923197e-04 2.22991374e+00] [-8.07967314e-03 8.58736607e-05 9.99967355e-01 5.96697295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:343.01, Y:2.22, Z:0.60 [[ 9.96716950e-01 8.05641608e-02 8.04599186e-03 3.43014307e+02] [-8.05607959e-02 9.96749421e-01 -7.41961073e-04 2.22370418e+00] [-8.07961320e-03 9.13336688e-05 9.99967355e-01 5.96959449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:343.05, Y:2.22, Z:0.60 [[ 9.96672393e-01 8.11135263e-02 8.04589586e-03 3.43046228e+02] [-8.11101710e-02 9.96704865e-01 -7.43000715e-04 2.21672463e+00] [-8.07965095e-03 8.79243121e-05 9.99967355e-01 5.96484540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:343.08, Y:2.21, Z:0.60 [[ 9.96613752e-01 8.18308844e-02 8.04579943e-03 3.43078574e+02] [-8.18275440e-02 9.96646226e-01 -7.44043488e-04 2.21295735e+00] [-8.07970137e-03 8.31559659e-05 9.99967355e-01 5.96902557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:343.11, Y:2.21, Z:0.60 [[ 9.96478317e-01 8.34639466e-02 8.04570260e-03 3.43110165e+02] [-8.34606510e-02 9.96510795e-01 -7.45089054e-04 2.20678437e+00] [-8.07981757e-03 7.09655101e-05 9.99967355e-01 5.96701332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:343.14, Y:2.20, Z:0.61 [[ 9.96412123e-01 8.42505165e-02 8.04560523e-03 3.43140575e+02] [-8.42472380e-02 9.96444603e-01 -7.46139023e-04 2.20174097e+00] [-8.07986250e-03 6.56419494e-05 9.99967355e-01 6.06029611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:343.17, Y:2.20, Z:0.59 [[ 9.96163162e-01 8.71446476e-02 8.04773644e-03 3.43172463e+02] [-8.71416490e-02 9.96195669e-01 -7.23169440e-04 2.19672945e+00] [-8.08014053e-03 1.91017313e-05 9.99967355e-01 5.94570570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:343.20, Y:2.19, Z:0.59 [[ 9.96091324e-01 8.79621782e-02 8.04540052e-03 3.43204166e+02] [-8.79590034e-02 9.96123814e-01 -7.48284758e-04 2.19378070e+00] [-8.08003582e-03 3.76945435e-05 9.99967355e-01 5.94552096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:343.23, Y:2.19, Z:0.61 [[ 9.96091699e-01 8.79579467e-02 8.04530160e-03 3.43234655e+02] [-8.79547632e-02 9.96124188e-01 -7.49346894e-04 2.19138097e+00] [-8.08003053e-03 3.87956235e-05 9.99967355e-01 6.05837574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:343.27, Y:2.19, Z:0.61 [[ 9.96035579e-01 8.85909507e-02 8.04790879e-03 3.43266515e+02] [-8.85880137e-02 9.96068092e-01 -7.21387499e-04 2.18844999e+00] [-8.08017356e-03 5.57936075e-06 9.99967355e-01 6.05748153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:343.30, Y:2.19, Z:0.59 [[ 9.95945946e-01 8.95931223e-02 8.04641294e-03 3.43298893e+02] [-8.95900884e-02 9.95978450e-01 -7.37429217e-04 2.18635548e+00] [-8.08012247e-03 1.35607933e-05 9.99967355e-01 5.94188795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.33, Y:2.19, Z:0.59 [[ 9.95819330e-01 9.09897587e-02 8.04521545e-03 3.43331179e+02] [-9.09866667e-02 9.95851828e-01 -7.50269919e-04 2.18516869e+00] [-8.08010940e-03 1.51259511e-05 9.99967355e-01 5.93747748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:343.36, Y:2.19, Z:0.60 [[ 9.95729826e-01 9.19640666e-02 8.04511592e-03 3.43362341e+02] [-9.19609977e-02 9.95762326e-01 -7.51335764e-04 2.18623629e+00] [-8.08011923e-03 8.29054276e-06 9.99967355e-01 6.02983235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:343.39, Y:2.18, Z:0.60 [[ 9.95699319e-01 9.22937606e-02 8.04540136e-03 3.43394764e+02] [-9.22907272e-02 9.95731822e-01 -7.48282864e-04 2.18458360e+00] [-8.08012400e-03 2.54879487e-06 9.99967355e-01 6.02848357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:343.43, Y:2.18, Z:0.61 [[ 9.95773275e-01 9.14924792e-02 8.04429082e-03 3.43425699e+02] [-9.14893237e-02 9.95805767e-01 -7.60164270e-04 2.18473644e+00] [-8.08010050e-03 2.09845390e-05 9.99967355e-01 6.05699225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:343.46, Y:2.18, Z:0.60 [[ 9.95800708e-01 9.11932819e-02 8.04582949e-03 3.43457280e+02] [-9.11902497e-02 9.95833212e-01 -7.43691606e-04 2.18280127e+00] [-8.08012390e-03 6.86742713e-06 9.99967355e-01 6.04175069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.49, Y:2.18, Z:0.59 [[ 9.95999367e-01 8.89973224e-02 8.04595177e-03 3.43488942e+02] [-8.89942291e-02 9.96031865e-01 -7.42384438e-04 2.18038364e+00] [-8.08009458e-03 2.33711548e-05 9.99967355e-01 5.91905460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.52, Y:2.18, Z:0.59 [[ 9.96056428e-01 8.83564995e-02 8.04500147e-03 3.43521145e+02] [-8.83533032e-02 9.96088915e-01 -7.52543606e-04 2.17708666e+00] [-8.08002890e-03 3.87734417e-05 9.99967355e-01 5.90690712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:343.55, Y:2.18, Z:0.59 [[ 9.96181162e-01 8.69389038e-02 8.04490165e-03 3.43553665e+02] [-8.69356527e-02 9.96213644e-01 -7.53609195e-04 2.17530893e+00] [-8.07995874e-03 5.13425082e-05 9.99967355e-01 5.91242060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.59, Y:2.17, Z:0.59 [[ 9.96218155e-01 8.65139751e-02 8.04480242e-03 3.43585566e+02] [-8.65107016e-02 9.96250636e-01 -7.54666969e-04 2.17260578e+00] [-8.07992876e-03 5.58514346e-05 9.99967355e-01 5.90042057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.62, Y:2.17, Z:0.59 [[ 9.96341569e-01 8.50809101e-02 8.04470257e-03 3.43617686e+02] [-8.50775813e-02 9.96374043e-01 -7.55729844e-04 2.16653491e+00] [-8.07983101e-03 6.85412209e-05 9.99967355e-01 5.89837863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.65, Y:2.16, Z:0.59 [[ 9.96448835e-01 8.38152950e-02 8.04460430e-03 3.43649416e+02] [-8.38119165e-02 9.96481304e-01 -7.56774475e-04 2.16245785e+00] [-8.07972706e-03 7.98533399e-05 9.99967355e-01 5.90650846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.68, Y:2.16, Z:0.59 [[ 9.96620012e-01 8.17547415e-02 8.04450608e-03 3.43681714e+02] [-8.17512874e-02 9.96652473e-01 -7.57817080e-04 2.15968274e+00] [-8.07953203e-03 9.76069386e-05 9.99967355e-01 5.90562170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.71, Y:2.15, Z:0.59 [[ 9.96981061e-01 7.72272778e-02 8.04440730e-03 3.43713401e+02] [-7.72236679e-02 9.97013505e-01 -7.58864283e-04 2.15375391e+00] [-8.07898774e-03 1.35354680e-04 9.99967355e-01 5.88461587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:343.75, Y:2.14, Z:0.59 [[ 9.97546129e-01 6.95486110e-02 8.04430913e-03 3.43745029e+02] [-6.95447430e-02 9.97578544e-01 -7.59903506e-04 2.14357688e+00] [-8.07768042e-03 1.98599390e-04 9.99967355e-01 5.88024439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:343.78, Y:2.14, Z:0.59 [[ 9.97765043e-01 6.63340697e-02 8.04421289e-03 3.43776984e+02] [-6.63300891e-02 9.97797445e-01 -7.60920891e-04 2.13841614e+00] [-8.07697004e-03 2.25646908e-04 9.99967355e-01 5.88458098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.81, Y:2.13, Z:0.59 [[ 9.97921394e-01 6.39389080e-02 8.04411720e-03 3.43808866e+02] [-6.39348415e-02 9.97953784e-01 -7.61931148e-04 2.13373852e+00] [-8.07637425e-03 2.46048034e-04 9.99967355e-01 5.89165038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:343.84, Y:2.13, Z:0.60 [[ 9.98087365e-01 6.12936056e-02 8.04402297e-03 3.43839436e+02] [-6.12894452e-02 9.98119743e-01 -7.62924711e-04 2.12670847e+00] [-8.07566054e-03 2.68451809e-04 9.99967355e-01 5.99235249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:343.87, Y:2.12, Z:0.59 [[ 9.98166821e-01 5.99857444e-02 8.04418131e-03 3.43870833e+02] [-5.99815551e-02 9.98199195e-01 -7.61256663e-04 2.11896462e+00] [-8.07535986e-03 2.77358638e-04 9.99967355e-01 5.89213716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:343.90, Y:2.11, Z:0.59 [[ 9.98067663e-01 6.16136082e-02 8.04387585e-03 3.43902690e+02] [-6.16094458e-02 9.98100041e-01 -7.64470735e-04 2.11351904e+00] [-8.07569462e-03 2.67414786e-04 9.99967355e-01 5.88295562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:343.93, Y:2.11, Z:0.59 [[ 9.98009602e-01 6.25470311e-02 8.04378130e-03 3.43934078e+02] [-6.25428910e-02 9.98041984e-01 -7.65464268e-04 2.10752520e+00] [-8.07590897e-03 2.60859353e-04 9.99967355e-01 5.88249859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:343.97, Y:2.10, Z:0.59 [[ 9.97935670e-01 6.37157630e-02 8.04368634e-03 3.43965059e+02] [-6.37116528e-02 9.97968055e-01 -7.66460859e-04 2.09703432e+00] [-8.07617765e-03 2.52402079e-04 9.99967355e-01 5.88765029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:344.00, Y:2.09, Z:0.59 [[ 9.97898775e-01 6.42910155e-02 8.04359103e-03 3.43997169e+02] [-6.42869159e-02 9.97931162e-01 -7.67459802e-04 2.09072801e+00] [-8.07629091e-03 2.48749536e-04 9.99967355e-01 5.89631751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:344.03, Y:2.08, Z:0.59 [[ 9.97772234e-01 6.62259155e-02 8.04349459e-03 3.44028892e+02] [-6.62218706e-02 9.97804627e-01 -7.68469241e-04 2.08077124e+00] [-8.07672870e-03 2.34102013e-04 9.99967355e-01 5.88717567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:344.06, Y:2.07, Z:0.59 [[ 9.97761452e-01 6.63881685e-02 8.04339802e-03 3.44060262e+02] [-6.63841207e-02 9.97793845e-01 -7.69478667e-04 2.07339850e+00] [-8.07673732e-03 2.33802247e-04 9.99967355e-01 5.87762766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:344.09, Y:2.06, Z:0.59 [[ 9.97694427e-01 6.73879558e-02 8.04330088e-03 3.44091872e+02] [-6.73839323e-02 9.97726822e-01 -7.70492740e-04 2.06337665e+00] [-8.07693896e-03 2.26727070e-04 9.99967355e-01 5.88465522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:344.12, Y:2.06, Z:0.59 [[ 9.97592992e-01 6.88732864e-02 8.04317975e-03 3.44124147e+02] [-6.88693010e-02 9.97625393e-01 -7.71755126e-04 2.05728530e+00] [-8.07723367e-03 2.15969338e-04 9.99967355e-01 5.88253596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:344.16, Y:2.05, Z:0.59 [[ 9.97293933e-01 7.30761367e-02 8.04303071e-03 3.44155096e+02] [-7.30722753e-02 9.97326348e-01 -7.73305311e-04 2.04657570e+00] [-8.07803661e-03 1.83490140e-04 9.99967355e-01 5.88466437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:344.19, Y:2.04, Z:0.59 [[ 9.97018010e-01 7.67489411e-02 8.04290736e-03 3.44186282e+02] [-7.67451888e-02 9.97050438e-01 -7.74586082e-04 2.03989754e+00] [-8.07863297e-03 1.55021830e-04 9.99967355e-01 5.88825347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:344.22, Y:2.03, Z:0.59 [[ 9.96338891e-01 8.51124425e-02 8.04280666e-03 3.44219041e+02] [-8.51089541e-02 9.96371349e-01 -7.75630263e-04 2.03397442e+00] [-8.07963791e-03 8.82757329e-05 9.99967355e-01 5.88646590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:2.03, Z:0.59 [[ 9.95816192e-01 9.10243193e-02 8.04265169e-03 3.44252002e+02] [-9.10210106e-02 9.95848669e-01 -7.77233906e-04 2.03096394e+00] [-8.08001117e-03 4.19318236e-05 9.99967355e-01 5.87526251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:344.28, Y:2.03, Z:0.59 [[ 9.94793704e-01 1.01591364e-01 8.04249439e-03 3.44283610e+02] [-1.01588387e-01 9.94826212e-01 -7.78858131e-04 2.02653913e+00] [-8.08000950e-03 -4.22208695e-05 9.99967355e-01 5.87115767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:344.32, Y:2.02, Z:0.59 [[ 9.94420999e-01 1.05176978e-01 8.04236265e-03 3.44316830e+02] [-1.05174108e-01 9.94453517e-01 -7.80216089e-04 2.02211696e+00] [-8.07981660e-03 -6.99850542e-05 9.99967355e-01 5.86871077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:344.35, Y:2.02, Z:0.59 [[ 9.93984137e-01 1.09228470e-01 8.04220097e-03 3.44348836e+02] [-1.09225719e-01 9.94016665e-01 -7.81879136e-04 2.01828029e+00] [-8.07948525e-03 -1.01239723e-04 9.99967355e-01 5.87511086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:344.38, Y:2.02, Z:0.59 [[ 9.93890372e-01 1.10078394e-01 8.04209493e-03 3.44381026e+02] [-1.10075661e-01 9.93922902e-01 -7.82968310e-04 2.01602263e+00] [-8.07941023e-03 -1.07054252e-04 9.99967355e-01 5.86914544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:344.41, Y:2.01, Z:0.59 [[ 9.93868104e-01 1.10279271e-01 8.04198929e-03 3.44414366e+02] [-1.10276536e-01 9.93900634e-01 -7.84051864e-04 2.01282074e+00] [-8.07940292e-03 -1.07598585e-04 9.99967355e-01 5.86643860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:344.45, Y:2.01, Z:0.59 [[ 9.93643648e-01 1.12283700e-01 8.04183049e-03 3.44446791e+02] [-1.12281018e-01 9.93676183e-01 -7.85677217e-04 2.01147800e+00] [-8.07919417e-03 -1.22261736e-04 9.99967355e-01 5.85292637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:344.48, Y:2.01, Z:0.58 [[ 9.93544204e-01 1.13160268e-01 8.04172541e-03 3.44479035e+02] [-1.13157606e-01 9.93576740e-01 -7.86751367e-04 2.01033954e+00] [-8.07910030e-03 -1.28310132e-04 9.99967355e-01 5.84670701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:344.51, Y:2.01, Z:0.58 [[ 9.93247357e-01 1.15736855e-01 8.04161980e-03 3.44511269e+02] [-1.15734269e-01 9.93279899e-01 -7.87829324e-04 2.01344136e+00] [-8.07876019e-03 -1.48181592e-04 9.99967355e-01 5.84733776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:344.54, Y:2.01, Z:0.59 [[ 9.93217796e-01 1.15990270e-01 8.04151494e-03 3.44544815e+02] [-1.15987683e-01 9.93250339e-01 -7.88898222e-04 2.01286676e+00] [-8.07874195e-03 -1.49168936e-04 9.99967355e-01 5.85600831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:344.58, Y:2.01, Z:0.59 [[ 9.93393430e-01 1.14476332e-01 8.04135647e-03 3.44577341e+02] [-1.14473682e-01 9.93425967e-01 -7.90510171e-04 2.01325530e+00] [-8.07898703e-03 -1.35236076e-04 9.99967355e-01 5.85414660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51864 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:344.61, Y:2.01, Z:0.60 [[ 9.93658277e-01 1.12154214e-01 8.04125125e-03 3.44607789e+02] [-1.12151480e-01 9.93690807e-01 -7.91579034e-04 2.01198132e+00] [-8.07929637e-03 -1.15279169e-04 9.99967355e-01 5.96201469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:344.64, Y:2.01, Z:0.59 [[ 9.93943527e-01 1.09597484e-01 8.04089693e-03 3.44640038e+02] [-1.09594637e-01 9.93976048e-01 -7.95180446e-04 2.01408425e+00] [-8.07960872e-03 -9.08747228e-05 9.99967355e-01 5.94022964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57864 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:344.67, Y:2.01, Z:0.58 [[ 9.93879781e-01 1.10174023e-01 8.04154373e-03 3.44672139e+02] [-1.10171248e-01 9.93912307e-01 -7.88622997e-04 2.01389682e+00] [-8.07947505e-03 -1.02150460e-04 9.99967355e-01 5.81886893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:344.70, Y:2.01, Z:0.58 [[ 9.93928121e-01 1.09737100e-01 8.04104565e-03 3.44704391e+02] [-1.09734270e-01 9.93960643e-01 -7.93669307e-04 2.01497368e+00] [-8.07957787e-03 -9.35280290e-05 9.99967355e-01 5.81856894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63864 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:344.74, Y:2.01, Z:0.58 [[ 9.93948372e-01 1.09553536e-01 8.04093838e-03 3.44736885e+02] [-1.09550691e-01 9.93980892e-01 -7.94754660e-04 2.01284693e+00] [-8.07960729e-03 -9.09452568e-05 9.99967355e-01 5.83075995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:344.77, Y:2.02, Z:0.58 [[ 9.93761868e-01 1.11232612e-01 8.04083070e-03 3.44769394e+02] [-1.11229813e-01 9.93794393e-01 -7.95842566e-04 2.01699549e+00] [-8.07945611e-03 -1.03502101e-04 9.99967355e-01 5.82496364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69864 meters Centerline goodness : 0.996382 Centerline is valid? [True, True] Translation: X:344.80, Y:2.02, Z:0.58 [[ 9.93598924e-01 1.12678862e-01 8.04072249e-03 3.44802845e+02] [-1.12676101e-01 9.93631451e-01 -7.96934378e-04 2.01839201e+00] [-8.07931241e-03 -1.14164120e-04 9.99967355e-01 5.82452903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:344.84, Y:2.02, Z:0.58 [[ 9.93499977e-01 1.13547982e-01 8.04056025e-03 3.44835270e+02] [-1.13545237e-01 9.93532507e-01 -7.98567880e-04 2.01829960e+00] [-8.07923375e-03 -1.19590146e-04 9.99967355e-01 5.81963917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75864 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:344.87, Y:2.02, Z:0.58 [[ 9.93608126e-01 1.12597706e-01 8.04045184e-03 3.44867856e+02] [-1.12594921e-01 9.93640651e-01 -7.99657929e-04 2.01588752e+00] [-8.07935946e-03 -1.10767426e-04 9.99967355e-01 5.81973116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:344.90, Y:2.02, Z:0.58 [[ 9.93766044e-01 1.11195340e-01 8.04031739e-03 3.44900049e+02] [-1.11192498e-01 9.93798564e-01 -8.01007513e-04 2.01537255e+00] [-8.07952418e-03 -9.80089108e-05 9.99967355e-01 5.82302895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81864 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:344.93, Y:2.02, Z:0.58 [[ 9.94076584e-01 1.08384044e-01 8.04020876e-03 3.44932541e+02] [-1.08381101e-01 9.94109095e-01 -8.02096431e-04 2.01901534e+00] [-8.07977911e-03 -7.40613965e-05 9.99967355e-01 5.81967807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84864 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:344.97, Y:2.02, Z:0.58 [[ 9.94527218e-01 1.04167986e-01 8.04009950e-03 3.44965178e+02] [-1.04164897e-01 9.94559716e-01 -8.03190129e-04 2.01873551e+00] [-8.08002578e-03 -3.87016892e-05 9.99967355e-01 5.82299277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87864 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:345.00, Y:2.02, Z:0.58 [[ 9.94762418e-01 1.01897449e-01 8.03999012e-03 3.44997363e+02] [-1.01894277e-01 9.94794908e-01 -8.04283572e-04 2.01703352e+00] [-8.08009568e-03 -1.91579070e-05 9.99967355e-01 5.82386978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90864 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:345.03, Y:2.02, Z:0.59 [[ 9.95082970e-01 9.87180029e-02 8.03988093e-03 3.45027511e+02] [-9.87147179e-02 9.95115448e-01 -8.05373544e-04 2.01605188e+00] [-8.08011459e-03 7.75891935e-06 9.99967355e-01 5.93355755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93864 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:345.06, Y:2.02, Z:0.58 [[ 9.95218346e-01 9.73433618e-02 8.04444268e-03 3.45060290e+02] [-9.73404003e-02 9.95250857e-01 -7.59798588e-04 2.01665410e+00] [-8.08019982e-03 -2.68837763e-05 9.99967354e-01 5.81532376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96864 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:345.09, Y:2.01, Z:0.58 [[ 9.95413730e-01 9.53250752e-02 8.03967427e-03 3.45092687e+02] [-9.53216640e-02 9.95446196e-01 -8.07286753e-04 2.01433879e+00] [-8.08001783e-03 3.72291888e-05 9.99967355e-01 5.80922620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99864 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:345.12, Y:2.01, Z:0.58 [[ 9.95534596e-01 9.40544207e-02 8.03956524e-03 3.45124479e+02] [-9.40509594e-02 9.95567056e-01 -8.08371067e-04 2.01221136e+00] [-8.07995717e-03 4.86325397e-05 9.99967355e-01 5.81295987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:345.16, Y:2.01, Z:0.58 [[ 9.95690881e-01 9.23852655e-02 8.03945883e-03 3.45157138e+02] [-9.23817412e-02 9.95723334e-01 -8.09427915e-04 2.01086484e+00] [-8.07985597e-03 6.32407881e-05 9.99967355e-01 5.81894943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05864 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:345.19, Y:2.01, Z:0.58 [[ 9.95796004e-01 9.12452086e-02 8.03935264e-03 3.45189576e+02] [-9.12416386e-02 9.95828452e-01 -8.10481298e-04 2.00742083e+00] [-8.07976863e-03 7.35503289e-05 9.99967355e-01 5.80472061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08864 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:345.22, Y:2.00, Z:0.58 [[ 9.95853196e-01 9.06188818e-02 8.03924620e-03 3.45221404e+02] [-9.06152829e-02 9.95885642e-01 -8.11535693e-04 2.00336918e+00] [-8.07971032e-03 7.96918452e-05 9.99967355e-01 5.81639391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11864 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:345.25, Y:2.00, Z:0.58 [[ 9.95842096e-01 9.07407992e-02 8.03914060e-03 3.45253811e+02] [-9.07371958e-02 9.95874541e-01 -8.12580406e-04 1.99978835e+00] [-8.07970965e-03 7.97526996e-05 9.99967355e-01 5.80261171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14864 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:345.29, Y:2.00, Z:0.58 [[ 9.95874194e-01 9.03878483e-02 8.03903469e-03 3.45285379e+02] [-9.03842250e-02 9.95906637e-01 -8.13626910e-04 1.99575254e+00] [-8.07966999e-03 8.36681233e-05 9.99967355e-01 5.79903293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17864 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:345.32, Y:1.99, Z:0.58 [[ 9.95846963e-01 9.06873809e-02 8.03892858e-03 3.45316892e+02] [-9.06837589e-02 9.95879406e-01 -8.14673976e-04 1.99230590e+00] [-8.07968407e-03 8.22903437e-05 9.99967355e-01 5.78947195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20864 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:345.35, Y:1.99, Z:0.58 [[ 9.95636084e-01 9.29740056e-02 8.03882180e-03 3.45348809e+02] [-9.29704496e-02 9.95668534e-01 -8.15726263e-04 1.99011767e+00] [-8.07984325e-03 6.47936250e-05 9.99967355e-01 5.79309407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23864 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:345.38, Y:1.99, Z:0.59 [[ 9.95494841e-01 9.44743340e-02 8.03871478e-03 3.45379466e+02] [-9.44708185e-02 9.95527296e-01 -8.16779562e-04 1.98651355e+00] [-8.07992469e-03 5.36758758e-05 9.99967355e-01 5.90485233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26864 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:345.41, Y:1.98, Z:0.58 [[ 9.95379197e-01 9.56851052e-02 8.03829835e-03 3.45410666e+02] [-9.56815960e-02 9.95411653e-01 -8.20877138e-04 1.98313074e+00] [-8.07996156e-03 4.79668120e-05 9.99967355e-01 5.79854049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29864 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:345.44, Y:1.98, Z:0.58 [[ 9.95085865e-01 9.86889147e-02 8.03858800e-03 3.45443054e+02] [-9.86855265e-02 9.95118334e-01 -8.18030814e-04 1.98104969e+00] [-8.08007686e-03 2.07186121e-05 9.99967355e-01 5.81369006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32864 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:345.48, Y:1.98, Z:0.58 [[ 9.94832635e-01 1.01209737e-01 8.03847940e-03 3.45475132e+02] [-1.01206422e-01 9.94865111e-01 -8.19096603e-04 1.98043144e+00] [-8.08010325e-03 1.31829137e-06 9.99967355e-01 5.78807036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35864 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:345.51, Y:1.98, Z:0.59 [[ 9.94819605e-01 1.01337739e-01 8.03836917e-03 3.45505874e+02] [-1.01334420e-01 9.94852081e-01 -8.20176890e-04 1.97729203e+00] [-8.08010317e-03 1.36457265e-06 9.99967355e-01 5.89131115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38864 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:345.54, Y:1.97, Z:0.59 [[ 9.94695425e-01 1.02549446e-01 8.03882561e-03 3.45537641e+02] [-1.02546202e-01 9.94727908e-01 -8.15708360e-04 1.97468626e+00] [-8.08009462e-03 -1.29696639e-05 9.99967355e-01 5.89269571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41864 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:345.57, Y:1.98, Z:0.58 [[ 9.94593667e-01 1.03531910e-01 8.03622368e-03 3.45569985e+02] [-1.03528493e-01 9.94626133e-01 -8.41133378e-04 1.97722542e+00] [-8.08012222e-03 4.60780148e-06 9.99967355e-01 5.80372022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44864 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:345.60, Y:1.98, Z:0.58 [[ 9.94568990e-01 1.03768550e-01 8.03815326e-03 3.45602749e+02] [-1.03765293e-01 9.94601472e-01 -8.22270686e-04 1.97667718e+00] [-8.08008490e-03 -1.62764012e-05 9.99967355e-01 5.79626330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47864 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:345.63, Y:1.98, Z:0.58 [[ 9.94574135e-01 1.03719234e-01 8.03804243e-03 3.45634942e+02] [-1.03715967e-01 9.94606616e-01 -8.23352624e-04 1.97591112e+00] [-8.08008768e-03 -1.47881195e-05 9.99967355e-01 5.77597006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50864 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:345.67, Y:1.97, Z:0.58 [[ 9.94566595e-01 1.03791517e-01 8.03793237e-03 3.45666135e+02] [-1.03788244e-01 9.94599075e-01 -8.24425662e-04 1.97372180e+00] [-8.08008850e-03 -1.42966605e-05 9.99967355e-01 5.78085437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53864 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:345.70, Y:1.97, Z:0.59 [[ 9.94730334e-01 1.02210344e-01 8.03787775e-03 3.45697381e+02] [-1.02207015e-01 9.94762809e-01 -8.24957912e-04 1.97174923e+00] [-8.08010108e-03 -9.16829645e-07 9.99967355e-01 5.88305820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56864 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:345.73, Y:1.97, Z:0.59 [[ 9.94870626e-01 1.00835654e-01 8.03790087e-03 3.45729124e+02] [-1.00832282e-01 9.94903096e-01 -8.24732743e-04 1.96825347e+00] [-8.08009493e-03 1.00224924e-05 9.99967355e-01 5.88272252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59864 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:345.76, Y:1.96, Z:0.58 [[ 9.95257567e-01 9.69420733e-02 8.03807679e-03 3.45760513e+02] [-9.69385878e-02 9.95290024e-01 -8.23022666e-04 1.96402854e+00] [-8.08000317e-03 3.99197231e-05 9.99967355e-01 5.77993221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62864 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:345.79, Y:1.96, Z:0.58 [[ 9.95416355e-01 9.52978285e-02 8.03764277e-03 3.45791942e+02] [-9.52942553e-02 9.95448804e-01 -8.27239736e-04 1.95985091e+00] [-8.07989603e-03 5.75067804e-05 9.99967355e-01 5.77794999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:345.82, Y:1.96, Z:0.58 [[ 9.95401109e-01 9.54569452e-02 8.03758865e-03 3.45823627e+02] [-9.54533730e-02 9.95433558e-01 -8.27765221e-04 1.95642060e+00] [-8.07990141e-03 5.67434722e-05 9.99967355e-01 5.77581598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68864 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:345.86, Y:1.95, Z:0.59 [[ 9.95243992e-01 9.70813830e-02 8.03748024e-03 3.45855318e+02] [-9.70778552e-02 9.95276446e-01 -8.28816531e-04 1.95237412e+00] [-8.07997742e-03 4.46133294e-05 9.99967355e-01 5.89541226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:345.89, Y:1.95, Z:0.58 [[ 9.95359802e-01 9.58869545e-02 8.03470992e-03 3.45886109e+02] [-9.58831711e-02 9.95392227e-01 -8.55647801e-04 1.94743289e+00] [-8.07973326e-03 8.12839602e-05 9.99967355e-01 5.75446087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:345.92, Y:1.94, Z:0.58 [[ 9.95349800e-01 9.59904993e-02 8.03734058e-03 3.45917667e+02] [-9.59869249e-02 9.95382249e-01 -8.30179218e-04 1.94335303e+00] [-8.07991545e-03 5.48391121e-05 9.99967355e-01 5.75224604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:345.95, Y:1.94, Z:0.58 [[ 9.95358177e-01 9.59036076e-02 8.03723120e-03 3.45949641e+02] [-9.59000219e-02 9.95390624e-01 -8.31236807e-04 1.93909039e+00] [-8.07990319e-03 5.66077051e-05 9.99967355e-01 5.77074840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.98, Y:1.94, Z:0.58 [[ 9.95429569e-01 9.51597495e-02 8.03712206e-03 3.45981385e+02] [-9.51561311e-02 9.95462012e-01 -8.32290702e-04 1.93528006e+00] [-8.07985027e-03 6.37053348e-05 9.99967355e-01 5.76683442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:346.01, Y:1.93, Z:0.58 [[ 9.95404543e-01 9.54211781e-02 8.03701341e-03 3.46012983e+02] [-9.54175597e-02 9.95436987e-01 -8.33338534e-04 1.93077926e+00] [-8.07985856e-03 6.26367555e-05 9.99967355e-01 5.76253079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:346.05, Y:1.93, Z:0.58 [[ 9.95385855e-01 9.56159356e-02 8.03690444e-03 3.46045341e+02] [-9.56123151e-02 9.95418299e-01 -8.34388167e-04 1.92750927e+00] [-8.07986255e-03 6.21111396e-05 9.99967355e-01 5.75659612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.08, Y:1.93, Z:0.58 [[ 9.95230339e-01 9.72213075e-02 8.03679414e-03 3.46077272e+02] [-9.72177308e-02 9.95262787e-01 -8.35449179e-04 1.92674529e+00] [-8.07994560e-03 5.01454804e-05 9.99967355e-01 5.76853324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:346.11, Y:1.92, Z:0.58 [[ 9.95126227e-01 9.82812525e-02 8.03668446e-03 3.46108953e+02] [-9.82777018e-02 9.95158678e-01 -8.36503017e-04 1.92470599e+00] [-8.07998884e-03 4.25992128e-05 9.99967355e-01 5.76300196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:346.14, Y:1.92, Z:0.58 [[ 9.95029587e-01 9.92548936e-02 8.03657341e-03 3.46140992e+02] [-9.92513661e-02 9.95062041e-01 -8.37568553e-04 1.92108530e+00] [-8.08002191e-03 3.57646031e-05 9.99967355e-01 5.75779253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:346.17, Y:1.92, Z:0.59 [[ 9.94960947e-01 9.99406307e-02 8.03646260e-03 3.46172117e+02] [-9.99371169e-02 9.94993402e-01 -8.38630339e-04 1.91698083e+00] [-8.08004051e-03 3.12635335e-05 9.99967355e-01 5.86684499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:346.20, Y:1.92, Z:0.58 [[ 9.95080554e-01 9.87426468e-02 8.03620068e-03 3.46204118e+02] [-9.87390737e-02 9.95113003e-01 -8.41139906e-04 1.91651310e+00] [-8.07998417e-03 4.35149520e-05 9.99967355e-01 5.76418541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:346.24, Y:1.91, Z:0.58 [[ 9.95131287e-01 9.82300263e-02 8.03635697e-03 3.46236560e+02] [-9.82264485e-02 9.95163735e-01 -8.39644000e-04 1.91411893e+00] [-8.07996927e-03 4.61732097e-05 9.99967355e-01 5.77482263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07864 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:346.27, Y:1.91, Z:0.59 [[ 9.95181350e-01 9.77215369e-02 8.03624598e-03 3.46265942e+02] [-9.77179340e-02 9.95213795e-01 -8.40704940e-04 1.90994031e+00] [-8.07993784e-03 5.13685224e-05 9.99967355e-01 5.87900069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:346.30, Y:1.91, Z:0.58 [[ 9.95084097e-01 9.87066007e-02 8.04026723e-03 3.46297401e+02] [-9.87033409e-02 9.95116580e-01 -8.02212247e-04 1.90624122e+00] [-8.08018687e-03 4.66741218e-06 9.99967355e-01 5.76279094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:346.33, Y:1.91, Z:0.58 [[ 9.94922036e-01 1.00327263e-01 8.03636322e-03 3.46328966e+02] [-1.00323754e-01 9.94954491e-01 -8.39580988e-04 1.90587419e+00] [-8.08004855e-03 2.90794995e-05 9.99967355e-01 5.76382514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:346.36, Y:1.90, Z:0.58 [[ 9.94890015e-01 1.00644308e-01 8.03630815e-03 3.46361273e+02] [-1.00640805e-01 9.94922471e-01 -8.40107804e-04 1.90376035e+00] [-8.08005563e-03 2.70343455e-05 9.99967355e-01 5.75104124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:346.39, Y:1.90, Z:0.57 [[ 9.94861205e-01 1.00928703e-01 8.03619654e-03 3.46392923e+02] [-1.00925201e-01 9.94893661e-01 -8.41174114e-04 1.89955214e+00] [-8.08005960e-03 2.57967434e-05 9.99967355e-01 5.74734340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:346.43, Y:1.90, Z:0.57 [[ 9.94847859e-01 1.01060176e-01 8.03608421e-03 3.46425420e+02] [-1.01056670e-01 9.94880314e-01 -8.42245842e-04 1.89618199e+00] [-8.08005950e-03 2.58065630e-05 9.99967355e-01 5.74470394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:346.46, Y:1.89, Z:0.57 [[ 9.94870311e-01 1.00838923e-01 8.03597277e-03 3.46457511e+02] [-1.00835401e-01 9.94902765e-01 -8.43307788e-04 1.89128838e+00] [-8.08004977e-03 2.86713477e-05 9.99967355e-01 5.74181345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:346.49, Y:1.89, Z:0.58 [[ 9.94937778e-01 1.00171072e-01 8.03586138e-03 3.46489763e+02] [-1.00167519e-01 9.94970228e-01 -8.44367861e-04 1.88694518e+00] [-8.08002407e-03 3.51611836e-05 9.99967355e-01 5.75105497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:346.52, Y:1.88, Z:0.58 [[ 9.94943037e-01 1.00118826e-01 8.03574994e-03 3.46521703e+02] [-1.00115263e-01 9.94975487e-01 -8.45427104e-04 1.88391510e+00] [-8.08001738e-03 3.66505919e-05 9.99967355e-01 5.75282566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:346.55, Y:1.88, Z:0.57 [[ 9.94919411e-01 1.00353344e-01 8.03563836e-03 3.46553812e+02] [-1.00349781e-01 9.94951861e-01 -8.46486333e-04 1.88071968e+00] [-8.08002107e-03 3.58111367e-05 9.99967355e-01 5.74471175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:346.59, Y:1.88, Z:0.57 [[ 9.94892627e-01 1.00618545e-01 8.03552636e-03 3.46586115e+02] [-1.00614981e-01 9.94925076e-01 -8.47548220e-04 1.87561303e+00] [-8.08002574e-03 3.47251438e-05 9.99967355e-01 5.72884162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:346.62, Y:1.87, Z:0.57 [[ 9.94881067e-01 1.00732789e-01 8.03541517e-03 3.46617255e+02] [-1.00729221e-01 9.94913516e-01 -8.48601087e-04 1.86785940e+00] [-8.08002511e-03 3.48560463e-05 9.99967355e-01 5.72169836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:346.65, Y:1.86, Z:0.57 [[ 9.94882151e-01 1.00722088e-01 8.03530254e-03 3.46649337e+02] [-1.00718510e-01 9.94914599e-01 -8.49666227e-04 1.86342877e+00] [-8.08001996e-03 3.60140607e-05 9.99967355e-01 5.72923843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:346.68, Y:1.86, Z:0.57 [[ 9.94844398e-01 1.01094305e-01 8.03518946e-03 3.46681185e+02] [-1.01090731e-01 9.94876847e-01 -8.50734284e-04 1.85956324e+00] [-8.08002834e-03 3.40650578e-05 9.99967355e-01 5.73158674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:346.71, Y:1.86, Z:0.57 [[ 9.94742158e-01 1.02095434e-01 8.03507661e-03 3.46712906e+02] [-1.02091884e-01 9.94774608e-01 -8.51798798e-04 1.85527244e+00] [-8.08005495e-03 2.70040673e-05 9.99967355e-01 5.72222849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:346.75, Y:1.85, Z:0.57 [[ 9.94226254e-01 1.07002781e-01 8.03496390e-03 3.46745285e+02] [-1.06999382e-01 9.94258721e-01 -8.52860611e-04 1.85147026e+00] [-8.08009139e-03 -1.17997634e-05 9.99967355e-01 5.73131161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:346.78, Y:1.85, Z:0.57 [[ 9.93843857e-01 1.10498098e-01 8.03484990e-03 3.46777495e+02] [-1.10494805e-01 9.93876335e-01 -8.53933237e-04 1.84935769e+00] [-8.08000517e-03 -3.91328746e-05 9.99967355e-01 5.73267924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58864 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:346.81, Y:1.85, Z:0.57 [[ 9.93157682e-01 1.16504339e-01 8.03473538e-03 3.46809872e+02] [-1.16501234e-01 9.93190179e-01 -8.55009430e-04 1.84614516e+00] [-8.07963258e-03 -8.68973998e-05 9.99967355e-01 5.73292467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61864 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:346.84, Y:1.84, Z:0.58 [[ 9.92926285e-01 1.18460282e-01 8.03461974e-03 3.46841658e+02] [-1.18457232e-01 9.92958786e-01 -8.56094785e-04 1.84159639e+00] [-8.07945949e-03 -1.01719803e-04 9.99967355e-01 5.82308770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:346.87, Y:1.84, Z:0.57 [[ 9.92636359e-01 1.20865977e-01 8.02963863e-03 3.46871052e+02] [-1.20862628e-01 9.92668832e-01 -9.02808555e-04 1.84077527e+00] [-8.07989084e-03 -7.43226262e-05 9.99967354e-01 5.71890969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:346.90, Y:1.84, Z:0.57 [[ 9.92523060e-01 1.21792520e-01 8.03472694e-03 3.46903091e+02] [-1.21789588e-01 9.92555573e-01 -8.54991612e-04 1.83890084e+00] [-8.07904458e-03 -1.29947192e-04 9.99967356e-01 5.72380423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70864 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:346.93, Y:1.84, Z:0.57 [[ 9.92550494e-01 1.21568751e-01 8.03461139e-03 3.46934952e+02] [-1.21565803e-01 9.92583005e-01 -8.56076111e-04 1.83520968e+00] [-8.07909082e-03 -1.27035219e-04 9.99967356e-01 5.71893245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:346.97, Y:1.83, Z:0.57 [[ 9.92633170e-01 1.20891838e-01 8.03449687e-03 3.46967449e+02] [-1.20888860e-01 9.92665678e-01 -8.57149526e-04 1.83182075e+00] [-8.07919167e-03 -1.20446113e-04 9.99967356e-01 5.72052111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76864 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:347.00, Y:1.83, Z:0.58 [[ 9.92881660e-01 1.18833743e-01 8.03438073e-03 3.46998966e+02] [-1.18830688e-01 9.92914161e-01 -8.58236797e-04 1.82907232e+00] [-8.07943789e-03 -1.02603418e-04 9.99967356e-01 5.82242486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:347.03, Y:1.83, Z:0.57 [[ 9.92961834e-01 1.18162338e-01 8.02860912e-03 3.47028537e+02] [-1.18158824e-01 9.92994290e-01 -9.12246542e-04 1.82534111e+00] [-8.08015620e-03 -4.28250160e-05 9.99967354e-01 5.72755392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82864 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:347.06, Y:1.82, Z:0.58 [[ 9.93350571e-01 1.14848121e-01 8.03444019e-03 3.47060300e+02] [-1.14844940e-01 9.93383060e-01 -8.57619455e-04 1.81708003e+00] [-8.07977276e-03 -7.07980297e-05 9.99967356e-01 5.82192056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85864 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:347.09, Y:1.81, Z:0.58 [[ 9.93550888e-01 1.13102495e-01 8.02862781e-03 3.47091593e+02] [-1.13098818e-01 9.93583326e-01 -9.12095910e-04 1.81233180e+00] [-8.08027105e-03 -1.81461156e-06 9.99967354e-01 5.83082989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88864 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:347.12, Y:1.81, Z:0.57 [[ 9.93884504e-01 1.10132305e-01 8.02914646e-03 3.47121632e+02] [-1.10128570e-01 9.93916936e-01 -9.07228246e-04 1.80927953e+00] [-8.08021979e-03 1.74416792e-05 9.99967354e-01 5.73246507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91864 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:347.15, Y:1.80, Z:0.58 [[ 9.93951503e-01 1.09525584e-01 8.03471327e-03 3.47152867e+02] [-1.09522251e-01 9.93983977e-01 -8.54909731e-04 1.80480502e+00] [-8.08001073e-03 -3.02410740e-05 9.99967356e-01 5.81613618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94864 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:347.19, Y:1.80, Z:0.58 [[ 9.93703496e-01 1.11753447e-01 8.03299102e-03 3.47185022e+02] [-1.11750057e-01 9.93735964e-01 -8.71132628e-04 1.80055020e+00] [-8.08002414e-03 -3.20396622e-05 9.99967356e-01 5.80525246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:347.22, Y:1.80, Z:0.57 [[ 9.93609819e-01 1.12583457e-01 8.03073942e-03 3.47215831e+02] [-1.12579922e-01 9.93642272e-01 -8.92311321e-04 1.79732955e+00] [-8.08014166e-03 -1.74907311e-05 9.99967355e-01 5.71555732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00864 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:347.25, Y:1.79, Z:0.57 [[ 9.93371154e-01 1.14669913e-01 8.03497274e-03 3.47247831e+02] [-1.14666769e-01 9.93403647e-01 -8.52407241e-04 1.79401467e+00] [-8.07971669e-03 -7.45875970e-05 9.99967356e-01 5.72114966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:347.28, Y:1.79, Z:0.57 [[ 9.93226034e-01 1.15920172e-01 8.03485909e-03 3.47279490e+02] [-1.15917060e-01 9.93258530e-01 -8.53477141e-04 1.78926392e+00] [-8.07962755e-03 -8.36815295e-05 9.99967356e-01 5.71522538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06864 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:347.31, Y:1.79, Z:0.57 [[ 9.93141290e-01 1.16643993e-01 8.03474413e-03 3.47311433e+02] [-1.16640896e-01 9.93173787e-01 -8.54558020e-04 1.78612389e+00] [-8.07957632e-03 -8.84829001e-05 9.99967356e-01 5.72117455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09864 meters Centerline goodness : 0.990988 Centerline is valid? [True, True] Translation: X:347.34, Y:1.78, Z:0.58 [[ 9.93182715e-01 1.16290752e-01 8.03462846e-03 3.47342723e+02] [-1.16287635e-01 9.93215210e-01 -8.55644231e-04 1.78372647e+00] [-8.07961870e-03 -8.45168799e-05 9.99967356e-01 5.81747579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12864 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:347.37, Y:1.78, Z:0.58 [[ 9.93241552e-01 1.15787301e-01 8.03242886e-03 3.47374866e+02] [-1.15784001e-01 9.93274029e-01 -8.76280912e-04 1.78196408e+00] [-8.07986518e-03 -5.96681350e-05 9.99967356e-01 5.82170118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15864 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:347.41, Y:1.78, Z:0.57 [[ 9.93265406e-01 1.15582489e-01 8.03253909e-03 3.47405212e+02] [-1.15579191e-01 9.93297883e-01 -8.75247514e-04 1.78012831e+00] [-8.07986736e-03 -5.90412886e-05 9.99967356e-01 5.72541423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18864 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:347.44, Y:1.78, Z:0.57 [[ 9.93246031e-01 1.15748725e-01 8.03457617e-03 3.47437305e+02] [-1.15745586e-01 9.93278524e-01 -8.56129966e-04 1.77787091e+00] [-8.07966791e-03 -7.96190361e-05 9.99967356e-01 5.72436956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21864 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:347.47, Y:1.78, Z:0.58 [[ 9.93060823e-01 1.17327103e-01 8.03446115e-03 3.47468965e+02] [-1.17324007e-01 9.93093320e-01 -8.57208038e-04 1.77537910e+00] [-8.07954343e-03 -9.13754582e-05 9.99967356e-01 5.80687874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24864 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:347.50, Y:1.77, Z:0.57 [[ 9.92767038e-01 1.19787732e-01 8.03161043e-03 3.47499600e+02] [-1.19784501e-01 9.92799523e-01 -8.83906013e-04 1.77473417e+00] [-8.07966010e-03 -8.45496912e-05 9.99967355e-01 5.73164705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27864 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:347.53, Y:1.77, Z:0.58 [[ 9.92541181e-01 1.21644782e-01 8.03440366e-03 3.47531852e+02] [-1.21641823e-01 9.92573691e-01 -8.57742093e-04 1.77385334e+00] [-8.07907754e-03 -1.25975160e-04 9.99967356e-01 5.81224691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30864 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:347.56, Y:1.77, Z:0.58 [[ 9.92522217e-01 1.21799700e-01 8.03001393e-03 3.47563011e+02] [-1.21796413e-01 9.92554697e-01 -8.98905829e-04 1.77173646e+00] [-8.07971450e-03 -8.58428887e-05 9.99967355e-01 5.80641853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33864 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:347.59, Y:1.77, Z:0.58 [[ 9.92522479e-01 1.21797644e-01 8.02882757e-03 3.47594238e+02] [-1.21794267e-01 9.92554950e-01 -9.10063639e-04 1.77147641e+00] [-8.07989615e-03 -7.46065476e-05 9.99967354e-01 5.79618218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36864 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:347.63, Y:1.77, Z:0.58 [[ 9.92519931e-01 1.21818378e-01 8.02925654e-03 3.47625398e+02] [-1.21815034e-01 9.92552405e-01 -9.06025946e-04 1.76957734e+00] [-8.07982850e-03 -7.88353514e-05 9.99967355e-01 5.79119454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39864 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:347.66, Y:1.77, Z:0.57 [[ 9.92523225e-01 1.21791379e-01 8.03166713e-03 3.47656206e+02] [-1.21788218e-01 9.92555716e-01 -8.83302580e-04 1.76783015e+00] [-8.07945576e-03 -1.01464103e-04 9.99967356e-01 5.71357552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:347.69, Y:1.77, Z:0.57 [[ 9.92772819e-01 1.19739577e-01 8.03519102e-03 3.47687454e+02] [-1.19736618e-01 9.92805328e-01 -8.49990326e-04 1.76733617e+00] [-8.07915794e-03 -1.18259309e-04 9.99967356e-01 5.70641284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45864 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:347.72, Y:1.77, Z:0.57 [[ 9.93070923e-01 1.17241543e-01 8.03513398e-03 3.47719152e+02] [-1.17238498e-01 9.93103424e-01 -8.50529210e-04 1.76598005e+00] [-8.07943643e-03 -9.73912116e-05 9.99967356e-01 5.71316738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:347.75, Y:1.76, Z:0.57 [[ 9.93168595e-01 1.16411251e-01 8.03507637e-03 3.47750403e+02] [-1.16408175e-01 9.93201094e-01 -8.51073130e-04 1.76295248e+00] [-8.07952113e-03 -9.00894735e-05 9.99967356e-01 5.69657121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51864 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:347.78, Y:1.76, Z:0.57 [[ 9.93235265e-01 1.15841037e-01 8.03501975e-03 3.47781481e+02] [-1.15837938e-01 9.93267762e-01 -8.51607375e-04 1.76236486e+00] [-8.07957716e-03 -8.49136426e-05 9.99967356e-01 5.70313605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:347.81, Y:1.76, Z:0.57 [[ 9.93225913e-01 1.15921200e-01 8.03499153e-03 3.47811842e+02] [-1.15918101e-01 9.93258410e-01 -8.51873568e-04 1.76189452e+00] [-8.07957311e-03 -8.52980561e-05 9.99967356e-01 5.70951651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:347.84, Y:1.76, Z:0.57 [[ 9.93108802e-01 1.16920255e-01 8.03499153e-03 3.47842051e+02] [-1.16917189e-01 9.93141302e-01 -8.51873568e-04 1.76218495e+00] [-8.07948322e-03 -9.34254801e-05 9.99967356e-01 5.69352578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:347.87, Y:1.76, Z:0.57 [[ 9.93035664e-01 1.17539817e-01 8.03499153e-03 3.47872026e+02] [-1.17536771e-01 9.93068166e-01 -8.51873568e-04 1.75966793e+00] [-8.07942336e-03 -9.84661234e-05 9.99967356e-01 5.67934180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63864 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:347.90, Y:1.76, Z:0.57 [[ 9.92945511e-01 1.18298989e-01 8.03499153e-03 3.47902425e+02] [-1.18295968e-01 9.92978015e-01 -8.51873568e-04 1.76103371e+00] [-8.07934572e-03 -1.04643064e-04 9.99967356e-01 5.67719762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:347.93, Y:1.76, Z:0.57 [[ 9.92881557e-01 1.18834561e-01 8.03499153e-03 3.47933317e+02] [-1.18831557e-01 9.92914062e-01 -8.51873568e-04 1.75984547e+00] [-8.07928810e-03 -1.09001001e-04 9.99967356e-01 5.68320531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69864 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:347.96, Y:1.76, Z:0.57 [[ 9.93020555e-01 1.17667394e-01 8.03499153e-03 3.47963933e+02] [-1.17664352e-01 9.93053057e-01 -8.51873568e-04 1.75736276e+00] [-8.07941064e-03 -9.95041089e-05 9.99967356e-01 5.68842810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:347.99, Y:1.75, Z:0.57 [[ 9.93193254e-01 1.16200685e-01 8.03499153e-03 3.47994030e+02] [-1.16197596e-01 9.93225751e-01 -8.51873568e-04 1.75486391e+00] [-8.07954879e-03 -8.75716149e-05 9.99967356e-01 5.68980472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75864 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:348.02, Y:1.76, Z:0.57 [[ 9.93224361e-01 1.15934494e-01 8.03499153e-03 3.48024207e+02] [-1.15931395e-01 9.93256858e-01 -8.51873568e-04 1.75539360e+00] [-8.07957197e-03 -8.54061972e-05 9.99967356e-01 5.67458040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:348.05, Y:1.75, Z:0.57 [[ 9.93094574e-01 1.17041037e-01 8.03504807e-03 3.48054239e+02] [-1.17037980e-01 9.93127075e-01 -8.51339904e-04 1.75294007e+00] [-8.07946549e-03 -9.49447514e-05 9.99967356e-01 5.66159099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:348.08, Y:1.75, Z:0.57 [[ 9.92797184e-01 1.19537395e-01 8.03510482e-03 3.48084284e+02] [-1.19534424e-01 9.92829692e-01 -8.50803936e-04 1.75068328e+00] [-8.07919353e-03 -1.15795871e-04 9.99967356e-01 5.67229089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:348.11, Y:1.75, Z:0.57 [[ 9.92480088e-01 1.22142176e-01 8.03516098e-03 3.48114046e+02] [-1.22139294e-01 9.92512604e-01 -8.50273272e-04 1.75104966e+00] [-8.07885277e-03 -1.37529593e-04 9.99967356e-01 5.67451258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:348.14, Y:1.75, Z:0.57 [[ 9.92439325e-01 1.22472940e-01 8.03521761e-03 3.48143115e+02] [-1.22470073e-01 9.92471843e-01 -8.49737718e-04 1.74900000e+00] [-8.07879711e-03 -1.40760561e-04 9.99967356e-01 5.67661391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:348.17, Y:1.75, Z:0.57 [[ 9.92453526e-01 1.22357784e-01 8.03560957e-03 3.48171733e+02] [-1.22354943e-01 9.92486046e-01 -8.46014857e-04 1.74680818e+00] [-8.07874687e-03 -1.43566125e-04 9.99967356e-01 5.66634850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:348.20, Y:1.74, Z:0.57 [[ 9.92720666e-01 1.20171139e-01 8.03600161e-03 3.48200145e+02] [-1.20168258e-01 9.92753182e-01 -8.42274465e-04 1.74409528e+00] [-8.07898325e-03 -1.29529043e-04 9.99967356e-01 5.66074659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:348.23, Y:1.74, Z:0.57 [[ 9.92882876e-01 1.18823441e-01 8.03639322e-03 3.48228914e+02] [-1.18820545e-01 9.92915392e-01 -8.38521207e-04 1.74177867e+00] [-8.07909450e-03 -1.22335273e-04 9.99967356e-01 5.66640806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:348.26, Y:1.74, Z:0.57 [[ 9.92955452e-01 1.18215399e-01 8.03678342e-03 3.48258535e+02] [-1.18212514e-01 9.92987968e-01 -8.34764522e-04 1.74382102e+00] [-8.07911126e-03 -1.21164387e-04 9.99967356e-01 5.65834605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:348.29, Y:1.74, Z:0.56 [[ 9.92931235e-01 1.18418608e-01 8.03716990e-03 3.48286955e+02] [-1.18415759e-01 9.92963754e-01 -8.31026726e-04 1.74484053e+00] [-8.07902743e-03 -1.26575184e-04 9.99967356e-01 5.64310878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:348.32, Y:1.74, Z:0.56 [[ 9.92876434e-01 1.18877179e-01 8.03761054e-03 3.48315977e+02] [-1.18874380e-01 9.92908958e-01 -8.26742849e-04 1.74239909e+00] [-8.07889636e-03 -1.34612481e-04 9.99967356e-01 5.63727570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:348.34, Y:1.74, Z:0.56 [[ 9.93037240e-01 1.17526300e-01 8.03799088e-03 3.48343994e+02] [-1.17523487e-01 9.93069762e-01 -8.23028277e-04 1.74073345e+00] [-8.07901316e-03 -1.27354987e-04 9.99967356e-01 5.64935857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:348.37, Y:1.74, Z:0.56 [[ 9.93167704e-01 1.16418624e-01 8.03842636e-03 3.48371965e+02] [-1.16415809e-01 9.93200226e-01 -8.18752857e-04 1.73971129e+00] [-8.07908495e-03 -1.22641015e-04 9.99967356e-01 5.64020579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:348.40, Y:1.74, Z:0.56 [[ 9.93229396e-01 1.15891086e-01 8.03886135e-03 3.48400220e+02] [-1.15888289e-01 9.93261920e-01 -8.14459384e-04 1.73655597e+00] [-8.07908344e-03 -1.22664882e-04 9.99967356e-01 5.63790456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:348.43, Y:1.74, Z:0.56 [[ 9.93400356e-01 1.14416359e-01 8.03929167e-03 3.48428099e+02] [-1.14413548e-01 9.93432878e-01 -8.10189450e-04 1.73529031e+00] [-8.07919559e-03 -1.14961397e-04 9.99967356e-01 5.63730134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:348.46, Y:1.73, Z:0.56 [[ 9.93602408e-01 1.12648202e-01 8.03972031e-03 3.48455781e+02] [-1.12645368e-01 9.93634929e-01 -8.05913342e-04 1.73151643e+00] [-8.07933161e-03 -1.04879814e-04 9.99967356e-01 5.63450294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:348.48, Y:1.73, Z:0.56 [[ 9.93722960e-01 1.11579726e-01 8.04014717e-03 3.48484629e+02] [-1.11576891e-01 9.93755480e-01 -8.01632096e-04 1.73005157e+00] [-8.07938620e-03 -1.00494409e-04 9.99967356e-01 5.63204169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26864 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:348.51, Y:1.73, Z:0.56 [[ 9.93811906e-01 1.10784680e-01 8.04051949e-03 3.48513059e+02] [-1.10781850e-01 9.93844427e-01 -7.97880071e-04 1.72860952e+00] [-8.07941837e-03 -9.78009064e-05 9.99967356e-01 5.62538485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:348.54, Y:1.73, Z:0.56 [[ 9.93998337e-01 1.09099264e-01 8.04088850e-03 3.48541994e+02] [-1.09096409e-01 9.94030856e-01 -7.94143757e-04 1.72616375e+00] [-8.07953178e-03 -8.78544884e-05 9.99967356e-01 5.61425910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:348.57, Y:1.72, Z:0.56 [[ 9.94103787e-01 1.08134170e-01 8.04125562e-03 3.48569227e+02] [-1.08131313e-01 9.94136306e-01 -7.90408839e-04 1.72212784e+00] [-8.07957436e-03 -8.37631111e-05 9.99967356e-01 5.61360760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:348.60, Y:1.72, Z:0.56 [[ 9.94456863e-01 1.04837390e-01 8.04167374e-03 3.48597492e+02] [-1.04834461e-01 9.94489375e-01 -7.86131692e-04 1.71877160e+00] [-8.07977509e-03 -6.12704751e-05 9.99967356e-01 5.62271202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:348.63, Y:1.72, Z:0.56 [[ 9.94651047e-01 1.02978733e-01 8.04203456e-03 3.48625214e+02] [-1.02975773e-01 9.94683557e-01 -7.82423056e-04 1.71526955e+00] [-8.07985248e-03 -4.98968122e-05 9.99967356e-01 5.61855646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:348.65, Y:1.71, Z:0.56 [[ 9.95026768e-01 9.92826754e-02 8.04244825e-03 3.48653819e+02] [-9.92796289e-02 9.95059269e-01 -7.78147482e-04 1.70839794e+00] [-8.07996924e-03 -2.41737031e-05 9.99967356e-01 5.61455535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:348.68, Y:1.70, Z:0.56 [[ 9.95201718e-01 9.75133496e-02 8.04280961e-03 3.48682070e+02] [-9.75102756e-02 9.95234217e-01 -7.74394389e-04 1.70390423e+00] [-8.07999311e-03 -1.35779549e-05 9.99967356e-01 5.61067402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:348.71, Y:1.70, Z:0.56 [[ 9.95186039e-01 9.76732090e-02 8.04316861e-03 3.48710455e+02] [-9.76701705e-02 9.95218541e-01 -7.70647515e-04 1.69875048e+00] [-8.07998215e-03 -1.86400022e-05 9.99967356e-01 5.61781081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50864 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:348.74, Y:1.69, Z:0.57 [[ 9.94950035e-01 1.00048633e-01 8.04352318e-03 3.48739770e+02] [-1.00045702e-01 9.94982547e-01 -7.66928835e-04 1.69194600e+00] [-8.07989536e-03 -4.16640525e-05 9.99967356e-01 5.72340584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:348.77, Y:1.69, Z:0.56 [[ 9.94733354e-01 1.02180475e-01 8.04393630e-03 3.48769863e+02] [-1.02177649e-01 9.94765875e-01 -7.62579159e-04 1.68788781e+00] [-8.07975404e-03 -6.33475735e-05 9.99967356e-01 5.61933576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:348.80, Y:1.68, Z:0.56 [[ 9.94541564e-01 1.04030637e-01 8.04382408e-03 3.48799490e+02] [-1.04027862e-01 9.94574090e-01 -7.63761131e-04 1.68497545e+00] [-8.07963357e-03 -7.71896295e-05 9.99967356e-01 5.61136424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:348.83, Y:1.68, Z:0.56 [[ 9.94376451e-01 1.05597204e-01 8.04387423e-03 3.48828189e+02] [-1.05594484e-01 9.94408981e-01 -7.63232558e-04 1.68154469e+00] [-8.07949600e-03 -9.04482660e-05 9.99967356e-01 5.59402357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:348.86, Y:1.68, Z:0.56 [[ 9.94333929e-01 1.05996833e-01 8.04422863e-03 3.48857593e+02] [-1.05994157e-01 9.94366463e-01 -7.59478803e-04 1.67685418e+00] [-8.07941352e-03 -9.74656864e-05 9.99967356e-01 5.59234743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:348.89, Y:1.67, Z:0.56 [[ 9.94211319e-01 1.07140761e-01 8.04427871e-03 3.48887365e+02] [-1.07138127e-01 9.94243856e-01 -7.58948049e-04 1.67240961e+00] [-8.07928895e-03 -1.07294212e-04 9.99967356e-01 5.60156279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:348.92, Y:1.67, Z:0.56 [[ 9.94052433e-01 1.08605018e-01 8.04432946e-03 3.48915815e+02] [-1.08602436e-01 9.94084974e-01 -7.58409671e-04 1.67246191e+00] [-8.07911414e-03 -1.19734796e-04 9.99967356e-01 5.60128827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:348.94, Y:1.67, Z:0.56 [[ 9.94058133e-01 1.08552802e-01 8.04468251e-03 3.48944162e+02] [-1.08550249e-01 9.94090677e-01 -7.54646121e-04 1.67016783e+00] [-8.07906283e-03 -1.23090172e-04 9.99967356e-01 5.59241896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:348.97, Y:1.67, Z:0.56 [[ 9.93928041e-01 1.09737532e-01 8.04503173e-03 3.48972401e+02] [-1.09735047e-01 9.93960591e-01 -7.50904668e-04 1.66768764e+00] [-8.07884691e-03 -1.36476732e-04 9.99967356e-01 5.60177169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:349.00, Y:1.67, Z:0.56 [[ 9.93838070e-01 1.10549370e-01 8.04537935e-03 3.49000763e+02] [-1.10546942e-01 9.93870623e-01 -7.47161484e-04 1.66663597e+00] [-8.07866442e-03 -1.46834560e-04 9.99967356e-01 5.61235994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80864 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:349.03, Y:1.67, Z:0.57 [[ 9.94050313e-01 1.08624332e-01 8.04550303e-03 3.49028998e+02] [-1.08621852e-01 9.94082862e-01 -7.45827378e-04 1.66650992e+00] [-8.07891168e-03 -1.32527502e-04 9.99967356e-01 5.68285376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:349.06, Y:1.66, Z:0.56 [[ 9.94074481e-01 1.08402636e-01 8.04954172e-03 3.49059703e+02] [-1.08400503e-01 9.94107056e-01 -7.02167530e-04 1.66361118e+00] [-8.07822303e-03 -1.74567546e-04 9.99967355e-01 5.59257904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:349.09, Y:1.66, Z:0.56 [[ 9.94609990e-01 1.03374240e-01 8.04572810e-03 3.49088552e+02] [-1.03371608e-01 9.94642528e-01 -7.43439684e-04 1.66073361e+00] [-8.07947585e-03 -9.22673159e-05 9.99967356e-01 5.58762734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:349.12, Y:1.66, Z:0.56 [[ 9.95224905e-01 9.72761470e-02 8.04607591e-03 3.49116914e+02] [-9.72733460e-02 9.95257429e-01 -7.39656164e-04 1.65829069e+00] [-8.07986772e-03 -4.65444904e-05 9.99967356e-01 5.58716957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:349.15, Y:1.65, Z:0.56 [[ 9.95536330e-01 9.40354799e-02 8.04641787e-03 3.49145565e+02] [-9.40326033e-02 9.95568846e-01 -7.35917281e-04 1.65363458e+00] [-8.07996529e-03 -2.39932302e-05 9.99967356e-01 5.58404438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95864 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:349.17, Y:1.64, Z:0.57 [[ 9.96124098e-01 8.75901331e-02 8.04675952e-03 3.49173647e+02] [-8.75870764e-02 9.96156598e-01 -7.32162345e-04 1.64382037e+00] [-8.07996279e-03 2.45324139e-05 9.99967356e-01 5.66730033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:349.20, Y:1.64, Z:0.56 [[ 9.96180319e-01 8.69479073e-02 8.05194823e-03 3.49204126e+02] [-8.69452917e-02 9.96212859e-01 -6.74980754e-04 1.63781278e+00] [-8.08014253e-03 -2.76764443e-05 9.99967355e-01 5.57593330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:349.23, Y:1.63, Z:0.56 [[ 9.96342689e-01 8.50675780e-02 8.04688169e-03 3.49234213e+02] [-8.50644503e-02 9.96375183e-01 -7.30771059e-04 1.63265629e+00] [-8.07987814e-03 4.35948345e-05 9.99967356e-01 5.57412260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:349.27, Y:1.62, Z:0.56 [[ 9.96410729e-01 8.42668822e-02 8.04688169e-03 3.49265023e+02] [-8.42637283e-02 9.96443220e-01 -7.30771059e-04 1.62365481e+00] [-8.07984050e-03 5.00878708e-05 9.99967356e-01 5.56390917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07864 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:349.30, Y:1.62, Z:0.57 [[ 9.96419887e-01 8.41585234e-02 8.04683391e-03 3.49295254e+02] [-8.41553617e-02 9.96452377e-01 -7.31296842e-04 1.61688453e+00] [-8.07983164e-03 5.14944983e-05 9.99967356e-01 5.65848469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:349.33, Y:1.61, Z:0.56 [[ 9.96430032e-01 8.40383882e-02 8.04612932e-03 3.49325210e+02] [-8.40351600e-02 9.96462516e-01 -7.39056788e-04 1.60706816e+00] [-8.07977541e-03 6.02606143e-05 9.99967356e-01 5.57195606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:349.36, Y:1.60, Z:0.56 [[ 9.96352262e-01 8.49553687e-02 8.04704326e-03 3.49356390e+02] [-8.49522519e-02 9.96384757e-01 -7.28967933e-04 1.59886890e+00] [-8.07988098e-03 4.26944037e-05 9.99967356e-01 5.58238120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:349.39, Y:1.59, Z:0.56 [[ 9.96279006e-01 8.58101832e-02 8.04699544e-03 3.49386820e+02] [-8.58070900e-02 9.96311503e-01 -7.29495351e-04 1.59208679e+00] [-8.07991226e-03 3.62916416e-05 9.99967356e-01 5.57018134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:349.42, Y:1.58, Z:0.56 [[ 9.96055207e-01 8.83700818e-02 8.04694719e-03 3.49418637e+02] [-8.83670679e-02 9.96087711e-01 -7.30027271e-04 1.58154584e+00] [-8.07997778e-03 1.60623366e-05 9.99967356e-01 5.59702896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:349.45, Y:1.58, Z:0.56 [[ 9.95889355e-01 9.02199535e-02 8.04685076e-03 3.49450906e+02] [-9.02169913e-02 9.95921864e-01 -7.31088569e-04 1.57727493e+00] [-8.07999339e-03 2.12065844e-06 9.99967356e-01 5.60153753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:349.48, Y:1.57, Z:0.56 [[ 9.95701000e-01 9.22755046e-02 8.04675287e-03 3.49482470e+02] [-9.22726009e-02 9.95733514e-01 -7.32164460e-04 1.57193256e+00] [-8.07998236e-03 -1.34779314e-05 9.99967356e-01 5.59474838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:349.51, Y:1.56, Z:0.56 [[ 9.95593415e-01 9.34291399e-02 8.04665518e-03 3.49513782e+02] [-9.34262652e-02 9.95625931e-01 -7.33236533e-04 1.56354817e+00] [-8.07996422e-03 -2.17634769e-05 9.99967356e-01 5.57826241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31864 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:349.54, Y:1.56, Z:0.57 [[ 9.95493580e-01 9.44869598e-02 8.04655608e-03 3.49544739e+02] [-9.44841109e-02 9.95526099e-01 -7.34322408e-04 1.55887015e+00] [-8.07994048e-03 -2.92584546e-05 9.99967356e-01 5.66584421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:349.58, Y:1.55, Z:0.56 [[ 9.95496926e-01 9.44518248e-02 8.04511222e-03 3.49575367e+02] [-9.44488469e-02 9.95529433e-01 -7.50138869e-04 1.55479706e+00] [-8.07999799e-03 -1.30906347e-05 9.99967356e-01 5.58778476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:349.61, Y:1.55, Z:0.56 [[ 9.95478697e-01 9.46436180e-02 8.04664351e-03 3.49607205e+02] [-9.46407821e-02 9.95511218e-01 -7.33336620e-04 1.54993053e+00] [-8.07992951e-03 -3.15196514e-05 9.99967356e-01 5.58632649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:349.64, Y:1.54, Z:0.56 [[ 9.95366411e-01 9.58173294e-02 8.04654438e-03 3.49638454e+02] [-9.58145231e-02 9.95398934e-01 -7.34422730e-04 1.54209271e+00] [-8.07989212e-03 -3.99560953e-05 9.99967356e-01 5.58345297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:349.67, Y:1.54, Z:0.56 [[ 9.95294740e-01 9.65589695e-02 8.04644561e-03 3.49670513e+02] [-9.65561787e-02 9.95327264e-01 -7.35503255e-04 1.53854635e+00] [-8.07986613e-03 -4.48915183e-05 9.99967356e-01 5.57197015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46864 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:349.70, Y:1.54, Z:0.57 [[ 9.94879907e-01 1.00743370e-01 8.04634577e-03 3.49702938e+02] [-1.00740707e-01 9.94912442e-01 -7.36593866e-04 1.53773871e+00] [-8.07961647e-03 -7.77721240e-05 9.99967356e-01 5.67718012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:349.73, Y:1.53, Z:0.56 [[ 9.94809459e-01 1.01437105e-01 8.04076896e-03 3.49732585e+02] [-1.01433973e-01 9.94841954e-01 -7.97466215e-04 1.53481901e+00] [-8.08018696e-03 -2.22802063e-05 9.99967355e-01 5.58259999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:349.76, Y:1.53, Z:0.56 [[ 9.94367445e-01 1.05681770e-01 8.04654901e-03 3.49764045e+02] [-1.05679289e-01 9.94399994e-01 -7.34111653e-04 1.52932644e+00] [-8.07907051e-03 -1.20376851e-04 9.99967357e-01 5.57609142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:349.80, Y:1.53, Z:0.56 [[ 9.93974386e-01 1.09316857e-01 8.04645081e-03 3.49796168e+02] [-1.09314486e-01 9.94006943e-01 -7.35186433e-04 1.52707824e+00] [-8.07859624e-03 -1.48837155e-04 9.99967357e-01 5.58329267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:349.83, Y:1.53, Z:0.56 [[ 9.93779370e-01 1.11075745e-01 8.04632844e-03 3.49828298e+02] [-1.11073421e-01 9.93811930e-01 -7.36523311e-04 1.52554777e+00] [-8.07834707e-03 -1.61791556e-04 9.99967357e-01 5.58115438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:349.86, Y:1.53, Z:0.56 [[ 9.93364728e-01 1.14724783e-01 8.04622880e-03 3.49860521e+02] [-1.14722570e-01 9.93397296e-01 -7.37610234e-04 1.52571292e+00] [-8.07772410e-03 -1.90368058e-04 9.99967357e-01 5.57847693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:349.89, Y:1.52, Z:0.56 [[ 9.93139993e-01 1.16654248e-01 8.04613011e-03 3.49892293e+02] [-1.16652090e-01 9.93172565e-01 -7.38685203e-04 1.52450470e+00] [-8.07736645e-03 -2.04980074e-04 9.99967357e-01 5.58172871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:349.92, Y:1.53, Z:0.56 [[ 9.92813273e-01 1.19402961e-01 8.04603212e-03 3.49924605e+02] [-1.19400884e-01 9.92845850e-01 -7.39750943e-04 1.52677440e+00] [-8.07679805e-03 -2.26268791e-04 9.99967357e-01 5.58271852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:349.96, Y:1.53, Z:0.56 [[ 9.92655455e-01 1.20707956e-01 8.04593449e-03 3.49956603e+02] [-1.20705913e-01 9.92688034e-01 -7.40811304e-04 1.52594722e+00] [-8.07652472e-03 -2.35821485e-04 9.99967357e-01 5.58228234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73864 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:349.99, Y:1.52, Z:0.56 [[ 9.92802150e-01 1.19495419e-01 8.04583794e-03 3.49988390e+02] [-1.19493327e-01 9.92834727e-01 -7.41858475e-04 1.52445125e+00] [-8.07683600e-03 -2.24905258e-04 9.99967357e-01 5.57770264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76864 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:350.02, Y:1.52, Z:0.56 [[ 9.92931637e-01 1.18414654e-01 8.04578939e-03 3.50019285e+02] [-1.18412523e-01 9.92964210e-01 -7.42384595e-04 1.52266364e+00] [-8.07709013e-03 -2.15585074e-04 9.99967357e-01 5.58025086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79864 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:350.05, Y:1.52, Z:0.56 [[ 9.93089250e-01 1.17085470e-01 8.04574069e-03 3.50051399e+02] [-1.17083292e-01 9.93121821e-01 -7.42912029e-04 1.52472342e+00] [-8.07738485e-03 -2.04243853e-04 9.99967357e-01 5.58051051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82864 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:350.08, Y:1.53, Z:0.56 [[ 9.93111396e-01 1.16897487e-01 8.04569146e-03 3.50083417e+02] [-1.16895297e-01 9.93143966e-01 -7.43444797e-04 1.52675209e+00] [-8.07743676e-03 -2.02179996e-04 9.99967357e-01 5.57272935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85864 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:350.11, Y:1.53, Z:0.57 [[ 9.93144255e-01 1.16617992e-01 8.04564236e-03 3.50114856e+02] [-1.16615789e-01 9.93176824e-01 -7.43975803e-04 1.52563011e+00] [-8.07750649e-03 -1.99373639e-04 9.99967357e-01 5.65959424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88864 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:350.15, Y:1.53, Z:0.56 [[ 9.93157498e-01 1.16505343e-01 8.04293929e-03 3.50145761e+02] [-1.16502900e-01 9.93190050e-01 -7.73199918e-04 1.52719640e+00] [-8.07824920e-03 -1.69116457e-04 9.99967356e-01 5.57410691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91864 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:350.18, Y:1.53, Z:0.56 [[ 9.93138598e-01 1.16666162e-01 8.04562250e-03 3.50176804e+02] [-1.16663959e-01 9.93171167e-01 -7.44191178e-04 1.52610550e+00] [-8.07750221e-03 -1.99549191e-04 9.99967357e-01 5.57425997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94864 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:350.21, Y:1.53, Z:0.56 [[ 9.93213382e-01 1.16027780e-01 8.04557273e-03 3.50207812e+02] [-1.16025552e-01 9.93245950e-01 -7.44728857e-04 1.52505630e+00] [-8.07764176e-03 -1.93817351e-04 9.99967357e-01 5.57326072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97864 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:350.24, Y:1.52, Z:0.56 [[ 9.93271083e-01 1.15532789e-01 8.04552339e-03 3.50239262e+02] [-1.15530541e-01 9.93303649e-01 -7.45261512e-04 1.52308515e+00] [-8.07774988e-03 -1.89256958e-04 9.99967357e-01 5.56527519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00864 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:350.27, Y:1.52, Z:0.56 [[ 9.93341235e-01 1.14928069e-01 8.04547333e-03 3.50269871e+02] [-1.14925796e-01 9.93373799e-01 -7.45801516e-04 1.52474775e+00] [-8.07787594e-03 -1.83797028e-04 9.99967357e-01 5.56361419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03864 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:350.30, Y:1.52, Z:0.56 [[ 9.93341235e-01 1.14928069e-01 8.04547333e-03 3.50300735e+02] [-1.14925796e-01 9.93373799e-01 -7.45801516e-04 1.52188671e+00] [-8.07787594e-03 -1.83797028e-04 9.99967357e-01 5.56110962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06864 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:350.33, Y:1.52, Z:0.56 [[ 9.93251911e-01 1.15697503e-01 8.04547333e-03 3.50331056e+02] [-1.15695255e-01 9.93284477e-01 -7.45801516e-04 1.52180480e+00] [-8.07773114e-03 -1.90054306e-04 9.99967357e-01 5.55825513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09864 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:350.36, Y:1.52, Z:0.56 [[ 9.92753239e-01 1.19901111e-01 8.04547333e-03 3.50361866e+02] [-1.19899001e-01 9.92785814e-01 -7.45801516e-04 1.52328610e+00] [-8.07685422e-03 -2.24247346e-04 9.99967357e-01 5.56069269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12864 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:350.39, Y:1.52, Z:0.56 [[ 9.92531684e-01 1.21721512e-01 8.04547333e-03 3.50391984e+02] [-1.21719462e-01 9.92564263e-01 -7.45801516e-04 1.52445347e+00] [-8.07642939e-03 -2.39059047e-04 9.99967357e-01 5.55398527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15864 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:350.42, Y:1.52, Z:0.56 [[ 9.92623203e-01 1.20972917e-01 8.04552245e-03 3.50420841e+02] [-1.20970847e-01 9.92655781e-01 -7.45271193e-04 1.52406495e+00] [-8.07659200e-03 -2.33500185e-04 9.99967357e-01 5.55229507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18864 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:350.45, Y:1.53, Z:0.56 [[ 9.92879851e-01 1.18848076e-01 8.04586572e-03 3.50450034e+02] [-1.18845966e-01 9.92912426e-01 -7.41546694e-04 1.52630232e+00] [-8.07697145e-03 -2.19951911e-04 9.99967357e-01 5.55723622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21864 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:350.48, Y:1.53, Z:0.55 [[ 9.93072382e-01 1.17228420e-01 8.04620928e-03 3.50478906e+02] [-1.17226288e-01 9.93104956e-01 -7.37799978e-04 1.52540872e+00] [-8.07722143e-03 -2.10538462e-04 9.99967357e-01 5.54151942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24864 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:350.51, Y:1.52, Z:0.55 [[ 9.93565279e-01 1.12974731e-01 8.04655196e-03 3.50507457e+02] [-1.12972490e-01 9.93597845e-01 -7.34043557e-04 1.52488307e+00] [-8.07796506e-03 -1.79718816e-04 9.99967357e-01 5.52869968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27864 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:350.54, Y:1.52, Z:0.55 [[ 9.93809523e-01 1.10805594e-01 8.04689389e-03 3.50536169e+02] [-1.10803312e-01 9.93842086e-01 -7.30275792e-04 1.52381910e+00] [-8.07826046e-03 -1.65867458e-04 9.99967357e-01 5.52460916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30864 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:350.57, Y:1.52, Z:0.56 [[ 9.94534743e-01 1.04095570e-01 8.04723653e-03 3.50565045e+02] [-1.04093099e-01 9.94567292e-01 -7.26480378e-04 1.52492729e+00] [-8.07914163e-03 -1.15151811e-04 9.99967357e-01 5.59338778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33864 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:350.60, Y:1.52, Z:0.55 [[ 9.94699010e-01 1.02513544e-01 8.05307346e-03 3.50596567e+02] [-1.02511543e-01 9.94731595e-01 -6.61914852e-04 1.52293812e+00] [-8.07850184e-03 -1.67126936e-04 9.99967354e-01 5.52456232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36864 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:350.63, Y:1.52, Z:0.55 [[ 9.94913197e-01 1.00414037e-01 8.04689047e-03 3.50625325e+02] [-1.00411416e-01 9.94945734e-01 -7.30064963e-04 1.51984741e+00] [-8.07952812e-03 -8.16483989e-05 9.99967357e-01 5.51462973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39864 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:350.65, Y:1.52, Z:0.55 [[ 9.95111835e-01 9.84260055e-02 8.04722656e-03 3.50654446e+02] [-9.84233498e-02 9.95144370e-01 -7.26341389e-04 1.51687502e+00] [-8.07964309e-03 -6.92440825e-05 9.99967357e-01 5.50647480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:350.68, Y:1.51, Z:0.55 [[ 9.95421232e-01 9.52460427e-02 8.04754063e-03 3.50683324e+02] [-9.52433113e-02 9.95453760e-01 -7.22844857e-04 1.51499543e+00] [-8.07980269e-03 -4.69392997e-05 9.99967357e-01 5.50681613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45864 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:350.71, Y:1.51, Z:0.55 [[ 9.95553121e-01 9.38574226e-02 8.04787435e-03 3.50712310e+02] [-9.38546760e-02 9.95585648e-01 -7.19109994e-04 1.51204006e+00] [-8.07984201e-03 -3.94184414e-05 9.99967357e-01 5.49840100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:350.74, Y:1.51, Z:0.55 [[ 9.95699845e-01 9.22878328e-02 8.04820915e-03 3.50741320e+02] [-9.22850654e-02 9.95732371e-01 -7.15343204e-04 1.50836873e+00] [-8.07987986e-03 -3.04623907e-05 9.99967357e-01 5.48604174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51864 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:350.77, Y:1.51, Z:0.55 [[ 9.95800529e-01 9.11949985e-02 8.04854051e-03 3.50770280e+02] [-9.11922257e-02 9.95833054e-01 -7.11595402e-04 1.50830808e+00] [-8.07989661e-03 -2.53572447e-05 9.99967357e-01 5.50824335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:350.80, Y:1.51, Z:0.56 [[ 9.95920073e-01 8.98800564e-02 8.04884483e-03 3.50799213e+02] [-8.98772686e-02 9.95952597e-01 -7.08136358e-04 1.50831659e+00] [-8.07991525e-03 -1.81609758e-05 9.99967357e-01 5.57293667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57864 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:350.83, Y:1.51, Z:0.55 [[ 9.95915301e-01 8.99324456e-02 8.05404253e-03 3.50830276e+02] [-8.99301373e-02 9.95947865e-01 -6.49030856e-04 1.51004105e+00] [-8.07977539e-03 -7.79213902e-05 9.99967355e-01 5.49894694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:350.86, Y:1.51, Z:0.55 [[ 9.96116192e-01 8.76798052e-02 8.04883877e-03 3.50858749e+02] [-8.76769453e-02 9.96148710e-01 -7.08174835e-04 1.50780779e+00] [-8.07993299e-03 -2.73176343e-07 9.99967357e-01 5.48752980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63864 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:350.89, Y:1.50, Z:0.55 [[ 9.96623325e-01 8.17138849e-02 8.04916501e-03 3.50887860e+02] [-8.17108604e-02 9.96655828e-01 -7.04447253e-04 1.50367858e+00] [-8.07981033e-03 4.43643650e-05 9.99967357e-01 5.47922056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:350.92, Y:1.50, Z:0.55 [[ 9.97033256e-01 7.65499602e-02 8.04921094e-03 3.50917673e+02] [-7.65467716e-02 9.97065743e-01 -7.03921976e-04 1.50003584e+00] [-8.07947769e-03 8.56925090e-05 9.99967357e-01 5.48046345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69864 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:350.95, Y:1.50, Z:0.55 [[ 9.97397018e-01 7.16547127e-02 8.04925681e-03 3.50948069e+02] [-7.16513689e-02 9.97429490e-01 -7.03397101e-04 1.49623654e+00] [-8.07896783e-03 1.24825902e-04 9.99967357e-01 5.47110763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:350.98, Y:1.49, Z:0.55 [[ 9.97960052e-01 6.33320132e-02 8.04925681e-03 3.50978224e+02] [-6.33283987e-02 9.97992495e-01 -7.03397101e-04 1.49130699e+00] [-8.07764544e-03 1.92215663e-04 9.99967357e-01 5.46129157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75864 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:351.01, Y:1.49, Z:0.55 [[ 9.98217851e-01 5.91297809e-02 8.04925681e-03 3.51008180e+02] [-5.91260298e-02 9.98250278e-01 -7.03397101e-04 1.48506253e+00] [-8.07676457e-03 2.26222945e-04 9.99967357e-01 5.45138605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:351.04, Y:1.48, Z:0.55 [[ 9.98264212e-01 5.83418535e-02 8.04925681e-03 3.51038723e+02] [-5.83380768e-02 9.98296636e-01 -7.03397101e-04 1.48101924e+00] [-8.07658349e-03 2.32597991e-04 9.99967357e-01 5.45441719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81864 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:351.07, Y:1.47, Z:0.55 [[ 9.98310488e-01 5.75445782e-02 8.04925681e-03 3.51069392e+02] [-5.75407756e-02 9.98342909e-01 -7.03397101e-04 1.47409668e+00] [-8.07639515e-03 2.39048223e-04 9.99967357e-01 5.45721016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84864 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:351.10, Y:1.47, Z:0.55 [[ 9.98337399e-01 5.70758134e-02 8.04921373e-03 3.51100209e+02] [-5.70719916e-02 9.98369817e-01 -7.03889748e-04 1.46851970e+00] [-8.07626712e-03 2.43334802e-04 9.99967357e-01 5.45746778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87864 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:351.13, Y:1.46, Z:0.54 [[ 9.98322578e-01 5.73344654e-02 8.04917034e-03 3.51130534e+02] [-5.73306480e-02 9.98354997e-01 -7.04385513e-04 1.46035474e+00] [-8.07631500e-03 2.41739809e-04 9.99967357e-01 5.44016029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:351.16, Y:1.45, Z:0.54 [[ 9.98271584e-01 5.82155996e-02 8.04912687e-03 3.51161359e+02] [-5.82118068e-02 9.98304006e-01 -7.04881995e-04 1.45419445e+00] [-8.07651072e-03 2.35109448e-04 9.99967357e-01 5.43184657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:351.19, Y:1.45, Z:0.54 [[ 9.98247848e-01 5.86212052e-02 8.04908321e-03 3.51192913e+02] [-5.86174216e-02 9.98280271e-01 -7.05380098e-04 1.45006888e+00] [-8.07659121e-03 2.32327661e-04 9.99967357e-01 5.43712909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:351.22, Y:1.44, Z:0.54 [[ 9.98214195e-01 5.91915112e-02 8.04899528e-03 3.51224227e+02] [-5.91877381e-02 9.98246619e-01 -7.06382088e-04 1.44381412e+00] [-8.07669415e-03 2.28718803e-04 9.99967357e-01 5.43350250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:351.26, Y:1.44, Z:0.54 [[ 9.98202355e-01 5.93908597e-02 8.04890714e-03 3.51255824e+02] [-5.93870850e-02 9.98234779e-01 -7.07384995e-04 1.43908478e+00] [-8.07671124e-03 2.28112235e-04 9.99967357e-01 5.42948345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:351.29, Y:1.43, Z:0.54 [[ 9.98177322e-01 5.98101196e-02 8.04881868e-03 3.51287710e+02] [-5.98063504e-02 9.98209747e-01 -7.08390083e-04 1.43405993e+00] [-8.07677815e-03 2.25728446e-04 9.99967357e-01 5.41535240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:351.32, Y:1.43, Z:0.54 [[ 9.98159851e-01 6.01009926e-02 8.04872965e-03 3.51319312e+02] [-6.00972247e-02 9.98192276e-01 -7.09400179e-04 1.42603541e+00] [-8.07681543e-03 2.24388462e-04 9.99967357e-01 5.41694930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:351.35, Y:1.42, Z:0.54 [[ 9.98114878e-01 6.08433188e-02 8.04864128e-03 3.51350609e+02] [-6.08395669e-02 9.98147305e-01 -7.10401398e-04 1.42122644e+00] [-8.07695278e-03 2.19386355e-04 9.99967357e-01 5.42100558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:351.38, Y:1.42, Z:0.54 [[ 9.97911559e-01 6.40916512e-02 8.04859704e-03 3.51382068e+02] [-6.40880008e-02 9.97943998e-01 -7.10902292e-04 1.41508644e+00] [-8.07761201e-03 1.93599121e-04 9.99967357e-01 5.42537721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:351.41, Y:1.41, Z:0.54 [[ 9.97635954e-01 6.82475195e-02 8.04850750e-03 3.51414510e+02] [-6.82439961e-02 9.97668407e-01 -7.11914583e-04 1.41170290e+00] [-8.07832806e-03 1.60969271e-04 9.99967357e-01 5.42644702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:351.45, Y:1.41, Z:0.54 [[ 9.97486774e-01 7.03943069e-02 8.04841718e-03 3.51445606e+02] [-7.03908452e-02 9.97519233e-01 -7.12934211e-04 1.40992223e+00] [-8.07863744e-03 1.44607559e-04 9.99967357e-01 5.41898064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:351.48, Y:1.41, Z:0.54 [[ 9.97192047e-01 7.44529774e-02 8.04837192e-03 3.51477123e+02] [-7.44496437e-02 9.97224519e-01 -7.13444710e-04 1.40930496e+00] [-8.07915191e-03 1.12242968e-04 9.99967357e-01 5.40031017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:351.51, Y:1.41, Z:0.54 [[ 9.97036150e-01 7.65123586e-02 8.04832601e-03 3.51508520e+02] [-7.65090877e-02 9.97068628e-01 -7.13962344e-04 1.40738715e+00] [-8.07936031e-03 9.60761861e-05 9.99967357e-01 5.39639830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:351.54, Y:1.41, Z:0.54 [[ 9.96915865e-01 7.80639684e-02 8.04827987e-03 3.51539700e+02] [-7.80607439e-02 9.96948349e-01 -7.14482039e-04 1.40605560e+00] [-8.07949463e-03 8.40237665e-05 9.99967357e-01 5.39757238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:351.57, Y:1.40, Z:0.54 [[ 9.96919241e-01 7.80208445e-02 8.04823361e-03 3.51571279e+02] [-7.80176144e-02 9.96951724e-01 -7.15002715e-04 1.40364810e+00] [-8.07948549e-03 8.48959779e-05 9.99967357e-01 5.40236912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:351.60, Y:1.40, Z:0.54 [[ 9.97169344e-01 7.47564400e-02 8.04818732e-03 3.51602594e+02] [-7.47530994e-02 9.97201816e-01 -7.15523388e-04 1.40160024e+00] [-8.07915700e-03 1.11871041e-04 9.99967357e-01 5.40161136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:351.63, Y:1.40, Z:0.54 [[ 9.97406905e-01 7.15170775e-02 8.04814074e-03 3.51633572e+02] [-7.15136272e-02 9.97439366e-01 -7.16046949e-04 1.40083488e+00] [-8.07874198e-03 1.38638435e-04 9.99967357e-01 5.40510058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:351.66, Y:1.40, Z:0.54 [[ 9.97502724e-01 7.01679722e-02 8.04809480e-03 3.51664727e+02] [-7.01644738e-02 9.97535179e-01 -7.16562909e-04 1.39866850e+00] [-8.07853746e-03 1.50083117e-04 9.99967357e-01 5.39628918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:351.70, Y:1.40, Z:0.54 [[ 9.97573159e-01 6.91593843e-02 8.04804917e-03 3.51695890e+02] [-6.91558489e-02 9.97605611e-01 -7.17075103e-04 1.39648954e+00] [-8.07837148e-03 1.58765204e-04 9.99967357e-01 5.39758843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44864 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:351.73, Y:1.39, Z:0.55 [[ 9.97494543e-01 7.02841767e-02 8.04800320e-03 3.51727370e+02] [-7.02806738e-02 9.97526998e-01 -7.17590668e-04 1.39375016e+00] [-8.07853574e-03 1.50173688e-04 9.99967357e-01 5.47619110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:351.76, Y:1.39, Z:0.54 [[ 9.97604528e-01 6.87058029e-02 8.04472743e-03 3.51757919e+02] [-6.87019522e-02 9.97636944e-01 -7.54360467e-04 1.39211062e+00] [-8.07754623e-03 1.99864939e-04 9.99967356e-01 5.40517281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50864 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:351.79, Y:1.39, Z:0.55 [[ 9.97599041e-01 6.87850237e-02 8.04819779e-03 3.51787895e+02] [-6.87814903e-02 9.97631493e-01 -7.15314514e-04 1.39248804e+00] [-8.07833850e-03 1.60030035e-04 9.99967357e-01 5.49206877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:351.82, Y:1.39, Z:0.54 [[ 9.97586100e-01 6.89720729e-02 8.05150193e-03 3.51820177e+02] [-6.89688461e-02 9.97618584e-01 -6.78062762e-04 1.39116608e+00] [-8.07909534e-03 1.21123188e-04 9.99967356e-01 5.39976613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:351.85, Y:1.39, Z:0.55 [[ 9.97720483e-01 6.70004658e-02 8.04830759e-03 3.51849087e+02] [-6.69968845e-02 9.97752929e-01 -7.14066501e-04 1.38905664e+00] [-8.07806526e-03 1.73227240e-04 9.99967357e-01 5.46086308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:351.88, Y:1.39, Z:0.54 [[ 9.97700826e-01 6.72917950e-02 8.05456902e-03 3.51881310e+02] [-6.72887931e-02 9.97733333e-01 -6.43410080e-04 1.38659545e+00] [-8.07960822e-03 9.99485399e-05 9.99967354e-01 5.37942807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:351.91, Y:1.38, Z:0.54 [[ 9.97820244e-01 6.54980005e-02 8.04815070e-03 3.51912755e+02] [-6.54943581e-02 9.97852683e-01 -7.15595825e-04 1.38456288e+00] [-8.07773886e-03 1.86927538e-04 9.99967357e-01 5.37443697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:351.94, Y:1.38, Z:0.54 [[ 9.97926896e-01 6.38524717e-02 8.04810574e-03 3.51943585e+02] [-6.38487717e-02 9.97959329e-01 -7.16101033e-04 1.38207881e+00] [-8.07740703e-03 2.00754815e-04 9.99967357e-01 5.38463909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:351.98, Y:1.38, Z:0.54 [[ 9.98042159e-01 6.20248141e-02 8.04806090e-03 3.51975108e+02] [-6.20210506e-02 9.98074584e-01 -7.16604658e-04 1.37828319e+00] [-8.07701231e-03 2.16052467e-04 9.99967357e-01 5.38016253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:352.01, Y:1.37, Z:0.54 [[ 9.98094037e-01 6.11843353e-02 8.04801627e-03 3.52006729e+02] [-6.11805405e-02 9.98126459e-01 -7.17105516e-04 1.37296773e+00] [-8.07681361e-03 2.23356754e-04 9.99967357e-01 5.37260460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:352.04, Y:1.37, Z:0.54 [[ 9.98119449e-01 6.07683915e-02 8.04792653e-03 3.52038879e+02] [-6.07645751e-02 9.98151868e-01 -7.18111225e-04 1.36774300e+00] [-8.07669136e-03 2.27731944e-04 9.99967357e-01 5.37077714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:352.07, Y:1.36, Z:0.54 [[ 9.98186822e-01 5.96514857e-02 8.04783659e-03 3.52070871e+02] [-5.96476249e-02 9.98219236e-01 -7.19117858e-04 1.35971007e+00] [-8.07640174e-03 2.37779632e-04 9.99967357e-01 5.37106088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:352.10, Y:1.35, Z:0.54 [[ 9.98175878e-01 5.98343518e-02 8.04774651e-03 3.52102221e+02] [-5.98304888e-02 9.98208292e-01 -7.20124479e-04 1.35413013e+00] [-8.07641548e-03 2.37310277e-04 9.99967357e-01 5.37697231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83864 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:352.13, Y:1.35, Z:0.54 [[ 9.98216180e-01 5.91582032e-02 8.04765687e-03 3.52131468e+02] [-5.91543102e-02 9.98248590e-01 -7.21124849e-04 1.34529192e+00] [-8.07622258e-03 2.43784901e-04 9.99967357e-01 5.44941023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86864 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:352.16, Y:1.34, Z:0.54 [[ 9.98122975e-01 6.07100155e-02 8.05109364e-03 3.52163289e+02] [-6.07064823e-02 9.98155427e-01 -6.82726494e-04 1.33994525e+00] [-8.07769115e-03 1.92691426e-04 9.99967356e-01 5.44261666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:352.20, Y:1.33, Z:0.54 [[ 9.98027747e-01 6.22559380e-02 8.05074967e-03 3.52195959e+02] [-6.22524242e-02 9.98060201e-01 -6.86560491e-04 1.33437712e+00] [-8.07787530e-03 1.84027737e-04 9.99967356e-01 5.35967192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:352.23, Y:1.32, Z:0.54 [[ 9.97774610e-01 6.61896129e-02 8.04751116e-03 3.52227048e+02] [-6.61859362e-02 9.97807045e-01 -7.22626188e-04 1.32467691e+00] [-8.07769368e-03 1.88386003e-04 9.99967357e-01 5.36848137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:352.26, Y:1.32, Z:0.54 [[ 9.97766230e-01 6.63158347e-02 8.04742014e-03 3.52259592e+02] [-6.63121540e-02 9.97798664e-01 -7.23638343e-04 1.32178413e+00] [-8.07769375e-03 1.88380138e-04 9.99967357e-01 5.36584178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:352.29, Y:1.31, Z:0.54 [[ 9.97418795e-01 7.13511521e-02 8.04732847e-03 3.52291360e+02] [-7.13476270e-02 9.97451247e-01 -7.24656328e-04 1.31383526e+00] [-8.07852289e-03 1.48628052e-04 9.99967357e-01 5.38052612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:352.32, Y:1.31, Z:0.54 [[ 9.97284966e-01 7.31979403e-02 8.04723616e-03 3.52320757e+02] [-7.31944670e-02 9.97317424e-01 -7.25680004e-04 1.30949407e+00] [-8.07876712e-03 1.34696596e-04 9.99967357e-01 5.44252164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:352.35, Y:1.30, Z:0.54 [[ 9.97033715e-01 7.65440190e-02 8.04883460e-03 3.52351399e+02] [-7.65407978e-02 9.97066199e-01 -7.07934964e-04 1.30054487e+00] [-8.07940911e-03 8.97708059e-05 9.99967357e-01 5.35107523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:352.38, Y:1.29, Z:0.53 [[ 9.96950324e-01 7.76227695e-02 8.04716234e-03 3.52383324e+02] [-7.76194339e-02 9.96982796e-01 -7.26458964e-04 1.29349700e+00] [-8.07927217e-03 9.96273136e-05 9.99967357e-01 5.34689114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:352.41, Y:1.29, Z:0.54 [[ 9.96726804e-01 8.04420478e-02 8.04706742e-03 3.52414618e+02] [-8.04387956e-02 9.96759284e-01 -7.27508904e-04 1.28686757e+00] [-8.07951147e-03 7.78312132e-05 9.99967357e-01 5.37243823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:352.45, Y:1.28, Z:0.54 [[ 9.96664038e-01 8.12160127e-02 8.04697244e-03 3.52446231e+02] [-8.12127773e-02 9.96696521e-01 -7.28558035e-04 1.28328385e+00] [-8.07956001e-03 7.26106127e-05 9.99967357e-01 5.37156013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:352.48, Y:1.28, Z:0.54 [[ 9.96438112e-01 8.39424654e-02 8.04687621e-03 3.52477723e+02] [-8.39393103e-02 9.96470602e-01 -7.29619336e-04 1.27613640e+00] [-8.07972162e-03 5.15712740e-05 9.99967357e-01 5.36508723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:352.51, Y:1.27, Z:0.55 [[ 9.96327492e-01 8.52453971e-02 8.04677999e-03 3.52507576e+02] [-8.52422759e-02 9.96359985e-01 -7.30678995e-04 1.27034482e+00] [-8.07977661e-03 4.20697302e-05 9.99967357e-01 5.46217926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:352.54, Y:1.27, Z:0.54 [[ 9.95778559e-01 9.14344320e-02 8.05027501e-03 3.52539733e+02] [-9.14318244e-02 9.95811098e-01 -6.92127186e-04 1.26661799e+00] [-8.07983746e-03 -4.68459195e-05 9.99967356e-01 5.35180940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:352.57, Y:1.26, Z:0.53 [[ 9.95449639e-01 9.49487508e-02 8.04683011e-03 3.52571982e+02] [-9.49459511e-02 9.95482161e-01 -7.30095625e-04 1.26373586e+00] [-8.07979750e-03 -3.72405121e-05 9.99967357e-01 5.34489121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.60, Y:1.26, Z:0.53 [[ 9.94965526e-01 9.98942001e-02 8.04673124e-03 3.52603457e+02] [-9.98915532e-02 9.94998062e-01 -7.31183708e-04 1.25844703e+00] [-8.07952300e-03 -7.62978987e-05 9.99967357e-01 5.34438595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.64, Y:1.25, Z:0.54 [[ 9.94898200e-01 1.00562533e-01 8.04663299e-03 3.52635196e+02] [-1.00559899e-01 9.94930737e-01 -7.32263413e-04 1.25439760e+00] [-8.07948075e-03 -8.06410465e-05 9.99967357e-01 5.36031225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:352.67, Y:1.25, Z:0.54 [[ 9.94829778e-01 1.01237176e-01 8.04653331e-03 3.52667377e+02] [-1.01234556e-01 9.94862316e-01 -7.33357119e-04 1.25211024e+00] [-8.07943576e-03 -8.50217243e-05 9.99967357e-01 5.35594849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:352.70, Y:1.25, Z:0.53 [[ 9.94839520e-01 1.01141412e-01 8.04643227e-03 3.52699797e+02] [-1.01138780e-01 9.94872056e-01 -7.34464059e-04 1.24871029e+00] [-8.07945534e-03 -8.31324685e-05 9.99967357e-01 5.34730969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:352.73, Y:1.24, Z:0.54 [[ 9.95165112e-01 9.78859400e-02 8.04633073e-03 3.52728469e+02] [-9.78831919e-02 9.95197638e-01 -7.35574794e-04 1.24266250e+00] [-8.07969177e-03 -5.55821628e-05 9.99967357e-01 5.43640378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.76, Y:1.24, Z:0.53 [[ 9.95004567e-01 9.95040895e-02 8.05282049e-03 3.52761498e+02] [-9.95019675e-02 9.95037143e-01 -6.64718071e-04 1.23967332e+00] [-8.07899766e-03 -1.39873966e-04 9.99967355e-01 5.33311537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.79, Y:1.24, Z:0.53 [[ 9.95045718e-01 9.90922966e-02 8.04589567e-03 3.52793249e+02] [-9.90895521e-02 9.95078245e-01 -7.40009715e-04 1.23661012e+00] [-8.07962500e-03 -6.09207002e-05 9.99967357e-01 5.32699357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:352.83, Y:1.23, Z:0.53 [[ 9.95072870e-01 9.88192749e-02 8.04579494e-03 3.52825569e+02] [-9.88165127e-02 9.95105395e-01 -7.41103320e-04 1.23219559e+00] [-8.07964924e-03 -5.76055899e-05 9.99967357e-01 5.32447190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.86, Y:1.23, Z:0.53 [[ 9.95310306e-01 9.63984485e-02 8.04569408e-03 3.52857711e+02] [-9.63955984e-02 9.95342824e-01 -7.42196673e-04 1.22709452e+00] [-8.07977048e-03 -3.68534970e-05 9.99967357e-01 5.33811216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.89, Y:1.22, Z:0.53 [[ 9.95387910e-01 9.55938142e-02 8.04559201e-03 3.52889458e+02] [-9.55909288e-02 9.95420425e-01 -7.43301481e-04 1.22338306e+00] [-8.07980164e-03 -2.92123059e-05 9.99967357e-01 5.33200578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:352.92, Y:1.22, Z:0.53 [[ 9.95597802e-01 9.33824719e-02 8.04549119e-03 3.52921555e+02] [-9.33795055e-02 9.95630310e-01 -7.44391115e-04 1.21877647e+00] [-8.07984797e-03 -1.01698313e-05 9.99967357e-01 5.31931623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.95, Y:1.21, Z:0.53 [[ 9.95644693e-01 9.28811964e-02 8.04538926e-03 3.52953601e+02] [-9.28782047e-02 9.95677198e-01 -7.45491248e-04 1.21495942e+00] [-8.07985275e-03 -4.99690506e-06 9.99967357e-01 5.32422585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:352.99, Y:1.21, Z:0.53 [[ 9.95622038e-01 9.31237433e-02 8.04528832e-03 3.52985598e+02] [-9.31207508e-02 9.95654543e-01 -7.46578900e-04 1.21301267e+00] [-8.07985209e-03 -5.87288306e-06 9.99967357e-01 5.32649030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:353.02, Y:1.21, Z:0.53 [[ 9.95598508e-01 9.33749744e-02 8.04518725e-03 3.53017249e+02] [-9.33719813e-02 9.95631013e-01 -7.47666538e-04 1.21057335e+00] [-8.07985127e-03 -6.81938294e-06 9.99967357e-01 5.32052358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.05, Y:1.21, Z:0.53 [[ 9.95549123e-01 9.39000561e-02 8.04508459e-03 3.53048865e+02] [-9.38970712e-02 9.95581629e-01 -7.48769511e-04 1.20720988e+00] [-8.07984792e-03 -9.97305088e-06 9.99967357e-01 5.31500679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.08, Y:1.20, Z:0.54 [[ 9.95673573e-01 9.25711267e-02 8.04498240e-03 3.53078539e+02] [-9.25680896e-02 9.95706074e-01 -7.49865851e-04 1.20412058e+00] [-8.07985377e-03 1.91296020e-06 9.99967357e-01 5.38832498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.11, Y:1.20, Z:0.54 [[ 9.95512093e-01 9.42913702e-02 8.05050616e-03 3.53111888e+02] [-9.42888654e-02 9.95544641e-01 -6.90953078e-04 1.20136231e+00] [-8.07978918e-03 -7.12209479e-05 9.99967355e-01 5.37610649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.14, Y:1.20, Z:0.53 [[ 9.95433674e-01 9.51160917e-02 8.04553444e-03 3.53144515e+02] [-9.51131869e-02 9.95466187e-01 -7.43774615e-04 1.19930887e+00] [-8.07980243e-03 -2.48581235e-05 9.99967358e-01 5.30734616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.18, Y:1.20, Z:0.53 [[ 9.95231282e-01 9.72110556e-02 8.04401949e-03 3.53177026e+02] [-9.72080896e-02 9.95263789e-01 -7.59813177e-04 1.19909364e+00] [-8.07978356e-03 -2.57539259e-05 9.99967358e-01 5.30073120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.21, Y:1.20, Z:0.53 [[ 9.95145323e-01 9.80871160e-02 8.04391734e-03 3.53209570e+02] [-9.80841699e-02 9.95177832e-01 -7.60893129e-04 1.19749692e+00] [-8.07976203e-03 -3.17817166e-05 9.99967358e-01 5.29649799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.24, Y:1.19, Z:0.53 [[ 9.95042782e-01 9.91219417e-02 8.04381457e-03 3.53241721e+02] [-9.91190206e-02 9.95075293e-01 -7.61978016e-04 1.19490234e+00] [-8.07972988e-03 -3.90942971e-05 9.99967358e-01 5.29352690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:353.27, Y:1.19, Z:0.54 [[ 9.95172580e-01 9.78102005e-02 8.04371106e-03 3.53272215e+02] [-9.78072278e-02 9.95205086e-01 -7.63069131e-04 1.19144504e+00] [-8.07977810e-03 -2.73476039e-05 9.99967358e-01 5.37653636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.30, Y:1.19, Z:0.53 [[ 9.95233550e-01 9.71877265e-02 8.04524855e-03 3.53304033e+02] [-9.71848644e-02 9.95266067e-01 -7.46855444e-04 1.18623570e+00] [-8.07974806e-03 -3.85807940e-05 9.99967358e-01 5.29432217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:353.33, Y:1.18, Z:0.54 [[ 9.95342414e-01 9.60665489e-02 8.04349663e-03 3.53334963e+02] [-9.60635014e-02 9.95374913e-01 -7.65269318e-04 1.18154314e+00] [-8.07981154e-03 -1.09814394e-05 9.99967358e-01 5.38082191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.37, Y:1.18, Z:0.53 [[ 9.95148543e-01 9.80542457e-02 8.04621416e-03 3.53367366e+02] [-9.80514935e-02 9.95181070e-01 -7.36766543e-04 1.17862893e+00] [-8.07968311e-03 -5.57511644e-05 9.99967357e-01 5.28734856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.40, Y:1.18, Z:0.53 [[ 9.95066936e-01 9.88792212e-02 8.04322624e-03 3.53400003e+02] [-9.88762430e-02 9.95099442e-01 -7.68056614e-04 1.17710425e+00] [-8.07975478e-03 -3.10162513e-05 9.99967358e-01 5.28414528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.43, Y:1.18, Z:0.53 [[ 9.94595985e-01 1.03509104e-01 8.04312180e-03 3.53432187e+02] [-1.03506269e-01 9.94628504e-01 -7.69148752e-04 1.17514830e+00] [-8.07953210e-03 -6.75212660e-05 9.99967358e-01 5.27422668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:353.46, Y:1.17, Z:0.53 [[ 9.94294001e-01 1.06370814e-01 8.04301839e-03 3.53464599e+02] [-1.06368063e-01 9.94326527e-01 -7.70228584e-04 1.17179673e+00] [-8.07931639e-03 -8.96866314e-05 9.99967358e-01 5.27119236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.50, Y:1.17, Z:0.53 [[ 9.93930782e-01 1.09712864e-01 8.04291410e-03 3.53496546e+02] [-1.09710214e-01 9.93963316e-01 -7.71316151e-04 1.17014546e+00] [-8.07898487e-03 -1.15754958e-04 9.99967358e-01 5.27221628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.53, Y:1.17, Z:0.53 [[ 9.93910457e-01 1.09896842e-01 8.04281011e-03 3.53529085e+02] [-1.09894189e-01 9.93942992e-01 -7.72398965e-04 1.16833108e+00] [-8.07897895e-03 -1.16162689e-04 9.99967358e-01 5.27736014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.56, Y:1.17, Z:0.53 [[ 9.93904615e-01 1.09949674e-01 8.04270634e-03 3.53561609e+02] [-1.09947014e-01 9.93937149e-01 -7.73477911e-04 1.16580455e+00] [-8.07898826e-03 -1.15508280e-04 9.99967358e-01 5.26220067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.59, Y:1.16, Z:0.53 [[ 9.93949158e-01 1.09546278e-01 8.04260171e-03 3.53593976e+02] [-1.09543596e-01 9.93981690e-01 -7.74564343e-04 1.16233325e+00] [-8.07904949e-03 -1.11137937e-04 9.99967358e-01 5.25587712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.63, Y:1.16, Z:0.53 [[ 9.93907154e-01 1.09926736e-01 8.04249710e-03 3.53626427e+02] [-1.09924058e-01 9.93939686e-01 -7.75649053e-04 1.16175588e+00] [-8.07902161e-03 -1.13140774e-04 9.99967358e-01 5.25155906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.66, Y:1.16, Z:0.52 [[ 9.93805739e-01 1.10839849e-01 8.04239180e-03 3.53658979e+02] [-1.10837192e-01 9.93838273e-01 -7.76739365e-04 1.16025803e+00] [-8.07893045e-03 -1.19468085e-04 9.99967358e-01 5.24194946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:353.69, Y:1.16, Z:0.54 [[ 9.93824405e-01 1.10672370e-01 8.04228681e-03 3.53690407e+02] [-1.10669699e-01 9.93856938e-01 -7.77824900e-04 1.15900030e+00] [-8.07896626e-03 -1.17016089e-04 9.99967358e-01 5.35737279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:353.72, Y:1.16, Z:0.54 [[ 9.93614358e-01 1.12542542e-01 8.04257591e-03 3.53722575e+02] [-1.12539956e-01 9.93646898e-01 -7.74839000e-04 1.16005295e+00] [-8.07868295e-03 -1.35219985e-04 9.99967358e-01 5.36053075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:353.75, Y:1.16, Z:0.52 [[ 9.93338852e-01 1.14948864e-01 8.04264467e-03 3.53753754e+02] [-1.14946362e-01 9.93371398e-01 -7.74130157e-04 1.15922686e+00] [-8.07831856e-03 -1.55499185e-04 9.99967358e-01 5.23457689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:353.79, Y:1.16, Z:0.52 [[ 9.93250447e-01 1.15710305e-01 8.04204879e-03 3.53785997e+02] [-1.15707778e-01 9.93282992e-01 -7.80271716e-04 1.15870861e+00] [-8.07831576e-03 -1.55522368e-04 9.99967358e-01 5.21808510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:353.82, Y:1.16, Z:0.52 [[ 9.93203476e-01 1.16112803e-01 8.04194432e-03 3.53818534e+02] [-1.16110281e-01 9.93236020e-01 -7.81346964e-04 1.15708169e+00] [-8.07827316e-03 -1.57715896e-04 9.99967358e-01 5.22810671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.85, Y:1.16, Z:0.52 [[ 9.93339082e-01 1.14946930e-01 8.04183981e-03 3.53850543e+02] [-1.14944361e-01 9.93371623e-01 -7.82421129e-04 1.15601205e+00] [-8.07847237e-03 -1.47154652e-04 9.99967358e-01 5.22273505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.88, Y:1.16, Z:0.52 [[ 9.93587371e-01 1.12780616e-01 8.04173505e-03 3.53882961e+02] [-1.12777967e-01 9.93619905e-01 -7.83496348e-04 1.15661081e+00] [-8.07879122e-03 -1.28458456e-04 9.99967358e-01 5.22172312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:353.92, Y:1.16, Z:0.52 [[ 9.93838594e-01 1.10544926e-01 8.04163042e-03 3.53915469e+02] [-1.10542195e-01 9.93871122e-01 -7.84568815e-04 1.15551348e+00] [-8.07907435e-03 -1.09204712e-04 9.99967358e-01 5.20977482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:353.95, Y:1.15, Z:0.52 [[ 9.94003734e-01 1.09050038e-01 8.04152467e-03 3.53947496e+02] [-1.09047250e-01 9.94036257e-01 -7.85651222e-04 1.15340724e+00] [-8.07924238e-03 -9.59659007e-05 9.99967358e-01 5.20743150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:353.98, Y:1.15, Z:0.52 [[ 9.94554240e-01 1.03909576e-01 8.04141883e-03 3.53979613e+02] [-1.03906612e-01 9.94586747e-01 -7.86732999e-04 1.15195401e+00] [-8.07963769e-03 -5.31079439e-05 9.99967358e-01 5.21791082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:354.01, Y:1.15, Z:0.52 [[ 9.94824177e-01 1.01292617e-01 8.04131197e-03 3.54011576e+02] [-1.01289558e-01 9.94856675e-01 -7.87823789e-04 1.14847529e+00] [-8.07975362e-03 -3.07547821e-05 9.99967358e-01 5.20747861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:354.04, Y:1.14, Z:0.52 [[ 9.95125931e-01 9.82838730e-02 8.04120613e-03 3.54043694e+02] [-9.82807069e-02 9.95158420e-01 -7.88902533e-04 1.14376717e+00] [-8.07981038e-03 -5.23805531e-06 9.99967358e-01 5.19739602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.08, Y:1.14, Z:0.52 [[ 9.95545366e-01 9.39402235e-02 8.04109986e-03 3.54075800e+02] [-9.39369069e-02 9.95577839e-01 -7.89984268e-04 1.13966182e+00] [-8.07975212e-03 3.11091279e-05 9.99967358e-01 5.18902575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:354.11, Y:1.14, Z:0.52 [[ 9.95633891e-01 9.29972988e-02 8.04099455e-03 3.54107554e+02] [-9.29939429e-02 9.95666360e-01 -7.91054756e-04 1.13724124e+00] [-8.07971373e-03 3.98371370e-05 9.99967358e-01 5.18644154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:354.14, Y:1.13, Z:0.52 [[ 9.95796272e-01 9.12421445e-02 8.04089024e-03 3.54139673e+02] [-9.12387228e-02 9.95828734e-01 -7.92113639e-04 1.13228283e+00] [-8.07962369e-03 5.51432540e-05 9.99967358e-01 5.17833592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:354.17, Y:1.12, Z:0.52 [[ 9.96003761e-01 8.89486035e-02 8.04078649e-03 3.54171162e+02] [-8.89450985e-02 9.96036214e-01 -7.93165381e-04 1.12293034e+00] [-8.07946549e-03 7.48071564e-05 9.99967358e-01 5.16822042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:354.20, Y:1.12, Z:0.52 [[ 9.96041182e-01 8.85285923e-02 8.04068320e-03 3.54202907e+02] [-8.85250652e-02 9.96073633e-01 -7.94211088e-04 1.11801580e+00] [-8.07942292e-03 7.92649457e-05 9.99967358e-01 5.16672000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:354.24, Y:1.11, Z:0.52 [[ 9.96112470e-01 8.77228326e-02 8.04057934e-03 3.54235102e+02] [-8.77192707e-02 9.96144918e-01 -7.95261200e-04 1.11324212e+00] [-8.07934481e-03 8.68558433e-05 9.99967358e-01 5.16648981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:354.27, Y:1.11, Z:0.52 [[ 9.96101082e-01 8.78520615e-02 8.04047544e-03 3.54267609e+02] [-8.78484954e-02 9.96133529e-01 -7.96310281e-04 1.11005733e+00] [-8.07934468e-03 8.68618633e-05 9.99967358e-01 5.16385080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:354.30, Y:1.10, Z:0.52 [[ 9.96226330e-01 8.64202004e-02 8.04037200e-03 3.54298848e+02] [-8.64165793e-02 9.96258771e-01 -7.97353356e-04 1.10161650e+00] [-8.07919856e-03 9.95229635e-05 9.99967358e-01 5.15701448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.33, Y:1.09, Z:0.52 [[ 9.96223834e-01 8.64489853e-02 8.04026860e-03 3.54330625e+02] [-8.64453566e-02 9.96256274e-01 -7.98394626e-04 1.09155511e+00] [-8.07918844e-03 1.00335868e-04 9.99967358e-01 5.15971261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:354.36, Y:1.09, Z:0.53 [[ 9.96149200e-01 8.73047960e-02 8.04016393e-03 3.54361309e+02] [-8.73011867e-02 9.96181642e-01 -7.99447310e-04 1.08663607e+00] [-8.07925929e-03 9.44529456e-05 9.99967358e-01 5.25586922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:354.39, Y:1.08, Z:0.52 [[ 9.95820885e-01 9.09730399e-02 8.04185173e-03 3.54393152e+02] [-9.09696873e-02 9.95853355e-01 -7.82470448e-04 1.07901315e+00] [-8.07968873e-03 4.76356777e-05 9.99967358e-01 5.15010025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99864 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:354.42, Y:1.07, Z:0.53 [[ 9.95685904e-01 9.24388447e-02 8.03994419e-03 3.54424315e+02] [-9.24353854e-02 9.95718362e-01 -8.01602710e-04 1.07368755e+00] [-8.07961929e-03 5.49691792e-05 9.99967358e-01 5.27136352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:354.46, Y:1.07, Z:0.53 [[ 9.95616303e-01 9.31855722e-02 8.03902960e-03 3.54455165e+02] [-9.31820630e-02 9.95648756e-01 -8.10781493e-04 1.06957719e+00] [-8.07960296e-03 5.81339094e-05 9.99967358e-01 5.28712519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:354.49, Y:1.07, Z:0.53 [[ 9.95298344e-01 9.65222153e-02 8.04169184e-03 3.54485501e+02] [-9.65190306e-02 9.95330830e-01 -7.84094419e-04 1.06553758e+00] [-8.07982635e-03 4.23157578e-06 9.99967358e-01 5.26571155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:354.52, Y:1.06, Z:0.51 [[ 9.95054499e-01 9.90042099e-02 8.04425325e-03 3.54517394e+02] [-9.90013135e-02 9.95087014e-01 -7.58455135e-04 1.06027797e+00] [-8.07982219e-03 -4.16874428e-05 9.99967357e-01 5.14212360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:354.55, Y:1.05, Z:0.51 [[ 9.95023207e-01 9.93186002e-02 8.03951246e-03 3.54549220e+02] [-9.93153317e-02 9.95055685e-01 -8.05756902e-04 1.05096959e+00] [-8.07978922e-03 3.29996998e-06 9.99967358e-01 5.14298601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.58, Y:1.05, Z:0.51 [[ 9.94957039e-01 9.99792926e-02 8.03940338e-03 3.54580678e+02] [-9.99760369e-02 9.94989518e-01 -8.06843758e-04 1.04510341e+00] [-8.07978976e-03 -9.72812685e-07 9.99967358e-01 5.14952944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:354.61, Y:1.04, Z:0.51 [[ 9.94922194e-01 1.00325454e-01 8.03929413e-03 3.54613279e+02] [-1.00322201e-01 9.94954674e-01 -8.07930835e-04 1.03998231e+00] [-8.07978930e-03 -2.69136305e-06 9.99967358e-01 5.13925678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:354.64, Y:1.03, Z:0.53 [[ 9.94850370e-01 1.01035215e-01 8.03912962e-03 3.54643322e+02] [-1.01031972e-01 9.94882850e-01 -8.09564443e-04 1.03368848e+00] [-8.07978671e-03 -6.81363076e-06 9.99967358e-01 5.26146614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:354.67, Y:1.02, Z:0.51 [[ 9.94278114e-01 1.06519459e-01 8.03964592e-03 3.54674306e+02] [-1.06516436e-01 9.94310616e-01 -8.04444116e-04 1.02450313e+00] [-8.07959424e-03 -5.65132527e-05 9.99967358e-01 5.12773325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:354.71, Y:1.02, Z:0.51 [[ 9.94001502e-01 1.09070566e-01 8.03899628e-03 3.54706301e+02] [-1.09067575e-01 9.94034007e-01 -8.10884534e-04 1.01983766e+00] [-8.07947932e-03 -7.07733843e-05 9.99967358e-01 5.12537020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:354.74, Y:1.02, Z:0.51 [[ 9.93317188e-01 1.15136177e-01 8.03888649e-03 3.54738822e+02] [-1.15133376e-01 9.93349710e-01 -8.11971557e-04 1.01542401e+00] [-8.07891286e-03 -1.18998835e-04 9.99967358e-01 5.12303700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:354.77, Y:1.01, Z:0.51 [[ 9.92808331e-01 1.19444534e-01 8.03872060e-03 3.54770551e+02] [-1.19441861e-01 9.92840863e-01 -8.13610602e-04 1.01079180e+00] [-8.07835164e-03 -1.52400361e-04 9.99967358e-01 5.13191902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:354.80, Y:1.01, Z:0.51 [[ 9.92671130e-01 1.20579468e-01 8.03861186e-03 3.54802171e+02] [-1.20576822e-01 9.92703665e-01 -8.14683501e-04 1.00679719e+00] [-8.07819356e-03 -1.60557484e-04 9.99967358e-01 5.12999561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:354.83, Y:1.00, Z:0.51 [[ 9.92607211e-01 1.21104526e-01 8.03850371e-03 3.54833644e+02] [-1.21101889e-01 9.92639747e-01 -8.15749293e-04 1.00264134e+00] [-8.07812921e-03 -1.63759353e-04 9.99967358e-01 5.13346016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:354.87, Y:1.00, Z:0.51 [[ 9.92606381e-01 1.21111340e-01 8.03839652e-03 3.54865803e+02] [-1.21108695e-01 9.92638916e-01 -8.16804162e-04 9.98916027e-01] [-8.07814945e-03 -1.62754686e-04 9.99967358e-01 5.12328589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.90, Y:1.00, Z:0.51 [[ 9.92571978e-01 1.21392971e-01 8.03828898e-03 3.54898260e+02] [-1.21390327e-01 9.92604513e-01 -8.17861079e-04 9.96238156e-01] [-8.07812451e-03 -1.63984538e-04 9.99967358e-01 5.11309119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.93, Y:0.99, Z:0.51 [[ 9.92458256e-01 1.22319244e-01 8.03818032e-03 3.54930554e+02] [-1.22316621e-01 9.92490793e-01 -8.18927653e-04 9.93597563e-01] [-8.07799057e-03 -1.70451548e-04 9.99967358e-01 5.11090406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:354.96, Y:0.99, Z:0.51 [[ 9.92273092e-01 1.23812360e-01 8.03807277e-03 3.54962970e+02] [-1.23809778e-01 9.92305632e-01 -8.19981894e-04 9.92415804e-01] [-8.07774877e-03 -1.81546038e-04 9.99967358e-01 5.10739588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:355.00, Y:0.99, Z:0.51 [[ 9.92134097e-01 1.24921275e-01 8.03796519e-03 3.54995477e+02] [-1.24918721e-01 9.92166639e-01 -8.21035095e-04 9.90912553e-01] [-8.07756566e-03 -1.89515420e-04 9.99967358e-01 5.10039766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:0.99, Z:0.51 [[ 9.91943680e-01 1.26424401e-01 8.03785737e-03 3.55028980e+02] [-1.26421887e-01 9.91976225e-01 -8.22089308e-04 9.89822098e-01] [-8.07729556e-03 -2.00694803e-04 9.99967358e-01 5.10451303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:355.06, Y:0.99, Z:0.51 [[ 9.91842651e-01 1.27214587e-01 8.03769466e-03 3.55060855e+02] [-1.27212087e-01 9.91875197e-01 -8.23677059e-04 9.89510520e-01] [-8.07717372e-03 -2.05533871e-04 9.99967358e-01 5.11428065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:355.09, Y:0.99, Z:0.51 [[ 9.91908271e-01 1.26701933e-01 8.03758724e-03 3.55093939e+02] [-1.26699407e-01 9.91940815e-01 -8.24723950e-04 9.86966818e-01] [-8.07730496e-03 -2.00307031e-04 9.99967358e-01 5.11648022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:355.13, Y:0.98, Z:0.51 [[ 9.92300200e-01 1.23594956e-01 8.03742426e-03 3.55125534e+02] [-1.23592316e-01 9.92332735e-01 -8.26309239e-04 9.84480554e-01] [-8.07792686e-03 -1.73417054e-04 9.99967358e-01 5.09874243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:355.16, Y:0.98, Z:0.51 [[ 9.92623851e-01 1.20968147e-01 8.03731567e-03 3.55158002e+02] [-1.20965412e-01 9.92656378e-01 -8.27364188e-04 9.80135675e-01] [-8.07837737e-03 -1.50975776e-04 9.99967358e-01 5.09853310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.19, Y:0.97, Z:0.51 [[ 9.93222839e-01 1.15947382e-01 8.03714979e-03 3.55189213e+02] [-1.15944469e-01 9.93255351e-01 -8.28972431e-04 9.74075384e-01] [-8.07905922e-03 -1.08508717e-04 9.99967358e-01 5.09896306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:355.22, Y:0.97, Z:0.51 [[ 9.93396480e-01 1.14450156e-01 8.03706614e-03 3.55222402e+02] [-1.14447187e-01 9.93428987e-01 -8.29782607e-04 9.69936082e-01] [-8.07922323e-03 -9.55164935e-05 9.99967358e-01 5.09607727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:355.25, Y:0.97, Z:0.51 [[ 9.93585402e-01 1.12798308e-01 8.03689733e-03 3.55253823e+02] [-1.12795272e-01 9.93617902e-01 -8.31414484e-04 9.65120880e-01] [-8.07938721e-03 -8.04427271e-05 9.99967358e-01 5.08034779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:355.29, Y:0.96, Z:0.51 [[ 9.93556993e-01 1.13048276e-01 8.03678321e-03 3.55286312e+02] [-1.13045240e-01 9.93589493e-01 -8.32516075e-04 9.59531701e-01] [-8.07937787e-03 -8.13679200e-05 9.99967358e-01 5.08231639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:355.31, Y:0.95, Z:0.52 [[ 9.93636216e-01 1.12349824e-01 8.03661269e-03 3.55314766e+02] [-1.12346752e-01 9.93668713e-01 -8.34158955e-04 9.53938897e-01] [-8.07944820e-03 -7.40367865e-05 9.99967358e-01 5.19918158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:355.35, Y:0.95, Z:0.51 [[ 9.93192746e-01 1.16204516e-01 8.04235914e-03 3.55346898e+02] [-1.16202017e-01 9.93225294e-01 -7.78873903e-04 9.47990002e-01] [-8.07838319e-03 -1.60966443e-04 9.99967356e-01 5.08744145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.38, Y:0.94, Z:0.51 [[ 9.92774469e-01 1.19725818e-01 8.03632595e-03 3.55379147e+02] [-1.19722966e-01 9.92806986e-01 -8.36813707e-04 9.43448500e-01] [-8.07870875e-03 -1.31365492e-04 9.99967358e-01 5.07772119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.41, Y:0.94, Z:0.51 [[ 9.92620406e-01 1.20996484e-01 8.03621352e-03 3.55410663e+02] [-1.20993664e-01 9.92652926e-01 -8.37892014e-04 9.38519347e-01] [-8.07855285e-03 -1.40622211e-04 9.99967358e-01 5.07394592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.44, Y:0.93, Z:0.51 [[ 9.92430567e-01 1.22543830e-01 8.03610077e-03 3.55442631e+02] [-1.22541052e-01 9.92463091e-01 -8.38971996e-04 9.32594539e-01] [-8.07834425e-03 -1.52130792e-04 9.99967358e-01 5.07886685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.47, Y:0.93, Z:0.51 [[ 9.92398135e-01 1.22806210e-01 8.03598948e-03 3.55474754e+02] [-1.22803433e-01 9.92430658e-01 -8.40036631e-04 9.28860640e-01] [-8.07832404e-03 -1.53196306e-04 9.99967358e-01 5.08144129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.51, Y:0.93, Z:0.51 [[ 9.92280089e-01 1.23756413e-01 8.03587910e-03 3.55506359e+02] [-1.23753658e-01 9.92312614e-01 -8.41091169e-04 9.25903303e-01] [-8.07819463e-03 -1.59871411e-04 9.99967358e-01 5.06673575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.54, Y:0.92, Z:0.51 [[ 9.92225606e-01 1.24192485e-01 8.03576718e-03 3.55539696e+02] [-1.24189736e-01 9.92258132e-01 -8.42159075e-04 9.22785821e-01] [-8.07814516e-03 -1.62348005e-04 9.99967358e-01 5.06233093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:355.57, Y:0.92, Z:0.52 [[ 9.92180184e-01 1.24554858e-01 8.03559976e-03 3.55571727e+02] [-1.24552107e-01 9.92212709e-01 -8.43753594e-04 9.22452676e-01] [-8.07811781e-03 -1.63695288e-04 9.99967358e-01 5.17083451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.60, Y:0.92, Z:0.51 [[ 9.91987979e-01 1.26076642e-01 8.03302299e-03 3.55602770e+02] [-1.26073743e-01 9.92020492e-01 -8.68253887e-04 9.20463190e-01] [-8.07838996e-03 -1.51455855e-04 9.99967358e-01 5.05663622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:0.92, Z:0.50 [[ 9.91847941e-01 1.27173477e-01 8.03544556e-03 3.55635874e+02] [-1.27170801e-01 9.91880473e-01 -8.45222784e-04 9.18321590e-01] [-8.07769147e-03 -1.83541569e-04 9.99967358e-01 5.04333927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:355.67, Y:0.92, Z:0.51 [[ 9.91642793e-01 1.28763371e-01 8.03527782e-03 3.55668932e+02] [-1.28760734e-01 9.91675328e-01 -8.46814434e-04 9.16290532e-01] [-8.07742545e-03 -1.94890843e-04 9.99967358e-01 5.05571368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:355.70, Y:0.92, Z:0.51 [[ 9.91289245e-01 1.31457481e-01 8.03511048e-03 3.55701068e+02] [-1.31454919e-01 9.91321787e-01 -8.48399266e-04 9.16519020e-01] [-8.07690851e-03 -2.15245731e-04 9.99967358e-01 5.05964215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:355.73, Y:0.92, Z:0.51 [[ 9.91131921e-01 1.32638433e-01 8.03500010e-03 3.55733796e+02] [-1.32635902e-01 9.91164465e-01 -8.49443441e-04 9.15942062e-01] [-8.07667542e-03 -2.23818976e-04 9.99967358e-01 5.05025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:355.77, Y:0.92, Z:0.50 [[ 9.90833955e-01 1.34846264e-01 8.03488885e-03 3.55766534e+02] [-1.34843797e-01 9.90866503e-01 -8.50494411e-04 9.15687421e-01] [-8.07618821e-03 -2.40756182e-04 9.99967358e-01 5.03359326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:355.80, Y:0.92, Z:0.50 [[ 9.90594830e-01 1.36591822e-01 8.03477838e-03 3.55799102e+02] [-1.36589403e-01 9.90627382e-01 -8.51536761e-04 9.16282538e-01] [-8.07578443e-03 -2.53937672e-04 9.99967358e-01 5.03606009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:355.83, Y:0.91, Z:0.50 [[ 9.90491616e-01 1.37338278e-01 8.03466843e-03 3.55831506e+02] [-1.37335876e-01 9.90524169e-01 -8.52572962e-04 9.14735350e-01] [-8.07562417e-03 -2.58981857e-04 9.99967358e-01 5.02754752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.86, Y:0.91, Z:0.50 [[ 9.90588421e-01 1.36638304e-01 8.03455840e-03 3.55864319e+02] [-1.36635871e-01 9.90620972e-01 -8.53608583e-04 9.13377161e-01] [-8.07583768e-03 -2.52234103e-04 9.99967358e-01 5.00690468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:355.90, Y:0.91, Z:0.50 [[ 9.90595741e-01 1.36585237e-01 8.03439305e-03 3.55897169e+02] [-1.36582789e-01 9.90628291e-01 -8.55162069e-04 9.13760330e-01] [-8.07589957e-03 -2.50239906e-04 9.99967358e-01 5.00072650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:355.93, Y:0.91, Z:0.51 [[ 9.90555977e-01 1.36873324e-01 8.03428253e-03 3.55928175e+02] [-1.36870877e-01 9.90588527e-01 -8.56199214e-04 9.14019485e-01] [-8.07585893e-03 -2.51546046e-04 9.99967358e-01 5.12098491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.96, Y:0.91, Z:0.50 [[ 9.90385136e-01 1.38104050e-01 8.03450858e-03 3.55958599e+02] [-1.38101661e-01 9.90417691e-01 -8.54079676e-04 9.13667697e-01] [-8.07547129e-03 -2.63711162e-04 9.99967358e-01 5.00481549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:355.99, Y:0.92, Z:0.50 [[ 9.90100750e-01 1.40128354e-01 8.03423622e-03 3.55991576e+02] [-1.40126011e-01 9.90133308e-01 -8.56634111e-04 9.15473140e-01] [-8.07500361e-03 -2.77651396e-04 9.99967358e-01 5.00987747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:356.02, Y:0.92, Z:0.50 [[ 9.89949239e-01 1.41194749e-01 8.03412604e-03 3.56023609e+02] [-1.41192433e-01 9.89981799e-01 -8.57666148e-04 9.15455964e-01] [-8.07473651e-03 -2.85311850e-04 9.99967358e-01 5.00525218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.06, Y:0.92, Z:0.50 [[ 9.89946506e-01 1.41213917e-01 8.03401638e-03 3.56056039e+02] [-1.41211593e-01 9.89979065e-01 -8.58692156e-04 9.19645294e-01] [-8.07476731e-03 -2.84436948e-04 9.99967358e-01 4.99855562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.09, Y:0.92, Z:0.50 [[ 9.90704266e-01 1.35795854e-01 8.03390638e-03 3.56088452e+02] [-1.35793343e-01 9.90736811e-01 -8.59720102e-04 9.18868460e-01] [-8.07623321e-03 -2.39222632e-04 9.99967358e-01 4.99620659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.12, Y:0.92, Z:0.50 [[ 9.91241352e-01 1.31818212e-01 8.03379591e-03 3.56120794e+02] [-1.31815562e-01 9.91273886e-01 -8.60751112e-04 9.15610611e-01] [-8.07715477e-03 -2.05767227e-04 9.99967358e-01 5.00760388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:356.15, Y:0.91, Z:0.50 [[ 9.91797533e-01 1.27566112e-01 8.03368411e-03 3.56152821e+02] [-1.27563314e-01 9.91830055e-01 -8.61793319e-04 9.12874931e-01] [-8.07798498e-03 -1.70078883e-04 9.99967358e-01 5.00981516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:356.19, Y:0.91, Z:0.50 [[ 9.92387060e-01 1.22895827e-01 8.03357066e-03 3.56185512e+02] [-1.22892868e-01 9.92419568e-01 -8.62849616e-04 9.11410240e-01] [-8.07871334e-03 -1.30987747e-04 9.99967358e-01 5.01147782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:356.22, Y:0.91, Z:0.50 [[ 9.92651142e-01 1.20744251e-01 8.03345467e-03 3.56217731e+02] [-1.20741213e-01 9.92683642e-01 -8.63928164e-04 9.07728023e-01] [-8.07899340e-03 -1.12389783e-04 9.99967358e-01 5.00082304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:356.25, Y:0.91, Z:0.50 [[ 9.92572500e-01 1.21389035e-01 8.03333822e-03 3.56249425e+02] [-1.21386009e-01 9.92605001e-01 -8.65009703e-04 9.05001751e-01] [-8.07893438e-03 -1.16550021e-04 9.99967358e-01 4.99136340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.28, Y:0.90, Z:0.50 [[ 9.92594292e-01 1.21210719e-01 8.03322200e-03 3.56281147e+02] [-1.21207678e-01 9.92626792e-01 -8.66087608e-04 9.03220183e-01] [-8.07897049e-03 -1.14014571e-04 9.99967358e-01 4.98730531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.31, Y:0.90, Z:0.50 [[ 9.92578052e-01 1.21343644e-01 8.03310565e-03 3.56313623e+02] [-1.21340599e-01 9.92610552e-01 -8.67165498e-04 8.99745321e-01] [-8.07897045e-03 -1.14012410e-04 9.99967358e-01 4.98466650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.35, Y:0.90, Z:0.50 [[ 9.92536577e-01 1.21682431e-01 8.03298938e-03 3.56345571e+02] [-1.21679388e-01 9.92569077e-01 -8.68241225e-04 8.96630924e-01] [-8.07894656e-03 -1.15688061e-04 9.99967358e-01 4.96689641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:356.38, Y:0.89, Z:0.51 [[ 9.92521437e-01 1.21805874e-01 8.03287296e-03 3.56375900e+02] [-1.21802827e-01 9.92553936e-01 -8.69316936e-04 8.91741648e-01] [-8.07894759e-03 -1.15610940e-04 9.99967358e-01 5.08340279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.41, Y:0.89, Z:0.50 [[ 9.92456850e-01 1.22331089e-01 8.03149848e-03 3.56405929e+02] [-1.22327956e-01 9.92489342e-01 -8.82032375e-04 8.86759329e-01] [-8.07907662e-03 -1.07097719e-04 9.99967358e-01 4.98026594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:356.44, Y:0.88, Z:0.50 [[ 9.92419112e-01 1.22636781e-01 8.03284568e-03 3.56437842e+02] [-1.22633759e-01 9.92451613e-01 -8.69587534e-04 8.83223027e-01] [-8.07885407e-03 -1.22102772e-04 9.99967358e-01 4.96795583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.47, Y:0.88, Z:0.50 [[ 9.92399319e-01 1.22796854e-01 8.03272888e-03 3.56469867e+02] [-1.22793828e-01 9.92431820e-01 -8.70665141e-04 8.78240319e-01] [-8.07885068e-03 -1.22322039e-04 9.99967358e-01 4.97442128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.50, Y:0.87, Z:0.50 [[ 9.92275580e-01 1.23792770e-01 8.03261173e-03 3.56501473e+02] [-1.23789768e-01 9.92308084e-01 -8.71744654e-04 8.74632824e-01] [-8.07874124e-03 -1.29344207e-04 9.99967358e-01 4.98246163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.53, Y:0.87, Z:0.50 [[ 9.92110047e-01 1.25112481e-01 8.03249461e-03 3.56533767e+02] [-1.25109514e-01 9.92142554e-01 -8.72822462e-04 8.72429068e-01] [-8.07858070e-03 -1.39005561e-04 9.99967358e-01 4.97898619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.57, Y:0.87, Z:0.50 [[ 9.91692810e-01 1.28377770e-01 8.03237874e-03 3.56565459e+02] [-1.28374901e-01 9.91725325e-01 -8.73887442e-04 8.69968618e-01] [-8.07810114e-03 -1.64527937e-04 9.99967358e-01 4.96041726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.60, Y:0.87, Z:0.50 [[ 9.91415623e-01 1.30501128e-01 8.03226176e-03 3.56597230e+02] [-1.30498320e-01 9.91448144e-01 -8.74961395e-04 8.66359877e-01] [-8.07775446e-03 -1.80746270e-04 9.99967358e-01 4.96141418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:356.63, Y:0.87, Z:0.50 [[ 9.90659184e-01 1.36124450e-01 8.03214657e-03 3.56629432e+02] [-1.36121818e-01 9.90691720e-01 -8.76017504e-04 8.67504038e-01] [-8.07662850e-03 -2.25515609e-04 9.99967358e-01 4.96133537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:356.66, Y:0.87, Z:0.50 [[ 9.90134825e-01 1.39887508e-01 8.03203177e-03 3.56662184e+02] [-1.39884992e-01 9.90167370e-01 -8.77068903e-04 8.68161654e-01] [-8.07574675e-03 -2.55144231e-04 9.99967358e-01 4.95415930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12864 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:356.69, Y:0.87, Z:0.51 [[ 9.90029157e-01 1.40633413e-01 8.03191850e-03 3.56693427e+02] [-1.40630912e-01 9.90061703e-01 -8.78104963e-04 8.68482073e-01] [-8.07558580e-03 -2.60186508e-04 9.99967358e-01 5.07617097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:356.72, Y:0.87, Z:0.49 [[ 9.90129809e-01 1.39923055e-01 8.03114628e-03 3.56724607e+02] [-1.39920473e-01 9.90162349e-01 -8.85173320e-04 8.65762936e-01] [-8.07599482e-03 -2.47285300e-04 9.99967358e-01 4.93345169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:356.76, Y:0.86, Z:0.49 [[ 9.90301315e-01 1.38703969e-01 8.03213256e-03 3.56757074e+02] [-1.38701421e-01 9.90333857e-01 -8.76131402e-04 8.64525120e-01] [-8.07601572e-03 -2.46434119e-04 9.99967358e-01 4.93840012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:356.79, Y:0.86, Z:0.49 [[ 9.91226755e-01 1.31928039e-01 8.03201960e-03 3.56789124e+02] [-1.31925259e-01 9.91259278e-01 -8.77165706e-04 8.64642543e-01] [-8.07753671e-03 -1.90156155e-04 9.99967358e-01 4.92297809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:356.82, Y:0.86, Z:0.50 [[ 9.92269281e-01 1.23843295e-01 8.03194552e-03 3.56818720e+02] [-1.23840246e-01 9.92301780e-01 -8.77843592e-04 8.59008064e-01] [-8.07882888e-03 -1.23620875e-04 9.99967358e-01 5.03549724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:356.85, Y:0.85, Z:0.50 [[ 9.92570411e-01 1.21406018e-01 8.03485843e-03 3.56850765e+02] [-1.21403104e-01 9.92602923e-01 -8.51225919e-04 8.54645694e-01] [-8.07876791e-03 -1.30555091e-04 9.99967358e-01 5.04376140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:356.88, Y:0.85, Z:0.49 [[ 9.93086315e-01 1.17111511e-01 8.02903103e-03 3.56881023e+02] [-1.17108026e-01 9.93118770e-01 -9.04381090e-04 8.51311953e-01] [-8.07969487e-03 -4.21354954e-05 9.99967358e-01 4.91424027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.91, Y:0.84, Z:0.49 [[ 9.93883455e-01 1.10141587e-01 8.03167739e-03 3.56912964e+02] [-1.10138070e-01 9.93915907e-01 -8.80234533e-04 8.44970765e-01] [-8.07976235e-03 -9.74290605e-06 9.99967358e-01 4.90413768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:356.94, Y:0.84, Z:0.49 [[ 9.94237074e-01 1.06902453e-01 8.03155803e-03 3.56944707e+02] [-1.06898822e-01 9.94269513e-01 -8.81322280e-04 8.37362481e-01] [-8.07974880e-03 1.76791951e-05 9.99967358e-01 4.89701387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:356.98, Y:0.83, Z:0.49 [[ 9.94798741e-01 1.01542906e-01 8.03144014e-03 3.56976277e+02] [-1.01539091e-01 9.94831159e-01 -8.82395287e-04 8.25741328e-01] [-8.07952788e-03 6.23005912e-05 9.99967358e-01 4.90312247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:357.01, Y:0.82, Z:0.49 [[ 9.94874755e-01 1.00795441e-01 8.03127823e-03 3.57007512e+02] [-1.00791590e-01 9.94907169e-01 -8.83866484e-04 8.19453283e-01] [-8.07946599e-03 6.98511506e-05 9.99967358e-01 4.90680420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:357.04, Y:0.81, Z:0.50 [[ 9.94789157e-01 1.01636769e-01 8.03116099e-03 3.57038582e+02] [-1.01632936e-01 9.94821574e-01 -8.84930479e-04 8.09593634e-01] [-8.07951369e-03 6.40887714e-05 9.99967358e-01 5.03757793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:357.07, Y:0.80, Z:0.49 [[ 9.94617302e-01 1.03305066e-01 8.03032724e-03 3.57069743e+02] [-1.03301227e-01 9.94649717e-01 -8.92494464e-04 8.03441454e-01] [-8.07956192e-03 5.81477766e-05 9.99967358e-01 4.92424666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51864 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:357.10, Y:0.80, Z:0.50 [[ 9.94366598e-01 1.05690923e-01 8.03098256e-03 3.57099933e+02] [-1.05687210e-01 9.94399028e-01 -8.86558199e-04 7.97770895e-01] [-8.07970241e-03 3.27917222e-05 9.99967358e-01 5.03376313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:357.13, Y:0.79, Z:0.50 [[ 9.93676005e-01 1.11997518e-01 8.03443464e-03 3.57132228e+02] [-1.11994263e-01 9.93708485e-01 -8.55359183e-04 7.89992501e-01] [-8.07968398e-03 -4.98606901e-05 9.99967358e-01 5.00849915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:357.17, Y:0.78, Z:0.50 [[ 9.93046511e-01 1.17448512e-01 8.02956444e-03 3.57165460e+02] [-1.17445081e-01 9.93078972e-01 -8.99198626e-04 7.82600310e-01] [-8.07960114e-03 -5.00867850e-05 9.99967358e-01 5.02398704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:357.20, Y:0.78, Z:0.49 [[ 9.93012439e-01 1.17736613e-01 8.02410381e-03 3.57195270e+02] [-1.17732794e-01 9.93044858e-01 -9.48241199e-04 7.78339967e-01] [-8.07993774e-03 -3.08485777e-06 9.99967357e-01 4.89782177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:357.23, Y:0.77, Z:0.49 [[ 9.92891356e-01 1.18752982e-01 8.03017500e-03 3.57227579e+02] [-1.18749638e-01 9.92923826e-01 -8.93689112e-04 7.73750257e-01] [-8.07948034e-03 -6.62441807e-05 9.99967358e-01 4.90403129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:357.26, Y:0.77, Z:0.50 [[ 9.92744272e-01 1.19976364e-01 8.03005331e-03 3.57259052e+02] [-1.19973051e-01 9.92776745e-01 -8.94781204e-04 7.68027667e-01] [-8.07940279e-03 -7.51010826e-05 9.99967358e-01 5.02032886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:357.29, Y:0.76, Z:0.49 [[ 9.92779249e-01 1.19686934e-01 8.02494578e-03 3.57289409e+02] [-1.19683242e-01 9.92811683e-01 -9.40567704e-04 7.63616428e-01] [-8.07983358e-03 -2.66754254e-05 9.99967357e-01 4.89384003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:0.76, Z:0.49 [[ 9.92548999e-01 1.21581255e-01 8.03007425e-03 3.57321536e+02] [-1.21577997e-01 9.92581478e-01 -8.94530209e-04 7.60744218e-01] [-8.07926107e-03 -8.84152756e-05 9.99967358e-01 4.89621419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.35, Y:0.76, Z:0.49 [[ 9.92428882e-01 1.22557882e-01 8.02995379e-03 3.57354742e+02] [-1.22554647e-01 9.92461363e-01 -8.95610210e-04 7.58168836e-01] [-8.07918297e-03 -9.52787093e-05 9.99967358e-01 4.88887931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:357.39, Y:0.76, Z:0.49 [[ 9.92090919e-01 1.25264243e-01 8.02977245e-03 3.57387519e+02] [-1.25261083e-01 9.92123408e-01 -8.97233126e-04 7.58536472e-01] [-8.07891643e-03 -1.15681154e-04 9.99967358e-01 4.88544951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.42, Y:0.76, Z:0.49 [[ 9.91964213e-01 1.26263711e-01 8.02965163e-03 3.57419423e+02] [-1.26260575e-01 9.91996704e-01 -8.98313087e-04 7.56308653e-01] [-8.07881229e-03 -1.22734000e-04 9.99967358e-01 4.87409392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.45, Y:0.75, Z:0.49 [[ 9.91712715e-01 1.28224091e-01 8.02953088e-03 3.57451609e+02] [-1.28221011e-01 9.91745211e-01 -8.99391108e-04 7.54249681e-01] [-8.07857240e-03 -1.37616968e-04 9.99967358e-01 4.87639748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.48, Y:0.75, Z:0.49 [[ 9.91619471e-01 1.28943215e-01 8.02941079e-03 3.57483926e+02] [-1.28940150e-01 9.91651969e-01 -9.00461946e-04 7.51981840e-01] [-8.07848948e-03 -1.42397831e-04 9.99967358e-01 4.86212599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:357.52, Y:0.75, Z:0.49 [[ 9.91609177e-01 1.29022365e-01 8.02929074e-03 3.57517380e+02] [-1.29019293e-01 9.91641674e-01 -9.01531104e-04 7.49991616e-01] [-8.07849699e-03 -1.41966900e-04 9.99967358e-01 4.86176756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:357.55, Y:0.75, Z:0.49 [[ 9.91845051e-01 1.27196414e-01 8.02911094e-03 3.57549123e+02] [-1.27193269e-01 9.91877541e-01 -9.03129594e-04 7.47067240e-01] [-8.07876967e-03 -1.25484251e-04 9.99967358e-01 4.85850594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.58, Y:0.74, Z:0.49 [[ 9.92006063e-01 1.25934536e-01 8.02898993e-03 3.57581338e+02] [-1.25931341e-01 9.92038547e-01 -9.04204178e-04 7.43695469e-01] [-8.07893804e-03 -1.14125444e-04 9.99967358e-01 4.85327113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.61, Y:0.74, Z:0.48 [[ 9.92207924e-01 1.24334115e-01 8.02886910e-03 3.57614028e+02] [-1.24330860e-01 9.92240403e-01 -9.05275776e-04 7.42129790e-01] [-8.07912498e-03 -1.00014398e-04 9.99967358e-01 4.83537493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.65, Y:0.74, Z:0.48 [[ 9.92253240e-01 1.23971962e-01 8.02871656e-03 3.57646221e+02] [-1.23968684e-01 9.92285717e-01 -9.06626593e-04 7.39344309e-01] [-8.07917705e-03 -9.57062528e-05 9.99967358e-01 4.82691459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.68, Y:0.73, Z:0.48 [[ 9.92357470e-01 1.23134858e-01 8.02859385e-03 3.57677812e+02] [-1.23131544e-01 9.92389943e-01 -9.07711988e-04 7.34929202e-01] [-8.07926678e-03 -8.77983839e-05 9.99967358e-01 4.83024776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.71, Y:0.73, Z:0.48 [[ 9.92348219e-01 1.23209404e-01 8.02844153e-03 3.57710261e+02] [-1.23206082e-01 9.92380691e-01 -9.09057184e-04 7.31347056e-01] [-8.07927475e-03 -8.70515451e-05 9.99967358e-01 4.82953251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:357.74, Y:0.73, Z:0.48 [[ 9.92090847e-01 1.25264905e-01 8.02831753e-03 3.57742901e+02] [-1.25261641e-01 9.92123326e-01 -9.10151014e-04 7.31100037e-01] [-8.07909106e-03 -1.02687734e-04 9.99967358e-01 4.84549992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:357.77, Y:0.73, Z:0.48 [[ 9.91924074e-01 1.26578750e-01 8.02819507e-03 3.57774784e+02] [-1.26575520e-01 9.91956555e-01 -9.11229933e-04 7.28802642e-01] [-8.07896307e-03 -1.12302057e-04 9.99967358e-01 4.84272058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:357.81, Y:0.73, Z:0.48 [[ 9.91702709e-01 1.28301545e-01 8.02807170e-03 3.57806528e+02] [-1.28298363e-01 9.91735195e-01 -9.12315493e-04 7.26228452e-01] [-8.07877275e-03 -1.25242710e-04 9.99967358e-01 4.83731944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:357.84, Y:0.73, Z:0.48 [[ 9.91255255e-01 1.31713974e-01 8.02794907e-03 3.57838757e+02] [-1.31710895e-01 9.91287751e-01 -9.13393302e-04 7.26659450e-01] [-8.07831425e-03 -1.51962448e-04 9.99967358e-01 4.83223780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:357.87, Y:0.73, Z:0.48 [[ 9.91033505e-01 1.33372209e-01 8.02782693e-03 3.57871161e+02] [-1.33369175e-01 9.91066005e-01 -9.14465595e-04 7.25528680e-01] [-8.07807066e-03 -1.64398613e-04 9.99967358e-01 4.82095024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:357.90, Y:0.73, Z:0.50 [[ 9.90772944e-01 1.35294235e-01 8.02770533e-03 3.57900811e+02] [-1.35291256e-01 9.90805449e-01 -9.15531830e-04 7.26497497e-01] [-8.07776036e-03 -1.78994168e-04 9.99967358e-01 4.95313468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:357.93, Y:0.73, Z:0.48 [[ 9.90449895e-01 1.37638914e-01 8.03334602e-03 3.57932812e+02] [-1.37636413e-01 9.90482442e-01 -8.66076852e-04 7.25553490e-01] [-8.07609406e-03 -2.47875200e-04 9.99967357e-01 4.84036909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:357.97, Y:0.72, Z:0.48 [[ 9.90369467e-01 1.38216781e-01 8.02751254e-03 3.57965466e+02] [-1.38213885e-01 9.90401979e-01 -9.17136231e-04 7.24733406e-01] [-8.07722793e-03 -2.01209976e-04 9.99967358e-01 4.84185743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:358.00, Y:0.73, Z:0.50 [[ 9.90561058e-01 1.36836952e-01 8.02739132e-03 3.57996763e+02] [-1.36834002e-01 9.90593566e-01 -9.18196002e-04 7.25261943e-01] [-8.07752534e-03 -1.88890878e-04 9.99967358e-01 4.97556601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:358.03, Y:0.73, Z:0.50 [[ 9.90874564e-01 1.34548168e-01 8.02426643e-03 3.58027595e+02] [-1.34544921e-01 9.90907044e-01 -9.45504034e-04 7.26490692e-01] [-8.07851796e-03 -1.42748397e-04 9.99967358e-01 4.95547447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:358.06, Y:0.73, Z:0.48 [[ 9.90738839e-01 1.35543529e-01 8.03144352e-03 3.58059366e+02] [-1.35540824e-01 9.90771369e-01 -8.82746785e-04 7.25346627e-01] [-8.07697490e-03 -2.14016946e-04 9.99967358e-01 4.82783873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.09, Y:0.72, Z:0.48 [[ 9.91064719e-01 1.33140091e-01 8.02736431e-03 3.58091146e+02] [-1.33137018e-01 9.91097216e-01 -9.18401460e-04 7.23839672e-01] [-8.07817447e-03 -1.58544062e-04 9.99967358e-01 4.81961224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47864 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:358.12, Y:0.72, Z:0.49 [[ 9.91793628e-01 1.27596880e-01 8.02724178e-03 3.58122252e+02] [-1.27593616e-01 9.91826106e-01 -9.19471176e-04 7.21797480e-01] [-8.07894961e-03 -1.12299154e-04 9.99967358e-01 4.94077356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:358.15, Y:0.72, Z:0.49 [[ 9.92106443e-01 1.25141567e-01 8.02453398e-03 3.58153107e+02] [-1.25138032e-01 9.92138893e-01 -9.43086404e-04 7.18127705e-01] [-8.07947157e-03 -6.85322907e-05 9.99967358e-01 4.93246965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:358.18, Y:0.71, Z:0.49 [[ 9.92573794e-01 1.21379063e-01 8.02407295e-03 3.58183683e+02] [-1.21375372e-01 9.92606227e-01 -9.47112154e-04 7.14595701e-01] [-8.07970436e-03 -3.38461372e-05 9.99967358e-01 4.91510184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:358.21, Y:0.71, Z:0.48 [[ 9.92750446e-01 1.19925565e-01 8.02560062e-03 3.58214478e+02] [-1.19921935e-01 9.92782885e-01 -9.33764772e-04 7.11305501e-01] [-8.07966121e-03 -3.54501584e-05 9.99967358e-01 4.81573269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.25, Y:0.71, Z:0.48 [[ 9.92660397e-01 1.20668541e-01 8.02741862e-03 3.58246069e+02] [-1.20665064e-01 9.92692853e-01 -9.17865023e-04 7.08135570e-01] [-8.07951852e-03 -5.75007199e-05 9.99967359e-01 4.81562246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:358.28, Y:0.71, Z:0.49 [[ 9.92497020e-01 1.22005026e-01 8.02735739e-03 3.58277054e+02] [-1.22001588e-01 9.92529480e-01 -9.18400220e-04 7.05162666e-01] [-8.07943830e-03 -6.78408647e-05 9.99967359e-01 4.91955793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:358.31, Y:0.70, Z:0.49 [[ 9.92495426e-01 1.22018163e-01 8.02481177e-03 3.58308515e+02] [-1.22014546e-01 9.92527866e-01 -9.40624906e-04 7.01552282e-01] [-8.07962263e-03 -4.55778497e-05 9.99967358e-01 4.91700828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:358.34, Y:0.70, Z:0.48 [[ 9.92422699e-01 1.22608279e-01 8.02479383e-03 3.58338825e+02] [-1.22604680e-01 9.92455141e-01 -9.40781485e-04 7.00432563e-01] [-8.07959549e-03 -5.02243788e-05 9.99967358e-01 4.82583710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:358.37, Y:0.70, Z:0.48 [[ 9.92478819e-01 1.22153006e-01 8.02729282e-03 3.58370295e+02] [-1.22149568e-01 9.92511279e-01 -9.18952157e-04 6.97139192e-01] [-8.07943143e-03 -6.84898018e-05 9.99967359e-01 4.81747968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:358.40, Y:0.69, Z:0.48 [[ 9.92679815e-01 1.20508709e-01 8.02723131e-03 3.58401506e+02] [-1.20505214e-01 9.92712268e-01 -9.19489135e-04 6.93691182e-01] [-8.07953745e-03 -5.45649220e-05 9.99967359e-01 4.82389157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:358.43, Y:0.69, Z:0.48 [[ 9.92798204e-01 1.19529459e-01 8.02716981e-03 3.58432327e+02] [-1.19525927e-01 9.92830653e-01 -9.20025686e-04 6.91464274e-01] [-8.07959042e-03 -4.60550641e-05 9.99967359e-01 4.83134809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:358.46, Y:0.69, Z:0.48 [[ 9.92789805e-01 1.19599204e-01 8.02710866e-03 3.58463668e+02] [-1.19595670e-01 9.92822254e-01 -9.20558988e-04 6.91897909e-01] [-8.07959023e-03 -4.60858588e-05 9.99967359e-01 4.84642035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:358.50, Y:0.69, Z:0.48 [[ 9.92704716e-01 1.20303419e-01 8.02704020e-03 3.58495065e+02] [-1.20299903e-01 9.92737168e-01 -9.21155539e-04 6.89065898e-01] [-8.07955931e-03 -5.12167112e-05 9.99967359e-01 4.83620083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:358.53, Y:0.68, Z:0.48 [[ 9.92691351e-01 1.20413662e-01 8.02697811e-03 3.58526157e+02] [-1.20410146e-01 9.92723802e-01 -9.21696219e-04 6.84976264e-01] [-8.07955705e-03 -5.15697392e-05 9.99967359e-01 4.84782039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:358.56, Y:0.68, Z:0.48 [[ 9.92781079e-01 1.19671629e-01 8.02691642e-03 3.58557752e+02] [-1.19668084e-01 9.92813527e-01 -9.22233176e-04 6.82242871e-01] [-8.07959635e-03 -4.49900581e-05 9.99967359e-01 4.84991014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:358.59, Y:0.68, Z:0.50 [[ 9.93083091e-01 1.17138994e-01 8.02685423e-03 3.58587383e+02] [-1.17135362e-01 9.93115530e-01 -9.22774172e-04 6.80343516e-01] [-8.07968643e-03 -2.38370464e-05 9.99967359e-01 4.96675947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:358.62, Y:0.68, Z:0.48 [[ 9.93148029e-01 1.16586795e-01 8.03193078e-03 3.58618977e+02] [-1.16583502e-01 9.93180505e-01 -8.78586914e-04 6.75744045e-01] [-8.07958870e-03 -6.38237581e-05 9.99967358e-01 4.84133413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:358.65, Y:0.67, Z:0.48 [[ 9.93336719e-01 1.14968409e-01 8.02662703e-03 3.58649426e+02] [-1.14964691e-01 9.93369148e-01 -9.24628446e-04 6.70147041e-01] [-8.07970672e-03 -4.31131021e-06 9.99967359e-01 4.84614955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:358.68, Y:0.66, Z:0.49 [[ 9.93834210e-01 1.10585426e-01 8.02656525e-03 3.58680609e+02] [-1.10581561e-01 9.93866622e-01 -9.25164432e-04 6.64896847e-01] [-8.07964499e-03 3.18699517e-05 9.99967359e-01 4.85516072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:358.71, Y:0.66, Z:0.50 [[ 9.94025221e-01 1.08855114e-01 8.02650353e-03 3.58710856e+02] [-1.08851188e-01 9.94057625e-01 -9.25699572e-04 6.60708387e-01] [-8.07957417e-03 4.64742762e-05 9.99967359e-01 4.95278117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:358.74, Y:0.66, Z:0.49 [[ 9.94071497e-01 1.08431582e-01 8.02811631e-03 3.58741663e+02] [-1.08427755e-01 9.94103913e-01 -9.11699742e-04 6.55693090e-01] [-8.07963889e-03 3.58240977e-05 9.99967359e-01 4.85529965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:358.77, Y:0.65, Z:0.50 [[ 9.94059670e-01 1.08540060e-01 8.02669574e-03 3.58772233e+02] [-1.08536137e-01 9.94092075e-01 -9.24039598e-04 6.49116235e-01] [-8.07956993e-03 4.73639511e-05 9.99967359e-01 4.95084647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:358.80, Y:0.65, Z:0.49 [[ 9.93916130e-01 1.09846637e-01 8.02768580e-03 3.58803582e+02] [-1.09842826e-01 9.93948548e-01 -9.15427402e-04 6.45624866e-01] [-8.07966326e-03 2.80743634e-05 9.99967359e-01 4.85235135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:358.84, Y:0.64, Z:0.48 [[ 9.93399896e-01 1.14421224e-01 8.02682940e-03 3.58835115e+02] [-1.14417502e-01 9.93432325e-01 -9.22876029e-04 6.40660210e-01] [-8.07970839e-03 -1.62481615e-06 9.99967359e-01 4.83647711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:358.87, Y:0.64, Z:0.48 [[ 9.93234355e-01 1.15849423e-01 8.02670671e-03 3.58866758e+02] [-1.15845739e-01 9.93266787e-01 -9.23941905e-04 6.35031623e-01] [-8.07969932e-03 -1.21689273e-05 9.99967359e-01 4.83794437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:358.90, Y:0.63, Z:0.48 [[ 9.92980239e-01 1.18007707e-01 8.02658271e-03 3.58898806e+02] [-1.18004085e-01 9.93012679e-01 -9.25017846e-04 6.30463013e-01] [-8.07965763e-03 -2.86451052e-05 9.99967359e-01 4.84501744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:358.93, Y:0.63, Z:0.48 [[ 9.92797894e-01 1.19532081e-01 8.02645867e-03 3.58930487e+02] [-1.19528500e-01 9.92830338e-01 -9.26092930e-04 6.27578789e-01] [-8.07960949e-03 -3.99674530e-05 9.99967359e-01 4.83605327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:358.96, Y:0.62, Z:0.48 [[ 9.92646975e-01 1.20778980e-01 8.02633438e-03 3.58962013e+02] [-1.20775431e-01 9.92679422e-01 -9.27168838e-04 6.23902552e-01] [-8.07955949e-03 -4.90326512e-05 9.99967359e-01 4.82847857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:358.99, Y:0.62, Z:0.48 [[ 9.92515580e-01 1.21854023e-01 8.02621049e-03 3.58993958e+02] [-1.21850500e-01 9.92548031e-01 -9.28240082e-04 6.18386343e-01] [-8.07950921e-03 -5.67050216e-05 9.99967359e-01 4.81475664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:359.03, Y:0.61, Z:0.48 [[ 9.92571907e-01 1.21394363e-01 8.02608570e-03 3.59026021e+02] [-1.21390817e-01 9.92604355e-01 -9.29317873e-04 6.14764374e-01] [-8.07954157e-03 -5.18782887e-05 9.99967359e-01 4.81437190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.37864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:359.06, Y:0.61, Z:0.48 [[ 9.92652451e-01 1.20733984e-01 8.02596142e-03 3.59058051e+02] [-1.20730407e-01 9.92684896e-01 -9.30389917e-04 6.11992179e-01] [-8.07958036e-03 -4.54237595e-05 9.99967359e-01 4.82229088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:359.09, Y:0.61, Z:0.48 [[ 9.92721145e-01 1.20167860e-01 8.02583656e-03 3.59090341e+02] [-1.20164257e-01 9.92753587e-01 -9.31465758e-04 6.07858639e-01] [-8.07961028e-03 -3.97329316e-05 9.99967359e-01 4.81660637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:359.12, Y:0.61, Z:0.48 [[ 9.92772098e-01 1.19746189e-01 8.02571143e-03 3.59122051e+02] [-1.19742563e-01 9.92804537e-01 -9.32542656e-04 6.05483288e-01] [-8.07963115e-03 -3.52169305e-05 9.99967359e-01 4.81632893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:359.15, Y:0.60, Z:0.48 [[ 9.92648516e-01 1.20766358e-01 8.02558651e-03 3.59153041e+02] [-1.20762757e-01 9.92680958e-01 -9.33616553e-04 6.03542329e-01] [-8.07959638e-03 -4.24388648e-05 9.99967359e-01 4.81565958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:359.18, Y:0.60, Z:0.48 [[ 9.92542111e-01 1.21637774e-01 8.02552429e-03 3.59184073e+02] [-1.21634196e-01 9.92574556e-01 -9.34151107e-04 6.01434923e-01] [-8.07955927e-03 -4.89938845e-05 9.99967359e-01 4.81175775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:359.22, Y:0.60, Z:0.49 [[ 9.92480196e-01 1.22141939e-01 8.02546235e-03 3.59216122e+02] [-1.22138374e-01 9.92512642e-01 -9.34682950e-04 5.98797555e-01] [-8.07953682e-03 -5.25626049e-05 9.99967359e-01 4.93008579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:359.25, Y:0.60, Z:0.48 [[ 9.92701091e-01 1.20333827e-01 8.01965256e-03 3.59245829e+02] [-1.20329800e-01 9.92733484e-01 -9.84559714e-04 5.95459835e-01] [-8.07985347e-03 1.23703158e-05 9.99967357e-01 4.81661490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:359.28, Y:0.59, Z:0.48 [[ 9.93032138e-01 1.17570246e-01 8.02553735e-03 3.59276684e+02] [-1.17566538e-01 9.93064568e-01 -9.33993507e-04 5.91420731e-01] [-8.07968663e-03 -1.60490690e-05 9.99967359e-01 4.80579802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:359.31, Y:0.59, Z:0.48 [[ 9.93134396e-01 1.16703311e-01 8.02547463e-03 3.59307992e+02] [-1.16699570e-01 9.93166822e-01 -9.34532169e-04 5.86478663e-01] [-8.07969813e-03 -8.45339671e-06 9.99967359e-01 4.80081109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:359.34, Y:0.58, Z:0.48 [[ 9.93296826e-01 1.15312654e-01 8.02541257e-03 3.59339909e+02] [-1.15308863e-01 9.93329246e-01 -9.35064840e-04 5.79608382e-01] [-8.07970182e-03 3.39573969e-06 9.99967359e-01 4.80337034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:359.37, Y:0.58, Z:0.48 [[ 9.93212295e-01 1.16038497e-01 8.02528750e-03 3.59372244e+02] [-1.16034720e-01 9.93244717e-01 -9.36137025e-04 5.75821697e-01] [-8.07970234e-03 -1.42918872e-06 9.99967359e-01 4.79352569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:359.40, Y:0.57, Z:0.48 [[ 9.93059688e-01 1.17337342e-01 8.02516304e-03 3.59404471e+02] [-1.17333600e-01 9.93092115e-01 -9.37202696e-04 5.72850696e-01] [-8.07969501e-03 -1.09230520e-05 9.99967359e-01 4.80040218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:359.44, Y:0.57, Z:0.48 [[ 9.92476108e-01 1.22175181e-01 8.02503747e-03 3.59436255e+02] [-1.22171588e-01 9.92508551e-01 -9.38276750e-04 5.69945385e-01] [-8.07955244e-03 -4.92143102e-05 9.99967359e-01 4.79122872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.47, Y:0.57, Z:0.48 [[ 9.92196870e-01 1.24422555e-01 8.02491261e-03 3.59467845e+02] [-1.24419027e-01 9.92229320e-01 -9.39343442e-04 5.66067029e-01] [-8.07942909e-03 -6.64381987e-05 9.99967359e-01 4.78455506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:359.50, Y:0.56, Z:0.48 [[ 9.91948493e-01 1.26387463e-01 8.02478687e-03 3.59499587e+02] [-1.26383990e-01 9.91980949e-01 -9.40416395e-04 5.63508575e-01] [-8.07929253e-03 -8.13599575e-05 9.99967359e-01 4.79060769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:359.53, Y:0.56, Z:0.48 [[ 9.91949419e-01 1.26380196e-01 8.02471510e-03 3.59530342e+02] [-1.26376718e-01 9.91981875e-01 -9.41028393e-04 5.60667505e-01] [-8.07929928e-03 -8.06845880e-05 9.99967359e-01 4.79531958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:359.56, Y:0.56, Z:0.48 [[ 9.92025195e-01 1.25784013e-01 8.02465234e-03 3.59561125e+02] [-1.25780511e-01 9.92057648e-01 -9.41563308e-04 5.56362591e-01] [-8.07935134e-03 -7.52903500e-05 9.99967359e-01 4.80029216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:359.59, Y:0.55, Z:0.48 [[ 9.92282836e-01 1.23735117e-01 8.02458938e-03 3.59592260e+02] [-1.23731544e-01 9.92315281e-01 -9.42099585e-04 5.48437122e-01] [-8.07949347e-03 -5.80655893e-05 9.99967359e-01 4.78601482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:359.62, Y:0.54, Z:0.48 [[ 9.92404178e-01 1.22758114e-01 8.02446184e-03 3.59623992e+02] [-1.22754500e-01 9.92436619e-01 -9.43184657e-04 5.43696556e-01] [-8.07955335e-03 -4.90184098e-05 9.99967359e-01 4.78409289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:359.66, Y:0.54, Z:0.48 [[ 9.92574105e-01 1.21376509e-01 8.02433352e-03 3.59655518e+02] [-1.21372842e-01 9.92606539e-01 -9.44275106e-04 5.39193172e-01] [-8.07961874e-03 -3.66731445e-05 9.99967359e-01 4.79566099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:359.69, Y:0.53, Z:0.48 [[ 9.92593675e-01 1.21216371e-01 8.02420712e-03 3.59686836e+02] [-1.21212690e-01 9.92626108e-01 -9.45347982e-04 5.33370899e-01] [-8.07962914e-03 -3.42893009e-05 9.99967359e-01 4.79416324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:359.72, Y:0.52, Z:0.48 [[ 9.93031575e-01 1.17575107e-01 8.02408048e-03 3.59717789e+02] [-1.17571298e-01 9.93063993e-01 -9.46421678e-04 5.22951991e-01] [-8.07970104e-03 -3.57494940e-06 9.99967359e-01 4.79758247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:359.75, Y:0.52, Z:0.48 [[ 9.93160537e-01 1.16480741e-01 8.02395206e-03 3.59749843e+02] [-1.16476887e-01 9.93192950e-01 -9.47509254e-04 5.16306658e-01] [-8.07969920e-03 6.42383903e-06 9.99967359e-01 4.79794803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:359.78, Y:0.51, Z:0.48 [[ 9.93487397e-01 1.13659183e-01 8.02382415e-03 3.59781338e+02] [-1.13655228e-01 9.93519798e-01 -9.48591210e-04 5.06896927e-01] [-8.07964425e-03 3.04638490e-05 9.99967359e-01 4.79994366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:359.81, Y:0.50, Z:0.48 [[ 9.93576208e-01 1.12880195e-01 8.02369685e-03 3.59812790e+02] [-1.12876207e-01 9.93608605e-01 -9.49666765e-04 5.00021278e-01] [-8.07961280e-03 3.78818396e-05 9.99967359e-01 4.80918090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:359.84, Y:0.49, Z:0.48 [[ 9.93537054e-01 1.13224311e-01 8.02357047e-03 3.59844268e+02] [-1.13220325e-01 9.93569451e-01 -9.50733277e-04 4.93361679e-01] [-8.07962063e-03 3.61574839e-05 9.99967359e-01 4.80823750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:359.88, Y:0.49, Z:0.48 [[ 9.93447253e-01 1.14009564e-01 8.02344233e-03 3.59875793e+02] [-1.14005595e-01 9.93479652e-01 -9.51813484e-04 4.85897342e-01] [-8.07964253e-03 3.08591770e-05 9.99967359e-01 4.81162350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:359.91, Y:0.48, Z:0.48 [[ 9.93358956e-01 1.14776348e-01 8.02331567e-03 3.59907465e+02] [-1.14772396e-01 9.93391358e-01 -9.52879963e-04 4.80703044e-01] [-8.07966053e-03 2.56966834e-05 9.99967359e-01 4.81491733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21864 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:359.94, Y:0.47, Z:0.49 [[ 9.93232372e-01 1.15866659e-01 8.02318835e-03 3.59937690e+02] [-1.15862734e-01 9.93264777e-01 -9.53950803e-04 4.72641886e-01] [-8.07968148e-03 1.79062854e-05 9.99967359e-01 4.92254749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:359.97, Y:0.47, Z:0.48 [[ 9.93328568e-01 1.15039248e-01 8.02039915e-03 3.59967413e+02] [-1.15035106e-01 9.93360946e-01 -9.77403243e-04 4.66999944e-01] [-8.07959102e-03 4.82551003e-05 9.99967358e-01 4.81767778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:360.00, Y:0.46, Z:0.48 [[ 9.93264013e-01 1.15595103e-01 8.02319476e-03 3.59999311e+02] [-1.15591169e-01 9.93296417e-01 -9.53889326e-04 4.60127448e-01] [-8.07967554e-03 2.00534754e-05 9.99967359e-01 4.82586284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:360.03, Y:0.46, Z:0.48 [[ 9.93148261e-01 1.16585425e-01 8.02306596e-03 3.60031162e+02] [-1.16581514e-01 9.93180668e-01 -9.54971414e-04 4.55786455e-01] [-8.07968976e-03 1.30870201e-05 9.99967359e-01 4.81317312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:360.06, Y:0.45, Z:0.48 [[ 9.93067797e-01 1.17268849e-01 8.02293770e-03 3.60064369e+02] [-1.17264952e-01 9.93100205e-01 -9.56047708e-04 4.52224903e-01] [-8.07969569e-03 8.61078955e-06 9.99967359e-01 4.82102932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:360.10, Y:0.45, Z:0.48 [[ 9.92840594e-01 1.19177143e-01 8.02274524e-03 3.60096880e+02] [-1.19173295e-01 9.92873007e-01 -9.57660041e-04 4.49729868e-01] [-8.07969838e-03 -5.29322288e-06 9.99967359e-01 4.80511937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:360.13, Y:0.45, Z:0.48 [[ 9.92492463e-01 1.22042408e-01 8.02261560e-03 3.60129396e+02] [-1.22038645e-01 9.92524886e-01 -9.58744863e-04 4.46569431e-01] [-8.07965317e-03 -2.75220899e-05 9.99967359e-01 4.79355350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:360.16, Y:0.44, Z:0.48 [[ 9.92391316e-01 1.22862181e-01 8.02245336e-03 3.60160980e+02] [-1.22858434e-01 9.92423742e-01 -9.60100530e-04 4.43227213e-01] [-8.07963323e-03 -3.28306266e-05 9.99967359e-01 4.80143257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:360.19, Y:0.44, Z:0.48 [[ 9.92363021e-01 1.23090520e-01 8.02232365e-03 3.60192606e+02] [-1.23086772e-01 9.92395447e-01 -9.61183135e-04 4.40293900e-01] [-8.07962999e-03 -3.35993220e-05 9.99967359e-01 4.80247562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:360.22, Y:0.44, Z:0.48 [[ 9.92382977e-01 1.22929539e-01 8.02219275e-03 3.60224945e+02] [-1.22925776e-01 9.92415401e-01 -9.62274397e-04 4.36337571e-01] [-8.07963958e-03 -3.11895419e-05 9.99967359e-01 4.79887885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:360.26, Y:0.43, Z:0.48 [[ 9.92348829e-01 1.23204899e-01 8.02206275e-03 3.60256807e+02] [-1.23201137e-01 9.92381253e-01 -9.63356966e-04 4.31413033e-01] [-8.07963498e-03 -3.23410942e-05 9.99967359e-01 4.78264216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:360.29, Y:0.43, Z:0.49 [[ 9.92063779e-01 1.25479509e-01 8.02193226e-03 3.60288172e+02] [-1.25475812e-01 9.92096210e-01 -9.64442316e-04 4.27232060e-01] [-8.07954634e-03 -4.97701769e-05 9.99967359e-01 4.90774441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57864 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:360.32, Y:0.42, Z:0.49 [[ 9.92072128e-01 1.25413808e-01 8.01687151e-03 3.60319608e+02] [-1.25409769e-01 9.92104519e-01 -1.00644257e-03 4.23424583e-01] [-8.07979625e-03 -6.93038917e-06 9.99967358e-01 4.90518432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.35, Y:0.42, Z:0.48 [[ 9.92023632e-01 1.25796827e-01 8.01693704e-03 3.60349665e+02] [-1.25792805e-01 9.92056026e-01 -1.00589854e-03 4.21418801e-01] [-8.07978954e-03 -1.05978768e-05 9.99967358e-01 4.78273386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.38, Y:0.42, Z:0.48 [[ 9.91718146e-01 1.28182572e-01 8.02162849e-03 3.60382072e+02] [-1.28178943e-01 9.91750585e-01 -9.66980411e-04 4.19488911e-01] [-8.07940479e-03 -6.92318436e-05 9.99967359e-01 4.78327770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:360.41, Y:0.42, Z:0.48 [[ 9.91432602e-01 1.30372737e-01 8.02149759e-03 3.60414298e+02] [-1.30369171e-01 9.91465048e-01 -9.68065082e-04 4.17594642e-01] [-8.07924379e-03 -8.59847068e-05 9.99967359e-01 4.78520486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.69864 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:360.45, Y:0.42, Z:0.49 [[ 9.90954802e-01 1.33956106e-01 8.02136688e-03 3.60447269e+02] [-1.33952648e-01 9.90987260e-01 -9.69146942e-04 4.15677044e-01] [-8.07889553e-03 -1.14102521e-04 9.99967359e-01 4.88558527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:360.48, Y:0.41, Z:0.49 [[ 9.90983199e-01 1.33746467e-01 8.01139895e-03 3.60478271e+02] [-1.33742335e-01 9.91015581e-01 -1.05173811e-03 4.13079979e-01] [-8.08008744e-03 -2.92084015e-05 9.99967355e-01 4.86747656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.51, Y:0.41, Z:0.48 [[ 9.91213110e-01 1.32031671e-01 8.01304573e-03 3.60507589e+02] [-1.32027593e-01 9.91245498e-01 -1.03806638e-03 4.10196329e-01] [-8.07995315e-03 -2.89981415e-05 9.99967356e-01 4.76363071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:360.54, Y:0.41, Z:0.49 [[ 9.91473899e-01 1.30058282e-01 8.02191353e-03 3.60540539e+02] [-1.30054737e-01 9.91506347e-01 -9.64295942e-04 4.07430180e-01] [-8.07919285e-03 -8.72135933e-05 9.99967359e-01 4.86774132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.81864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:360.57, Y:0.40, Z:0.48 [[ 9.92148492e-01 1.24808604e-01 8.01139058e-03 3.60569409e+02] [-1.24804176e-01 9.92180836e-01 -1.05217471e-03 4.03708008e-01] [-8.08006865e-03 4.40585547e-05 9.99967355e-01 4.75526674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.60, Y:0.40, Z:0.47 [[ 9.92538455e-01 1.21667797e-01 8.02256161e-03 3.60601390e+02] [-1.21664023e-01 9.92570877e-01 -9.58693325e-04 3.98727051e-01] [-8.07960312e-03 -2.45171244e-05 9.99967359e-01 4.74620286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.87864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:360.63, Y:0.39, Z:0.47 [[ 9.93266008e-01 1.15578017e-01 8.02243149e-03 3.60633931e+02] [-1.15574034e-01 9.93298405e-01 -9.59780932e-04 3.91109979e-01] [-8.07959798e-03 2.61330024e-05 9.99967359e-01 4.73319744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:360.67, Y:0.39, Z:0.47 [[ 9.93568335e-01 1.12949578e-01 8.02223479e-03 3.60665809e+02] [-1.12945497e-01 9.93600720e-01 -9.61422162e-04 3.85477926e-01] [-8.07949049e-03 4.91633247e-05 9.99967359e-01 4.74344347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93864 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:360.70, Y:0.38, Z:0.48 [[ 9.93648254e-01 1.12244343e-01 8.02210653e-03 3.60697584e+02] [-1.12240231e-01 9.93680635e-01 -9.62491194e-04 3.77795097e-01] [-8.07944610e-03 5.59746086e-05 9.99967359e-01 4.84814008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:360.73, Y:0.37, Z:0.47 [[ 9.93907506e-01 1.09925537e-01 8.01539725e-03 3.60726742e+02] [-1.09920898e-01 9.93939817e-01 -1.01835087e-03 3.71903186e-01] [-8.07876524e-03 1.31086904e-04 9.99967358e-01 4.73955439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:360.76, Y:0.36, Z:0.47 [[ 9.93701876e-01 1.11768637e-01 8.02206569e-03 3.60758211e+02] [-1.11764506e-01 9.93734254e-01 -9.62788766e-04 3.63174731e-01] [-8.07941106e-03 6.01427946e-05 9.99967359e-01 4.74217922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:360.79, Y:0.36, Z:0.47 [[ 9.93418069e-01 1.14263683e-01 8.02193800e-03 3.60790475e+02] [-1.14259625e-01 9.93450456e-01 -9.63851540e-04 3.57416001e-01] [-8.07953119e-03 4.09239071e-05 9.99967359e-01 4.73900129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:360.82, Y:0.35, Z:0.47 [[ 9.92753666e-01 1.19899164e-01 8.02174332e-03 3.60822181e+02] [-1.19895277e-01 9.92786075e-01 -9.65469061e-04 3.50757086e-01] [-8.07963400e-03 -3.29618386e-06 9.99967359e-01 4.73512342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:360.85, Y:0.35, Z:0.47 [[ 9.92410595e-01 1.22706417e-01 8.02158062e-03 3.60854426e+02] [-1.22702611e-01 9.92443013e-01 -9.66818962e-04 3.45372317e-01] [-8.07959653e-03 -2.47875046e-05 9.99967359e-01 4.72747193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:360.89, Y:0.34, Z:0.47 [[ 9.92002322e-01 1.25964478e-01 8.02138088e-03 3.60886153e+02] [-1.25960765e-01 9.92034751e-01 -9.68473347e-04 3.40693683e-01] [-8.07948182e-03 -4.96514624e-05 9.99967359e-01 4.72350977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14864 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:360.92, Y:0.34, Z:0.48 [[ 9.91018653e-01 1.33482919e-01 8.02124760e-03 3.60919695e+02] [-1.33479443e-01 9.91051108e-01 -9.69575939e-04 3.37670852e-01] [-8.07888815e-03 -1.09803823e-04 9.99967359e-01 4.82236680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:360.95, Y:0.33, Z:0.47 [[ 9.90982307e-01 1.33753237e-01 8.00864226e-03 3.60948520e+02] [-1.33748927e-01 9.91014668e-01 -1.07375587e-03 3.34330789e-01] [-8.08030027e-03 -7.07423452e-06 9.99967354e-01 4.73123247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20864 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:360.98, Y:0.33, Z:0.48 [[ 9.90158431e-01 1.39720933e-01 8.02139509e-03 3.60980966e+02] [-1.39717673e-01 9.90190908e-01 -9.68088782e-04 3.32639281e-01] [-8.07797476e-03 -1.62169388e-04 9.99967359e-01 4.80211151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:361.01, Y:0.33, Z:0.47 [[ 9.89871073e-01 1.41742800e-01 8.01482859e-03 3.61011752e+02] [-1.41739167e-01 9.89903512e-01 -1.02244609e-03 3.31217606e-01] [-8.07883134e-03 -1.23925316e-04 9.99967358e-01 4.72164888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:361.04, Y:0.33, Z:0.47 [[ 9.89430893e-01 1.44783172e-01 8.02133198e-03 3.61043913e+02] [-1.44780075e-01 9.89463386e-01 -9.68588572e-04 3.29231834e-01] [-8.07704963e-03 -2.02977587e-04 9.99967360e-01 4.71691530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:361.08, Y:0.33, Z:0.47 [[ 9.88580787e-01 1.50478199e-01 8.02120515e-03 3.61076412e+02] [-1.50475280e-01 9.88613296e-01 -9.69637753e-04 3.28337569e-01] [-8.07577941e-03 -2.48427840e-04 9.99967360e-01 4.70322255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:361.11, Y:0.33, Z:0.47 [[ 9.88184643e-01 1.53058074e-01 8.02107860e-03 3.61109081e+02] [-1.53055232e-01 9.88217159e-01 -9.70683507e-04 3.27266524e-01] [-8.07513846e-03 -2.68453509e-04 9.99967360e-01 4.70197939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:361.14, Y:0.33, Z:0.47 [[ 9.87602038e-01 1.56773337e-01 8.02095387e-03 3.61142424e+02] [-1.56770609e-01 9.87634564e-01 -9.71713080e-04 3.31429733e-01] [-8.07410998e-03 -2.97784003e-04 9.99967360e-01 4.69677681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:361.17, Y:0.33, Z:0.47 [[ 9.87299908e-01 1.58664921e-01 8.02083025e-03 3.61174823e+02] [-1.58662247e-01 9.87332439e-01 -9.72732433e-04 3.30828245e-01] [-8.07356441e-03 -3.12224307e-04 9.99967360e-01 4.69822308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:361.21, Y:0.33, Z:0.47 [[ 9.87406660e-01 1.57999231e-01 8.02070617e-03 3.61206898e+02] [-1.57996526e-01 9.87439188e-01 -9.73754458e-04 3.28594890e-01] [-8.07381204e-03 -3.05752077e-04 9.99967360e-01 4.69522089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:361.24, Y:0.33, Z:0.47 [[ 9.87922117e-01 1.54743534e-01 8.02058138e-03 3.61239112e+02] [-1.54740714e-01 9.87954635e-01 -9.74781255e-04 3.28794655e-01] [-8.07481164e-03 -2.78102529e-04 9.99967360e-01 4.69758325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:361.27, Y:0.33, Z:0.47 [[ 9.88338044e-01 1.52064405e-01 8.02045664e-03 3.61271579e+02] [-1.52061488e-01 9.88370554e-01 -9.75806505e-04 3.28434315e-01] [-8.07556861e-03 -2.55175879e-04 9.99967360e-01 4.68060099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:361.30, Y:0.33, Z:0.47 [[ 9.89206642e-01 1.46307532e-01 8.02033104e-03 3.61303896e+02] [-1.46304418e-01 9.89239133e-01 -9.76837754e-04 3.30142359e-01] [-8.07694405e-03 -2.07115469e-04 9.99967360e-01 4.67676952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:361.34, Y:0.33, Z:0.47 [[ 9.89666834e-01 1.43161564e-01 8.02020367e-03 3.61335556e+02] [-1.43158338e-01 9.89699315e-01 -9.77882381e-04 3.27115454e-01] [-8.07758525e-03 -1.80381264e-04 9.99967360e-01 4.67418202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:361.37, Y:0.32, Z:0.47 [[ 9.90560586e-01 1.36840794e-01 8.02007466e-03 3.61367660e+02] [-1.36837352e-01 9.90593045e-01 -9.78939335e-04 3.24001818e-01] [-8.07858901e-03 -1.27747061e-04 9.99967360e-01 4.68630349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:361.40, Y:0.32, Z:0.47 [[ 9.90959362e-01 1.33922450e-01 8.01994409e-03 3.61400003e+02] [-1.33918904e-01 9.90991810e-01 -9.80007850e-04 3.20969064e-01] [-8.07894396e-03 -1.02874166e-04 9.99967360e-01 4.67791405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:361.43, Y:0.32, Z:0.47 [[ 9.91280871e-01 1.31521546e-01 8.01981271e-03 3.61432232e+02] [-1.31517912e-01 9.91313309e-01 -9.81081812e-04 3.16703328e-01] [-8.07918047e-03 -8.22213896e-05 9.99967360e-01 4.68182719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:361.46, Y:0.31, Z:0.47 [[ 9.91912146e-01 1.26672728e-01 8.01967934e-03 3.61463387e+02] [-1.26668928e-01 9.91944564e-01 -9.82170767e-04 3.09287520e-01] [-8.07949158e-03 -4.16170689e-05 9.99967360e-01 4.67644466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68864 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:361.49, Y:0.30, Z:0.48 [[ 9.92113659e-01 1.25084672e-01 8.01954535e-03 3.61494646e+02] [-1.25080810e-01 9.92146070e-01 -9.83263641e-04 3.03196551e-01] [-8.07955161e-03 -2.75819391e-05 9.99967360e-01 4.75360922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71864 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:361.53, Y:0.29, Z:0.48 [[ 9.92500996e-01 1.21973590e-01 8.01354198e-03 3.61525457e+02] [-1.21969232e-01 9.92533345e-01 -1.03215732e-03 2.94919844e-01] [-8.07960356e-03 4.70115999e-05 9.99967358e-01 4.76745953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:361.55, Y:0.29, Z:0.47 [[ 9.92872461e-01 1.18912176e-01 8.01064511e-03 3.61553728e+02] [-1.18907528e-01 9.92904771e-01 -1.05578990e-03 2.88378859e-01] [-8.07935402e-03 9.57387094e-05 9.99967357e-01 4.67504701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77864 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:361.58, Y:0.28, Z:0.48 [[ 9.92807326e-01 1.19454156e-01 8.01983340e-03 3.61584597e+02] [-1.19450132e-01 9.92839717e-01 -9.80647233e-04 2.79985750e-01] [-8.07955152e-03 1.56235977e-05 9.99967360e-01 4.77667886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80864 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:361.62, Y:0.28, Z:0.48 [[ 9.92636493e-01 1.20865780e-01 8.01597067e-03 3.61616095e+02] [-1.20861547e-01 9.92668858e-01 -1.01222862e-03 2.75232638e-01] [-8.07954825e-03 3.59524588e-05 9.99967359e-01 4.77571427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:361.65, Y:0.27, Z:0.47 [[ 9.92728690e-01 1.20106354e-01 8.01317871e-03 3.61645586e+02] [-1.20101912e-01 9.92761028e-01 -1.03504491e-03 2.69992378e-01] [-8.07948701e-03 6.51206949e-05 9.99967358e-01 4.67959258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:361.68, Y:0.26, Z:0.47 [[ 9.92595509e-01 1.21201637e-01 8.01985995e-03 3.61676665e+02] [-1.21197671e-01 9.92627908e-01 -9.80390715e-04 2.60463700e-01] [-8.07956176e-03 1.14307030e-06 9.99967360e-01 4.66649157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:361.71, Y:0.25, Z:0.47 [[ 9.92635522e-01 1.20873509e-01 8.01972598e-03 3.61708384e+02] [-1.20869525e-01 9.92667918e-01 -9.81485354e-04 2.52614364e-01] [-8.07956027e-03 4.91675965e-06 9.99967360e-01 4.66261850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:361.74, Y:0.24, Z:0.47 [[ 9.92762764e-01 1.19823960e-01 8.01959312e-03 3.61740017e+02] [-1.19819933e-01 9.92795154e-01 -9.82569767e-04 2.41984007e-01] [-8.07954859e-03 1.45515703e-05 9.99967360e-01 4.67242439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:361.77, Y:0.24, Z:0.47 [[ 9.92776179e-01 1.19712770e-01 8.01939348e-03 3.61772817e+02] [-1.19708725e-01 9.92808568e-01 -9.84196428e-04 2.35263146e-01] [-8.07954344e-03 1.70953978e-05 9.99967360e-01 4.66399819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:361.80, Y:0.23, Z:0.46 [[ 9.92739955e-01 1.20012807e-01 8.01919284e-03 3.61804087e+02] [-1.20008759e-01 9.92772343e-01 -9.85828535e-04 2.26274897e-01] [-8.07954492e-03 1.62979909e-05 9.99967360e-01 4.64828214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01864 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:361.84, Y:0.22, Z:0.47 [[ 9.92377579e-01 1.22973312e-01 8.01905952e-03 3.61836415e+02] [-1.22969352e-01 9.92409978e-01 -9.86911787e-04 2.20625845e-01] [-8.07955850e-03 -6.70942017e-06 9.99967360e-01 4.73400584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:361.87, Y:0.21, Z:0.47 [[ 9.92209198e-01 1.24325202e-01 8.00948472e-03 3.61867853e+02] [-1.24320659e-01 9.92241523e-01 -1.06459540e-03 2.14950867e-01] [-8.07969936e-03 6.05569342e-05 9.99967357e-01 4.72251101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07864 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:361.90, Y:0.21, Z:0.46 [[ 9.91806741e-01 1.27495940e-01 8.01083942e-03 3.61897193e+02] [-1.27491589e-01 9.91839092e-01 -1.05360499e-03 2.07306903e-01] [-8.07979406e-03 2.36578884e-05 9.99967358e-01 4.62298486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:361.93, Y:0.20, Z:0.46 [[ 9.91465311e-01 1.30123919e-01 8.01887113e-03 3.61928757e+02] [-1.30120180e-01 9.91497737e-01 -9.88447109e-04 2.01668426e-01] [-8.07931319e-03 -6.34059352e-05 9.99967360e-01 4.61923479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13864 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:361.96, Y:0.20, Z:0.47 [[ 9.90951795e-01 1.33978505e-01 8.01873547e-03 3.61960842e+02] [-1.33974883e-01 9.90984234e-01 -9.89546469e-04 1.97050694e-01] [-8.07901838e-03 -9.37162998e-05 9.99967360e-01 4.71738611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:361.99, Y:0.19, Z:0.47 [[ 9.90416643e-01 1.37879327e-01 8.01026774e-03 3.61991092e+02] [-1.37875279e-01 9.90449034e-01 -1.05801619e-03 1.91326848e-01] [-8.07964051e-03 -5.65410565e-05 9.99967358e-01 4.70214461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.19864 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:362.02, Y:0.19, Z:0.46 [[ 9.90300307e-01 1.38712257e-01 8.01325796e-03 3.62020780e+02] [-1.38708433e-01 9.90332723e-01 -1.03378158e-03 1.86415211e-01] [-8.07918975e-03 -8.77522374e-05 9.99967359e-01 4.60550775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:362.05, Y:0.18, Z:0.46 [[ 9.89887288e-01 1.41629286e-01 8.01891220e-03 3.62052409e+02] [-1.41625928e-01 9.89919755e-01 -9.87884759e-04 1.80119867e-01] [-8.07799301e-03 -1.57791318e-04 9.99967360e-01 4.58952708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25864 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:362.08, Y:0.18, Z:0.47 [[ 9.89718875e-01 1.42801426e-01 8.01874870e-03 3.62083356e+02] [-1.42798096e-01 9.89751345e-01 -9.89210050e-04 1.76495059e-01] [-8.07782792e-03 -1.66022188e-04 9.99967360e-01 4.68173774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:362.11, Y:0.17, Z:0.46 [[ 9.89502575e-01 1.44292733e-01 8.01633001e-03 3.62114152e+02] [-1.44289294e-01 9.89535033e-01 -1.00879965e-03 1.72705733e-01] [-8.07800185e-03 -1.58460750e-04 9.99967360e-01 4.58817729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:362.15, Y:0.17, Z:0.46 [[ 9.88953357e-01 1.48009989e-01 8.01872003e-03 3.62146047e+02] [-1.48006828e-01 9.88985844e-01 -9.89430057e-04 1.70884068e-01] [-8.07684613e-03 -2.08325143e-04 9.99967360e-01 4.57744539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34864 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:362.18, Y:0.17, Z:0.46 [[ 9.88139753e-01 1.53347746e-01 8.01859057e-03 3.62177640e+02] [-1.53344753e-01 9.88172255e-01 -9.90478096e-04 1.68040294e-01] [-8.07563631e-03 -2.50878006e-04 9.99967360e-01 4.57898145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:362.21, Y:0.16, Z:0.46 [[ 9.87693772e-01 1.56194484e-01 8.01846311e-03 3.62209243e+02] [-1.56191576e-01 9.87726282e-01 -9.91508893e-04 1.64909533e-01] [-8.07491498e-03 -2.73109229e-04 9.99967360e-01 4.57287079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40864 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:362.24, Y:0.16, Z:0.46 [[ 9.87262590e-01 1.58897088e-01 8.01833667e-03 3.62242506e+02] [-1.58894260e-01 9.87295107e-01 -9.92530408e-04 1.61958831e-01] [-8.07417475e-03 -2.94179531e-04 9.99967360e-01 4.56922032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43864 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:362.28, Y:0.16, Z:0.46 [[ 9.86810256e-01 1.61682491e-01 8.01814605e-03 3.62276152e+02] [-1.61679743e-01 9.86842780e-01 -9.94067903e-04 1.62259762e-01] [-8.07337292e-03 -3.15415393e-04 9.99967360e-01 4.56472014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46864 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:362.31, Y:0.16, Z:0.46 [[ 9.86779654e-01 1.61869163e-01 8.01795759e-03 3.62309397e+02] [-1.61866409e-01 9.86812178e-01 -9.95585715e-04 1.58177289e-01] [-8.07337282e-03 -3.15414274e-04 9.99967360e-01 4.56201344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49864 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:362.34, Y:0.16, Z:0.46 [[ 9.86549430e-01 1.63266459e-01 8.01776897e-03 3.62342000e+02] [-1.63263738e-01 9.86581957e-01 -9.97102387e-04 1.55905233e-01] [-8.07297958e-03 -3.25320143e-04 9.99967360e-01 4.55193228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52864 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:362.37, Y:0.15, Z:0.47 [[ 9.86620949e-01 1.62833724e-01 8.01758039e-03 3.62373827e+02] [-1.62830977e-01 9.86653473e-01 -9.98616479e-04 1.54376168e-01] [-8.07318197e-03 -3.20254507e-04 9.99967360e-01 4.65226093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55864 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:362.40, Y:0.15, Z:0.46 [[ 9.86742323e-01 1.62096737e-01 8.01466824e-03 3.62404125e+02] [-1.62093776e-01 9.86774829e-01 -1.02197745e-03 1.51693722e-01] [-8.07433209e-03 -2.90699436e-04 9.99967360e-01 4.55907718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58864 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:362.44, Y:0.15, Z:0.46 [[ 9.86819399e-01 1.61626706e-01 8.01754684e-03 3.62436987e+02] [-1.61623917e-01 9.86851920e-01 -9.98872055e-04 1.49132234e-01] [-8.07357589e-03 -3.10121001e-04 9.99967360e-01 4.56270233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61864 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:362.47, Y:0.15, Z:0.46 [[ 9.86874122e-01 1.61292248e-01 8.01735729e-03 3.62469125e+02] [-1.61289435e-01 9.86906641e-01 -1.00039120e-03 1.47839599e-01] [-8.07373849e-03 -3.05854842e-04 9.99967360e-01 4.56188650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64864 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:362.50, Y:0.15, Z:0.46 [[ 9.87183057e-01 1.59390511e-01 8.01723242e-03 3.62498891e+02] [-1.59387628e-01 9.87215570e-01 -1.00139089e-03 1.46212266e-01] [-8.07434888e-03 -2.89291540e-04 9.99967360e-01 4.64386393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67864 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:362.53, Y:0.14, Z:0.46 [[ 9.86957444e-01 1.60781447e-01 8.02062230e-03 3.62530423e+02] [-1.60778830e-01 9.86989979e-01 -9.74262867e-04 1.43984677e-01] [-8.07291723e-03 -3.27990279e-04 9.99967360e-01 4.56098420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70864 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:362.56, Y:0.14, Z:0.46 [[ 9.86942401e-01 1.60873938e-01 8.01706367e-03 3.62562335e+02] [-1.60871093e-01 9.86974917e-01 -1.00271544e-03 1.41966189e-01] [-8.07395153e-03 -3.00091407e-04 9.99967360e-01 4.55374491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73864 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:362.59, Y:0.14, Z:0.46 [[ 9.87012519e-01 1.60443189e-01 8.01693608e-03 3.62594457e+02] [-1.60440322e-01 9.87045032e-01 -1.00373451e-03 1.42012617e-01] [-8.07411930e-03 -2.95541282e-04 9.99967360e-01 4.55917405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76864 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:362.63, Y:0.14, Z:0.46 [[ 9.87084472e-01 1.59999924e-01 8.01680846e-03 3.62627304e+02] [-1.59997033e-01 9.87116984e-01 -1.00475280e-03 1.39863484e-01] [-8.07428815e-03 -2.90889682e-04 9.99967360e-01 4.55624816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79864 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:362.66, Y:0.14, Z:0.46 [[ 9.87390950e-01 1.58097580e-01 8.01661686e-03 3.62659235e+02] [-1.58094615e-01 9.87423455e-01 -1.00627917e-03 1.38826679e-01] [-8.07488582e-03 -2.73793011e-04 9.99967360e-01 4.55079577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82864 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:362.69, Y:0.14, Z:0.46 [[ 9.87615722e-01 1.56687335e-01 8.01648797e-03 3.62691622e+02] [-1.56684314e-01 9.87648222e-01 -1.00730488e-03 1.35849545e-01] [-8.07530201e-03 -2.61227781e-04 9.99967360e-01 4.55475486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85864 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:362.72, Y:0.13, Z:0.46 [[ 9.88297005e-01 1.52331113e-01 8.01635854e-03 3.62724597e+02] [-1.52327942e-01 9.88329490e-01 -1.00833387e-03 1.34647259e-01] [-8.07640418e-03 -2.24582054e-04 9.99967360e-01 4.55259854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88864 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:362.76, Y:0.13, Z:0.46 [[ 9.88712261e-01 1.49612189e-01 8.01616216e-03 3.62757177e+02] [-1.49608915e-01 9.88744736e-01 -1.00989266e-03 1.31953421e-01] [-8.07703039e-03 -2.00796066e-04 9.99967360e-01 4.55465979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91864 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:362.79, Y:0.13, Z:0.45 [[ 9.89151055e-01 1.46683104e-01 8.01602970e-03 3.62788718e+02] [-1.46679726e-01 9.89183520e-01 -1.01094299e-03 1.28666383e-01] [-8.07761273e-03 -1.75813715e-04 9.99967360e-01 4.53747682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94864 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:362.82, Y:0.12, Z:0.45 [[ 9.89870026e-01 1.41750051e-01 8.01589720e-03 3.62820227e+02] [-1.41746502e-01 9.89902472e-01 -1.01199250e-03 1.23455801e-01] [-8.07840645e-03 -1.34484354e-04 9.99967360e-01 4.52550797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97864 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:362.85, Y:0.12, Z:0.45 [[ 9.90240088e-01 1.39141348e-01 8.01576220e-03 3.62851625e+02] [-1.39137705e-01 9.90272524e-01 -1.01306068e-03 1.19167542e-01] [-8.07874770e-03 -1.12121461e-04 9.99967360e-01 4.52478483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00864 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:362.88, Y:0.12, Z:0.45 [[ 9.90608765e-01 1.36491851e-01 8.01562534e-03 3.62883596e+02] [-1.36488113e-01 9.90641190e-01 -1.01414238e-03 1.16479706e-01] [-8.07903080e-03 -8.94192434e-05 9.99967360e-01 4.54213937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03864 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:362.92, Y:0.11, Z:0.45 [[ 9.90606146e-01 1.36510860e-01 8.01548842e-03 3.62915438e+02] [-1.36507113e-01 9.90638571e-01 -1.01522345e-03 1.13336145e-01] [-8.07904102e-03 -8.84845958e-05 9.99967360e-01 4.53481527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06864 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:362.95, Y:0.11, Z:0.45 [[ 9.90669989e-01 1.36046785e-01 8.01535028e-03 3.62947598e+02] [-1.36043015e-01 9.90702410e-01 -1.01631292e-03 1.09490672e-01] [-8.07909294e-03 -8.36017087e-05 9.99967360e-01 4.53022085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09864 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:362.98, Y:0.11, Z:0.45 [[ 9.90914189e-01 1.34256568e-01 8.01521235e-03 3.62979159e+02] [-1.34252730e-01 9.90946603e-01 -1.01739954e-03 1.06137350e-01] [-8.07924002e-03 -6.79084954e-05 9.99967360e-01 4.52602543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12864 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:363.01, Y:0.10, Z:0.45 [[ 9.91255405e-01 1.31713632e-01 8.01507311e-03 3.63010646e+02] [-1.31709702e-01 9.91287807e-01 -1.01849529e-03 1.00648266e-01] [-8.07939396e-03 -4.60739313e-05 9.99967360e-01 4.51638040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15864 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:363.04, Y:0.09, Z:0.46 [[ 9.91579652e-01 1.29249970e-01 8.01493513e-03 3.63042159e+02] [-1.29245951e-01 9.91612043e-01 -1.01957993e-03 9.39801837e-02] [-8.07948688e-03 -2.49031986e-05 9.99967360e-01 4.60545071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18864 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:363.07, Y:0.09, Z:0.45 [[ 9.92168696e-01 1.24647882e-01 8.01146504e-03 3.63072273e+02] [-1.24643492e-01 9.92201040e-01 -1.04682803e-03 8.63179616e-02] [-8.07946884e-03 4.00530197e-05 9.99967360e-01 4.51617773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21864 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:363.10, Y:0.08, Z:0.45 [[ 9.93060890e-01 1.17327877e-01 8.01480293e-03 3.63103743e+02] [-1.17323461e-01 9.93093230e-01 -1.02061594e-03 7.60657006e-02] [-8.07919323e-03 7.32093600e-05 9.99967360e-01 4.50869072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24864 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:363.13, Y:0.07, Z:0.46 [[ 9.93302676e-01 1.15263006e-01 8.01459611e-03 3.63134602e+02] [-1.15258510e-01 9.93335004e-01 -1.02223744e-03 6.97346718e-02] [-8.07900502e-03 9.16407831e-05 9.99967360e-01 4.61045934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27864 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:363.16, Y:0.06, Z:0.45 [[ 9.93756666e-01 1.11281058e-01 8.01341305e-03 3.63164307e+02] [-1.11276357e-01 9.93788966e-01 -1.03151918e-03 5.97995102e-02] [-8.07843002e-03 1.33375647e-04 9.99967360e-01 4.48840786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30864 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:363.20, Y:0.05, Z:0.45 [[ 9.93799597e-01 1.10896925e-01 8.01454853e-03 3.63196556e+02] [-1.10892283e-01 9.93831905e-01 -1.02262017e-03 5.24943450e-02] [-8.07851946e-03 1.27527930e-04 9.99967360e-01 4.49082861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33864 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:363.23, Y:0.05, Z:0.45 [[ 9.93760454e-01 1.11247163e-01 8.01434788e-03 3.63228241e+02] [-1.11242520e-01 9.93792761e-01 -1.02419027e-03 4.50192095e-02] [-8.07853917e-03 1.26263533e-04 9.99967360e-01 4.49329510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36864 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:363.26, Y:0.04, Z:0.46 [[ 9.93313838e-01 1.15166797e-01 8.01421341e-03 3.63259245e+02] [-1.15162273e-01 9.93346163e-01 -1.02524138e-03 3.55485929e-02] [-8.07896191e-03 9.54514168e-05 9.99967360e-01 4.58160014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39864 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:363.29, Y:0.03, Z:0.45 [[ 9.93327660e-01 1.15047772e-01 8.01066452e-03 3.63289020e+02] [-1.15043021e-01 9.93359952e-01 -1.05294715e-03 2.92517104e-02] [-8.07861254e-03 1.24350484e-04 9.99967360e-01 4.49634352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:363.32, Y:0.02, Z:0.45 [[ 9.93121497e-01 1.16813815e-01 8.01408602e-03 3.63321112e+02] [-1.16809336e-01 9.93153828e-01 -1.02622775e-03 2.06644667e-02] [-8.07909778e-03 8.30487655e-05 9.99967360e-01 4.48320233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:363.35, Y:0.01, Z:0.45 [[ 9.92918133e-01 1.18529988e-01 8.01387913e-03 3.63353798e+02] [-1.18525552e-01 9.92950471e-01 -1.02784079e-03 1.43016928e-02] [-8.07921501e-03 7.07123100e-05 9.99967360e-01 4.48498521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:363.39, Y:0.01, Z:0.45 [[ 9.92549795e-01 1.21575843e-01 8.01366994e-03 3.63385541e+02] [-1.21571493e-01 9.92582144e-01 -1.02946923e-03 8.08575575e-03] [-8.07938428e-03 4.75656474e-05 9.99967360e-01 4.48055104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51864 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:363.42, Y:0.00, Z:0.46 [[ 9.92048603e-01 1.25599973e-01 8.01353059e-03 3.63417986e+02] [-1.25595746e-01 9.92080968e-01 -1.03055282e-03 4.15986045e-03] [-8.07950859e-03 1.58931305e-05 9.99967360e-01 4.58482902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:363.45, Y:0.00, Z:0.45 [[ 9.91938603e-01 1.26466325e-01 8.00483730e-03 3.63446888e+02] [-1.26461582e-01 9.91970898e-01 -1.09799861e-03 2.99059869e-04] [-8.07942549e-03 7.68428166e-05 9.99967358e-01 4.47562201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:363.48, Y:-0.01, Z:0.45 [[ 9.91341895e-01 1.31061184e-01 8.01329445e-03 3.63478750e+02] [-1.31057120e-01 9.91374281e-01 -1.03235289e-03 -5.77166654e-03] [-8.07947542e-03 -2.67846230e-05 9.99967360e-01 4.47692824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:363.51, Y:-0.01, Z:0.46 [[ 9.90494833e-01 1.37316333e-01 8.01315339e-03 3.63511772e+02] [-1.37312465e-01 9.90527243e-01 -1.03344663e-03 -8.96373976e-03] [-8.07915584e-03 -7.66822949e-05 9.99967360e-01 4.57897243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:363.54, Y:-0.01, Z:0.45 [[ 9.90491116e-01 1.37343772e-01 8.00234031e-03 3.63541011e+02] [-1.37339227e-01 9.90523442e-01 -1.11736333e-03 -1.12382932e-02] [-8.07996855e-03 7.70322207e-06 9.99967356e-01 4.46913407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:363.57, Y:-0.01, Z:0.45 [[ 9.90160820e-01 1.39704461e-01 8.01340254e-03 3.63573227e+02] [-1.39700688e-01 9.90193241e-01 -1.03141763e-03 -1.37649987e-02] [-8.07891068e-03 -9.82085215e-05 9.99967360e-01 4.45896736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.69864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:363.61, Y:-0.01, Z:0.44 [[ 9.89675016e-01 1.43105380e-01 8.01326428e-03 3.63606795e+02] [-1.43101710e-01 9.89707449e-01 -1.03249072e-03 -1.48823527e-02] [-8.07854232e-03 -1.24881548e-04 9.99967360e-01 4.44897195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:363.64, Y:-0.02, Z:0.45 [[ 9.89531074e-01 1.44097343e-01 8.01305326e-03 3.63640217e+02] [-1.44093692e-01 9.89563509e-01 -1.03412581e-03 -1.69918736e-02] [-8.07843988e-03 -1.31330799e-04 9.99967360e-01 4.45521697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.75864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:363.67, Y:-0.02, Z:0.45 [[ 9.89206311e-01 1.46310181e-01 8.01284564e-03 3.63673192e+02] [-1.46306589e-01 9.89238752e-01 -1.03573205e-03 -1.58972347e-02] [-8.07815557e-03 -1.47779440e-04 9.99967360e-01 4.45446948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:363.71, Y:-0.02, Z:0.45 [[ 9.89181778e-01 1.46475959e-01 8.01270921e-03 3.63705991e+02] [-1.46472365e-01 9.89214219e-01 -1.03678641e-03 -1.84371361e-02] [-8.07815017e-03 -1.48070241e-04 9.99967360e-01 4.45315869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.81864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:363.74, Y:-0.02, Z:0.44 [[ 9.89646030e-01 1.43305743e-01 8.01250106e-03 3.63739236e+02] [-1.43302031e-01 9.89678458e-01 -1.03839258e-03 -2.09141385e-02] [-8.07860731e-03 -1.20566589e-04 9.99967360e-01 4.42740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:363.77, Y:-0.02, Z:0.44 [[ 9.89895934e-01 1.41569218e-01 8.01229135e-03 3.63770751e+02] [-1.41565436e-01 9.89928354e-01 -1.04000819e-03 -2.40572025e-02] [-8.07882753e-03 -1.04763640e-04 9.99967360e-01 4.42168664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.87864 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:363.80, Y:-0.03, Z:0.45 [[ 9.89896489e-01 1.41565342e-01 8.01218707e-03 3.63803485e+02] [-1.41561554e-01 9.89928908e-01 -1.04081093e-03 -2.68527806e-02] [-8.07883835e-03 -1.03922570e-04 9.99967360e-01 4.52541056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:363.83, Y:-0.03, Z:0.44 [[ 9.90384723e-01 1.38108842e-01 8.00299053e-03 3.63833243e+02] [-1.38104369e-01 9.90417057e-01 -1.11148581e-03 -2.82284888e-02] [-8.07980435e-03 -4.44939771e-06 9.99967358e-01 4.42744096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93864 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:363.87, Y:-0.03, Z:0.45 [[ 9.90308502e-01 1.38653799e-01 8.01223915e-03 3.63865276e+02] [-1.38649920e-01 9.90340910e-01 -1.04025114e-03 -3.01236701e-02] [-8.07908298e-03 -8.07267704e-05 9.99967360e-01 4.53282952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:363.90, Y:-0.03, Z:0.44 [[ 9.90611110e-01 1.36475438e-01 8.00517767e-03 3.63895962e+02] [-1.36471048e-01 9.90643455e-01 -1.09462901e-03 -3.24707271e-02] [-8.07966683e-03 -8.12333164e-06 9.99967359e-01 4.40970326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99864 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:363.93, Y:-0.04, Z:0.44 [[ 9.90628696e-01 1.36347318e-01 8.01225802e-03 3.63928302e+02] [-1.36343365e-01 9.90661095e-01 -1.04008585e-03 -3.65014735e-02] [-8.07924522e-03 -6.20793289e-05 9.99967360e-01 4.41187003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02864 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:363.96, Y:-0.04, Z:0.44 [[ 9.90774289e-01 1.35285312e-01 8.01204507e-03 3.63960909e+02] [-1.35281311e-01 9.90806682e-01 -1.04172371e-03 -3.99307331e-02] [-8.07931771e-03 -5.17668982e-05 9.99967360e-01 4.40640438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05864 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:363.99, Y:-0.04, Z:0.45 [[ 9.90831256e-01 1.34867462e-01 8.01183178e-03 3.63992945e+02] [-1.34863435e-01 9.90863646e-01 -1.04336152e-03 -4.10070557e-02] [-8.07934837e-03 -4.67079453e-05 9.99967360e-01 4.50905266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08864 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:364.02, Y:-0.05, Z:0.44 [[ 9.91160353e-01 1.32427457e-01 8.00764475e-03 3.64023141e+02] [-1.32423090e-01 9.91192700e-01 -1.07552085e-03 -4.63995987e-02] [-8.07954751e-03 5.61657192e-06 9.99967360e-01 4.40075430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11864 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:364.06, Y:-0.05, Z:0.45 [[ 9.91241401e-01 1.31819179e-01 8.01181709e-03 3.64055014e+02] [-1.31815051e-01 9.91273778e-01 -1.04348586e-03 -5.09344424e-02] [-8.07945565e-03 -2.17316925e-05 9.99967360e-01 4.48774742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14864 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:364.09, Y:-0.06, Z:0.44 [[ 9.91491061e-01 1.29928176e-01 8.00905253e-03 3.64086105e+02] [-1.29923815e-01 9.91523408e-01 -1.06468853e-03 -5.50568631e-02] [-8.07949610e-03 1.50625041e-05 9.99967360e-01 4.40146198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:364.12, Y:-0.06, Z:0.44 [[ 9.91654133e-01 1.28677475e-01 8.01169316e-03 3.64118344e+02] [-1.28673236e-01 9.91686497e-01 -1.04443267e-03 -5.67348818e-02] [-8.07948288e-03 4.82548107e-06 9.99967360e-01 4.39538053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20864 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:364.15, Y:-0.06, Z:0.44 [[ 9.91648213e-01 1.28723101e-01 8.01155156e-03 3.64150419e+02] [-1.28718855e-01 9.91680575e-01 -1.04551770e-03 -6.04433341e-02] [-8.07948234e-03 5.54802032e-06 9.99967360e-01 4.38797297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23864 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:364.18, Y:-0.06, Z:0.45 [[ 9.91383356e-01 1.30747306e-01 8.01140933e-03 3.64182768e+02] [-1.30743118e-01 9.91415726e-01 -1.04660640e-03 -6.40944720e-02] [-8.07947817e-03 -9.84847202e-06 9.99967360e-01 4.49541001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26864 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:364.21, Y:-0.07, Z:0.44 [[ 9.91394077e-01 1.30666144e-01 8.00895242e-03 3.64214055e+02] [-1.30661801e-01 9.91426426e-01 -1.06538028e-03 -6.75009613e-02] [-8.07949621e-03 9.74755368e-06 9.99967360e-01 4.37586509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29864 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:364.25, Y:-0.07, Z:0.44 [[ 9.91363389e-01 1.30898628e-01 8.01123771e-03 3.64246608e+02] [-1.30894434e-01 9.91395758e-01 -1.04790926e-03 -7.04218144e-02] [-8.07947697e-03 -9.76754895e-06 9.99967360e-01 4.37060743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32864 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:364.28, Y:-0.07, Z:0.45 [[ 9.91286973e-01 1.31476084e-01 8.01102537e-03 3.64278770e+02] [-1.31471896e-01 9.91319343e-01 -1.04953004e-03 -7.33767393e-02] [-8.07947251e-03 -1.28392360e-05 9.99967360e-01 4.46071630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35864 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:364.31, Y:-0.08, Z:0.45 [[ 9.91337114e-01 1.31097767e-01 8.00636657e-03 3.64310934e+02] [-1.31093278e-01 9.91369444e-01 -1.08510409e-03 -7.80606744e-02] [-8.07952190e-03 2.61231154e-05 9.99967360e-01 4.46211341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38864 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:364.34, Y:-0.08, Z:0.45 [[ 9.91351469e-01 1.30989267e-01 8.00476469e-03 3.64342327e+02] [-1.30984676e-01 9.91383786e-01 -1.09735122e-03 -8.22247471e-02] [-8.07953516e-03 3.93592347e-05 9.99967359e-01 4.45955368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41864 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:364.37, Y:-0.09, Z:0.44 [[ 9.91674888e-01 1.28517856e-01 8.00487652e-03 3.64372642e+02] [-1.28513192e-01 9.91707193e-01 -1.09649553e-03 -8.64715795e-02] [-8.07941288e-03 5.86348510e-05 9.99967359e-01 4.36822689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44864 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:364.41, Y:-0.09, Z:0.44 [[ 9.91748392e-01 1.27948985e-01 8.01145282e-03 3.64405245e+02] [-1.27944708e-01 9.91780751e-01 -1.04613331e-03 -9.02118067e-02] [-8.07945638e-03 1.24780309e-05 9.99967361e-01 4.36941546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47864 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:364.44, Y:-0.09, Z:0.44 [[ 9.91745902e-01 1.27968302e-01 8.01123711e-03 3.64437111e+02] [-1.27964013e-01 9.91778258e-01 -1.04778258e-03 -9.35726871e-02] [-8.07945375e-03 1.39840285e-05 9.99967361e-01 4.35937632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50864 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:364.47, Y:-0.10, Z:0.45 [[ 9.91493388e-01 1.29910293e-01 8.01109517e-03 3.64469558e+02] [-1.29906059e-01 9.91525751e-01 -1.04886670e-03 -9.73481615e-02] [-8.07946574e-03 -7.45407036e-07 9.99967361e-01 4.45994584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53864 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:364.50, Y:-0.10, Z:0.44 [[ 9.91816281e-01 1.27422300e-01 8.00137954e-03 3.64499876e+02] [-1.27417387e-01 9.91848551e-01 -1.12295495e-03 -1.01409969e-01] [-8.07924620e-03 9.42501304e-05 9.99967358e-01 4.35958580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56864 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:364.53, Y:-0.10, Z:0.45 [[ 9.91643596e-01 1.28758691e-01 8.01106650e-03 3.64532103e+02] [-1.28754419e-01 9.91675955e-01 -1.04897543e-03 -1.04600437e-01] [-8.07944672e-03 8.74955367e-06 9.99967361e-01 4.45595745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59864 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:364.56, Y:-0.11, Z:0.44 [[ 9.91738507e-01 1.28026097e-01 8.00321551e-03 3.64561109e+02] [-1.28021316e-01 9.91770797e-01 -1.10899295e-03 -1.08111773e-01] [-8.07933546e-03 7.52488342e-05 9.99967359e-01 4.36755559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62864 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:364.59, Y:-0.11, Z:0.44 [[ 9.91245181e-01 1.31790782e-01 8.01126058e-03 3.64594150e+02] [-1.31786621e-01 9.91277554e-01 -1.04746230e-03 -1.12097921e-01] [-8.07942867e-03 -1.74850034e-05 9.99967361e-01 4.44575643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65864 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:364.62, Y:-0.12, Z:0.44 [[ 9.91336585e-01 1.31102114e-01 8.00067583e-03 3.64623289e+02] [-1.31097278e-01 9.91368867e-01 -1.12821817e-03 -1.15872322e-01] [-8.07953272e-03 6.95771268e-05 9.99967358e-01 4.37154605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68864 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:364.66, Y:-0.12, Z:0.44 [[ 9.91004366e-01 1.33589552e-01 8.01111987e-03 3.64655549e+02] [-1.33585442e-01 9.91036745e-01 -1.04841353e-03 -1.18841971e-01] [-8.07937126e-03 -3.11865969e-05 9.99967361e-01 4.35929289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71864 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:364.69, Y:-0.12, Z:0.44 [[ 9.90624810e-01 1.36375620e-01 8.01097699e-03 3.64688505e+02] [-1.36371592e-01 9.90657200e-01 -1.04950413e-03 -1.21972330e-01] [-8.07925881e-03 -5.28048492e-05 9.99967361e-01 4.43412713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74864 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:364.72, Y:-0.12, Z:0.43 [[ 9.90476804e-01 1.37446988e-01 8.00163356e-03 3.64717762e+02] [-1.37442420e-01 9.90509124e-01 -1.12070174e-03 -1.24366983e-01] [-8.07972813e-03 1.02651983e-05 9.99967358e-01 4.33343797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77864 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:364.75, Y:-0.13, Z:0.43 [[ 9.90316890e-01 1.38593943e-01 8.01107257e-03 3.64750274e+02] [-1.38589995e-01 9.90349289e-01 -1.04858921e-03 -1.27610319e-01] [-8.07908813e-03 -7.18188987e-05 9.99967361e-01 4.33683023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80864 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:364.78, Y:-0.13, Z:0.43 [[ 9.90207401e-01 1.39374056e-01 8.01092981e-03 3.64782182e+02] [-1.39370125e-01 9.90239803e-01 -1.04967870e-03 -1.30471736e-01] [-8.07903953e-03 -7.70846649e-05 9.99967361e-01 4.34665924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83864 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:364.81, Y:-0.13, Z:0.44 [[ 9.90003028e-01 1.40818433e-01 8.01078812e-03 3.64814303e+02] [-1.40814540e-01 9.90035434e-01 -1.05075890e-03 -1.31180545e-01] [-8.07893032e-03 -8.77809497e-05 9.99967361e-01 4.35347383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86864 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:364.85, Y:-0.13, Z:0.43 [[ 9.89865296e-01 1.41783371e-01 8.01064552e-03 3.64846106e+02] [-1.41779501e-01 9.89897705e-01 -1.05184491e-03 -1.33382732e-01] [-8.07885374e-03 -9.45605514e-05 9.99967361e-01 4.34877771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89864 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:364.88, Y:-0.14, Z:0.43 [[ 9.89890214e-01 1.41609306e-01 8.01050244e-03 3.64877858e+02] [-1.41605421e-01 9.89922621e-01 -1.05293348e-03 -1.37321791e-01] [-8.07888275e-03 -9.20420241e-05 9.99967361e-01 4.33818887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:364.91, Y:-0.14, Z:0.43 [[ 9.89895115e-01 1.41575054e-01 8.01035958e-03 3.64909853e+02] [-1.41571159e-01 9.89927521e-01 -1.05401921e-03 -1.40848143e-01] [-8.07889822e-03 -9.06674191e-05 9.99967361e-01 4.32960752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95864 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:364.94, Y:-0.14, Z:0.43 [[ 9.90049070e-01 1.40494399e-01 8.01021730e-03 3.64941877e+02] [-1.40490460e-01 9.90081470e-01 -1.05509934e-03 -1.43536453e-01] [-8.07900327e-03 -8.07590010e-05 9.99967361e-01 4.34124994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:364.97, Y:-0.15, Z:0.43 [[ 9.90144163e-01 1.39822656e-01 8.01007377e-03 3.64973433e+02] [-1.39818687e-01 9.90176560e-01 -1.05618785e-03 -1.46898019e-01] [-8.07906628e-03 -7.41797619e-05 9.99967361e-01 4.34259638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01864 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:365.01, Y:-0.15, Z:0.44 [[ 9.90279637e-01 1.38859932e-01 8.00993047e-03 3.65005734e+02] [-1.38855923e-01 9.90312029e-01 -1.05727352e-03 -1.49795261e-01] [-8.07914343e-03 -6.52298451e-05 9.99967361e-01 4.41884222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:365.03, Y:-0.15, Z:0.44 [[ 9.90570202e-01 1.36772031e-01 8.00535369e-03 3.65034580e+02] [-1.36767672e-01 9.90602550e-01 -1.09195858e-03 -1.54193731e-01] [-8.07947317e-03 -1.32119616e-05 9.99967360e-01 4.43649460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07864 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:365.07, Y:-0.16, Z:0.43 [[ 9.90610315e-01 1.36480741e-01 8.01317697e-03 3.65065645e+02] [-1.36476852e-01 9.90642722e-01 -1.03270248e-03 -1.59239263e-01] [-8.07913944e-03 -7.06074323e-05 9.99967361e-01 4.33005152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:365.10, Y:-0.17, Z:0.43 [[ 9.91161142e-01 1.32421426e-01 8.00975524e-03 3.65097480e+02] [-1.32417195e-01 9.91193506e-01 -1.05859272e-03 -1.65050281e-01] [-8.07939773e-03 -1.13933485e-05 9.99967361e-01 4.32772433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13864 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:365.13, Y:-0.17, Z:0.43 [[ 9.91317542e-01 1.31245482e-01 8.00961112e-03 3.65129541e+02] [-1.31241204e-01 9.91349900e-01 -1.05968203e-03 -1.69254793e-01] [-8.07940566e-03 -7.09620295e-07 9.99967361e-01 4.32659414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:365.16, Y:-0.18, Z:0.43 [[ 9.91619610e-01 1.28943386e-01 8.00946697e-03 3.65161419e+02] [-1.28939024e-01 9.91651957e-01 -1.06077046e-03 -1.75164114e-01] [-8.07938293e-03 1.91479399e-05 9.99967361e-01 4.31392562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.19864 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:365.19, Y:-0.18, Z:0.43 [[ 9.91743005e-01 1.27990871e-01 8.00932412e-03 3.65193601e+02] [-1.27986469e-01 9.91775346e-01 -1.06184792e-03 -1.80791442e-01] [-8.07935704e-03 2.79951369e-05 9.99967361e-01 4.30380543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:365.23, Y:-0.19, Z:0.43 [[ 9.91869709e-01 1.27005251e-01 8.00918164e-03 3.65225046e+02] [-1.27000808e-01 9.91902044e-01 -1.06292153e-03 -1.87721333e-01] [-8.07932026e-03 3.71071288e-05 9.99967361e-01 4.29207434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.25864 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:365.26, Y:-0.19, Z:0.43 [[ 9.91896831e-01 1.26793264e-01 8.00903791e-03 3.65257250e+02] [-1.26788806e-01 9.91929164e-01 -1.06400343e-03 -1.93140252e-01] [-8.07930675e-03 3.99252802e-05 9.99967361e-01 4.29193456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28864 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:365.29, Y:-0.20, Z:0.43 [[ 9.91865027e-01 1.27041824e-01 8.00889551e-03 3.65289136e+02] [-1.27037365e-01 9.91897360e-01 -1.06507426e-03 -1.99545716e-01] [-8.07931129e-03 3.89809292e-05 9.99967361e-01 4.29024337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.31864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:365.32, Y:-0.20, Z:0.43 [[ 9.91794940e-01 1.27587840e-01 8.00875270e-03 3.65320883e+02] [-1.27583390e-01 9.91827274e-01 -1.06614697e-03 -2.04898740e-01] [-8.07932675e-03 3.56153534e-05 9.99967361e-01 4.29158696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34864 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:365.35, Y:-0.21, Z:0.43 [[ 9.91525176e-01 1.29667603e-01 8.00860950e-03 3.65352737e+02] [-1.29663212e-01 9.91557518e-01 -1.06722158e-03 -2.10557648e-01] [-8.07938103e-03 1.97550255e-05 9.99967361e-01 4.28595679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.37864 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:365.38, Y:-0.22, Z:0.43 [[ 9.91408571e-01 1.30556159e-01 8.00846593e-03 3.65384621e+02] [-1.30551789e-01 9.91440916e-01 -1.06829784e-03 -2.15739919e-01] [-8.07939366e-03 1.36000867e-05 9.99967361e-01 4.28693856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40864 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:365.42, Y:-0.22, Z:0.44 [[ 9.91225583e-01 1.31938279e-01 8.00832281e-03 3.65415921e+02] [-1.31933945e-01 9.91257933e-01 -1.06936966e-03 -2.21048206e-01] [-8.07940431e-03 3.41694346e-06 9.99967361e-01 4.36466696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43864 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:365.45, Y:-0.23, Z:0.43 [[ 9.91260118e-01 1.31678800e-01 8.00446323e-03 3.65445955e+02] [-1.31674224e-01 9.91292435e-01 -1.09825631e-03 -2.29376577e-01] [-8.07938092e-03 3.46761950e-05 9.99967361e-01 4.29054504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46864 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:365.48, Y:-0.24, Z:0.43 [[ 9.91213144e-01 1.32031704e-01 8.00823709e-03 3.65478767e+02] [-1.32027368e-01 9.91245494e-01 -1.07001179e-03 -2.35330283e-01] [-8.07940441e-03 3.30328837e-06 9.99967361e-01 4.29748473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49864 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:365.51, Y:-0.24, Z:0.43 [[ 9.91195178e-01 1.32166525e-01 8.00801933e-03 3.65509968e+02] [-1.32162181e-01 9.91227527e-01 -1.07163908e-03 -2.41622807e-01] [-8.07940400e-03 3.84618765e-06 9.99967361e-01 4.28660870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52864 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:365.54, Y:-0.25, Z:0.44 [[ 9.91093156e-01 1.32929419e-01 8.00787419e-03 3.65541601e+02] [-1.32925090e-01 9.91125507e-01 -1.07272252e-03 -2.46775833e-01] [-8.07940474e-03 -1.27944556e-06 9.99967361e-01 4.37157465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55864 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:365.57, Y:-0.25, Z:0.43 [[ 9.91274147e-01 1.31573104e-01 8.00525999e-03 3.65572451e+02] [-1.31568573e-01 9.91306470e-01 -1.09221315e-03 -2.54343825e-01] [-8.07937189e-03 2.94420211e-05 9.99967361e-01 4.29307928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58864 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:365.60, Y:-0.26, Z:0.43 [[ 9.91217944e-01 1.31995694e-01 8.00774581e-03 3.65603944e+02] [-1.31991327e-01 9.91250290e-01 -1.07367318e-03 -2.59597551e-01] [-8.07940059e-03 7.29112520e-06 9.99967361e-01 4.29625318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61864 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:365.64, Y:-0.26, Z:0.43 [[ 9.91163208e-01 1.32406094e-01 8.00760040e-03 3.65635735e+02] [-1.32401732e-01 9.91195554e-01 -1.07475659e-03 -2.64824753e-01] [-8.07940224e-03 5.03902630e-06 9.99967361e-01 4.28888144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64864 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:365.67, Y:-0.27, Z:0.43 [[ 9.90943220e-01 1.34042592e-01 8.00745507e-03 3.65667061e+02] [-1.34038274e-01 9.90975572e-01 -1.07583828e-03 -2.72172346e-01] [-8.07940052e-03 -7.21081321e-06 9.99967361e-01 4.28920707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67864 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:365.70, Y:-0.28, Z:0.43 [[ 9.90686676e-01 1.35925688e-01 8.00730808e-03 3.65698395e+02] [-1.35921423e-01 9.90719035e-01 -1.07693122e-03 -2.77622511e-01] [-8.07937515e-03 -2.14632993e-05 9.99967361e-01 4.28581929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70864 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:365.73, Y:-0.28, Z:0.44 [[ 9.90544624e-01 1.36957052e-01 8.00716272e-03 3.65730602e+02] [-1.36952813e-01 9.90576986e-01 -1.07801093e-03 -2.81093816e-01] [-8.07935231e-03 -2.87855230e-05 9.99967361e-01 4.36186449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73864 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:365.76, Y:-0.29, Z:0.43 [[ 9.90398291e-01 1.38011348e-01 8.00576561e-03 3.65762233e+02] [-1.38007059e-01 9.90430647e-01 -1.08838692e-03 -2.85497695e-01] [-8.07936536e-03 -2.69156243e-05 9.99967361e-01 4.25957223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76864 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:365.79, Y:-0.29, Z:0.43 [[ 9.90452265e-01 1.37623399e-01 8.00689843e-03 3.65793376e+02] [-1.37619165e-01 9.90484628e-01 -1.07998835e-03 -2.92026093e-01] [-8.07934148e-03 -3.22257700e-05 9.99967361e-01 4.25488146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79864 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:365.82, Y:-0.30, Z:0.43 [[ 9.90678206e-01 1.35987439e-01 8.00675114e-03 3.65824543e+02] [-1.35983143e-01 9.90710561e-01 -1.08107924e-03 -2.97823411e-01] [-8.07938611e-03 -1.77815390e-05 9.99967361e-01 4.26101887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82864 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:365.86, Y:-0.31, Z:0.43 [[ 9.91084168e-01 1.32996488e-01 8.00663970e-03 3.65855871e+02] [-1.32992087e-01 9.91116509e-01 -1.08190393e-03 -3.05530169e-01] [-8.07940221e-03 7.43812924e-06 9.99967361e-01 4.27387960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85864 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:365.89, Y:-0.31, Z:0.43 [[ 9.91223415e-01 1.31954681e-01 8.00648993e-03 3.65887289e+02] [-1.31950238e-01 9.91255750e-01 -1.08301119e-03 -3.11718440e-01] [-8.07938757e-03 1.70478063e-05 9.99967361e-01 4.27060653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88864 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:365.92, Y:-0.32, Z:0.43 [[ 9.91180635e-01 1.32275650e-01 8.00634260e-03 3.65918662e+02] [-1.32271208e-01 9.91212970e-01 -1.08409920e-03 -3.19782849e-01] [-8.07939056e-03 1.55295235e-05 9.99967361e-01 4.33220558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91864 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:365.95, Y:-0.33, Z:0.43 [[ 9.91152353e-01 1.32487536e-01 8.00417134e-03 3.65949735e+02] [-1.32482972e-01 9.91184671e-01 -1.10010250e-03 -3.25909173e-01] [-8.07936181e-03 2.99527774e-05 9.99967361e-01 4.26434018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94864 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:365.98, Y:-0.33, Z:0.43 [[ 9.91091242e-01 1.32943811e-01 8.00579630e-03 3.65981397e+02] [-1.32939358e-01 9.91123576e-01 -1.08814727e-03 -3.30882533e-01] [-8.07939590e-03 1.41678097e-05 9.99967361e-01 4.26324783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97864 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:366.01, Y:-0.33, Z:0.43 [[ 9.90469166e-01 1.37501785e-01 8.00564696e-03 3.66012026e+02] [-1.37497473e-01 9.90501519e-01 -1.08924484e-03 -3.34162294e-01] [-8.07937859e-03 -2.18927986e-05 9.99967361e-01 4.34072671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00864 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:366.04, Y:-0.34, Z:0.43 [[ 9.89936349e-01 1.41286761e-01 8.00470319e-03 3.66042883e+02] [-1.41282516e-01 9.89968711e-01 -1.09617444e-03 -3.38177556e-01] [-8.07928064e-03 -4.57816906e-05 9.99967361e-01 4.26218352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03864 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:366.07, Y:-0.34, Z:0.43 [[ 9.89772163e-01 1.42432369e-01 8.00533682e-03 3.66074242e+02] [-1.42428199e-01 9.89804535e-01 -1.09152738e-03 -3.42643564e-01] [-8.07918752e-03 -5.98222963e-05 9.99967361e-01 4.26533719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06864 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:366.11, Y:-0.35, Z:0.43 [[ 9.89603922e-01 1.43596635e-01 8.00522548e-03 3.66106511e+02] [-1.43592497e-01 9.89636298e-01 -1.09234336e-03 -3.46324500e-01] [-8.07911853e-03 -6.85030429e-05 9.99967361e-01 4.27327195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09864 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:366.14, Y:-0.35, Z:0.43 [[ 9.89078092e-01 1.47174883e-01 8.00507754e-03 3.66138845e+02] [-1.47170853e-01 9.89110481e-01 -1.09342643e-03 -3.45445384e-01] [-8.07883101e-03 -9.66299632e-05 9.99967361e-01 4.27373487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12864 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:366.17, Y:-0.35, Z:0.43 [[ 9.88751780e-01 1.49351392e-01 8.00492969e-03 3.66171455e+02] [-1.49347424e-01 9.88784177e-01 -1.09450777e-03 -3.46205056e-01] [-8.07861407e-03 -1.13319125e-04 9.99967361e-01 4.26588965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15864 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:366.20, Y:-0.34, Z:0.43 [[ 9.87917704e-01 1.54772519e-01 8.00478309e-03 3.66204198e+02] [-1.54768720e-01 9.87950122e-01 -1.09557888e-03 -3.44712934e-01] [-8.07789193e-03 -1.56548261e-04 9.99967361e-01 4.25628453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18864 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:366.24, Y:-0.34, Z:0.43 [[ 9.87384217e-01 1.58140237e-01 8.00463706e-03 3.66237769e+02] [-1.58136540e-01 9.87416646e-01 -1.09664476e-03 -3.44987857e-01] [-8.07733554e-03 -1.83015886e-04 9.99967361e-01 4.25214233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21864 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:366.27, Y:-0.34, Z:0.43 [[ 9.86377645e-01 1.64301766e-01 8.00441902e-03 3.66271068e+02] [-1.64298259e-01 9.86410095e-01 -1.09823393e-03 -3.35963727e-01] [-8.07608151e-03 -2.31838711e-04 9.99967361e-01 4.25519767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24864 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:366.30, Y:-0.33, Z:0.43 [[ 9.85950204e-01 1.66847613e-01 8.00427488e-03 3.66304128e+02] [-1.66844181e-01 9.85982663e-01 -1.09928352e-03 -3.34311439e-01] [-8.07548908e-03 -2.51627880e-04 9.99967361e-01 4.25246516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27864 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:366.34, Y:-0.34, Z:0.42 [[ 9.85928695e-01 1.66974675e-01 8.00413235e-03 3.66336493e+02] [-1.66971239e-01 9.85961153e-01 -1.10032032e-03 -3.38730816e-01] [-8.07548918e-03 -2.51622514e-04 9.99967361e-01 4.24982594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30864 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:366.37, Y:-0.34, Z:0.42 [[ 9.85689730e-01 1.68379607e-01 8.00399042e-03 3.66368624e+02] [-1.68376209e-01 9.85722192e-01 -1.10135179e-03 -3.38720782e-01] [-8.07515616e-03 -2.62090413e-04 9.99967361e-01 4.24771460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33864 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:366.40, Y:-0.33, Z:0.43 [[ 9.85655459e-01 1.68580116e-01 8.00384860e-03 3.66401364e+02] [-1.68576716e-01 9.85687920e-01 -1.10238148e-03 -3.33489828e-01] [-8.07513647e-03 -2.62694188e-04 9.99967361e-01 4.25102443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36864 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:366.43, Y:-0.33, Z:0.43 [[ 9.86038077e-01 1.66327541e-01 8.00370616e-03 3.66434851e+02] [-1.66324059e-01 9.86070530e-01 -1.10341468e-03 -3.26922559e-01] [-8.07574702e-03 -2.43200008e-04 9.99967361e-01 4.25351637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39864 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:366.47, Y:-0.33, Z:0.43 [[ 9.86486660e-01 1.63645999e-01 8.00356301e-03 3.66467323e+02] [-1.63642420e-01 9.86519102e-01 -1.10445198e-03 -3.27676941e-01] [-8.07640695e-03 -2.20195279e-04 9.99967361e-01 4.25464953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:366.50, Y:-0.33, Z:0.43 [[ 9.86896020e-01 1.61158899e-01 8.00341864e-03 3.66499708e+02] [-1.61155230e-01 9.86928452e-01 -1.10549724e-03 -3.28845555e-01] [-8.07696228e-03 -1.98781949e-04 9.99967361e-01 4.25402318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45864 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:366.53, Y:-0.33, Z:0.43 [[ 9.87483239e-01 1.57520792e-01 8.00327232e-03 3.66532543e+02] [-1.57516995e-01 9.87515657e-01 -1.10655545e-03 -3.27056347e-01] [-8.07766221e-03 -1.67946441e-04 9.99967361e-01 4.25138095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:366.56, Y:-0.33, Z:0.42 [[ 9.87743876e-01 1.55878109e-01 8.00312472e-03 3.66563670e+02] [-1.55874249e-01 9.87776286e-01 -1.10762196e-03 -3.28551794e-01] [-8.07795083e-03 -1.53434251e-04 9.99967361e-01 4.24210873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51864 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:366.60, Y:-0.33, Z:0.42 [[ 9.88152222e-01 1.53268189e-01 8.00305084e-03 3.66595204e+02] [-1.53264239e-01 9.88184621e-01 -1.10815553e-03 -3.29613825e-01] [-8.07833675e-03 -1.31555148e-04 9.99967361e-01 4.23064488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:366.63, Y:-0.33, Z:0.42 [[ 9.88391383e-01 1.51718248e-01 8.00297610e-03 3.66626561e+02] [-1.51714243e-01 9.88423775e-01 -1.10869502e-03 -3.33198551e-01] [-8.07854111e-03 -1.18340852e-04 9.99967361e-01 4.23018665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57864 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:366.66, Y:-0.34, Z:0.42 [[ 9.89094642e-01 1.47063734e-01 8.00290152e-03 3.66656629e+02] [-1.47059572e-01 9.89127015e-01 -1.10923312e-03 -3.35301171e-01] [-8.07901405e-03 -7.97667319e-05 9.99967361e-01 4.23686959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:366.69, Y:-0.34, Z:0.42 [[ 9.89442632e-01 1.44703947e-01 8.00290152e-03 3.66687274e+02] [-1.44699708e-01 9.89474994e-01 -1.10923312e-03 -3.39592623e-01] [-8.07918134e-03 -6.04949699e-05 9.99967361e-01 4.22929763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63864 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:366.72, Y:-0.34, Z:0.42 [[ 9.89808305e-01 1.42181132e-01 8.00282741e-03 3.66717874e+02] [-1.42176807e-01 9.89840656e-01 -1.10976752e-03 -3.44719876e-01] [-8.07931194e-03 -3.93593321e-05 9.99967361e-01 4.21346841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:366.75, Y:-0.35, Z:0.42 [[ 9.90037978e-01 1.40572961e-01 8.00275327e-03 3.66748597e+02] [-1.40568578e-01 9.90070322e-01 -1.11030192e-03 -3.51783153e-01] [-8.07936693e-03 -2.56945801e-05 9.99967361e-01 4.20090246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.69864 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:366.78, Y:-0.36, Z:0.42 [[ 9.90094050e-01 1.40177490e-01 8.00267890e-03 3.66779537e+02] [-1.40173090e-01 9.90126391e-01 -1.11083768e-03 -3.55426210e-01] [-8.07937802e-03 -2.19264561e-05 9.99967361e-01 4.20471818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:366.81, Y:-0.36, Z:0.42 [[ 9.90056206e-01 1.40444537e-01 8.00260442e-03 3.66810580e+02] [-1.40440142e-01 9.90088547e-01 -1.11137396e-03 -3.58214406e-01] [-8.07937339e-03 -2.35642149e-05 9.99967361e-01 4.21013295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.75864 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:366.84, Y:-0.36, Z:0.42 [[ 9.90009309e-01 1.40774742e-01 8.00253036e-03 3.66841420e+02] [-1.40770353e-01 9.90041651e-01 -1.11190698e-03 -3.61835051e-01] [-8.07936679e-03 -2.57207681e-05 9.99967361e-01 4.20873105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78864 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:366.87, Y:-0.37, Z:0.42 [[ 9.89915591e-01 1.41432254e-01 8.00245564e-03 3.66872881e+02] [-1.41427882e-01 9.89947936e-01 -1.11244452e-03 -3.65651393e-01] [-8.07934998e-03 -3.05441771e-05 9.99967361e-01 4.20560535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.81864 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:366.90, Y:-0.37, Z:0.42 [[ 9.89770531e-01 1.42443875e-01 8.00238164e-03 3.66904535e+02] [-1.42439532e-01 9.89802880e-01 -1.11297660e-03 -3.67999336e-01] [-8.07931709e-03 -3.82640591e-05 9.99967361e-01 4.21268312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84864 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:366.94, Y:-0.37, Z:0.42 [[ 9.89360586e-01 1.45263880e-01 8.00230829e-03 3.66935801e+02] [-1.45259624e-01 9.89392946e-01 -1.11350372e-03 -3.65693522e-01] [-8.07917924e-03 -6.07556001e-05 9.99967361e-01 4.19604481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.87864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:366.97, Y:-0.37, Z:0.42 [[ 9.89133244e-01 1.46803914e-01 8.00230829e-03 3.66966485e+02] [-1.46799710e-01 9.89165611e-01 -1.11350372e-03 -3.67472183e-01] [-8.07907487e-03 -7.33329827e-05 9.99967361e-01 4.18497518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:367.00, Y:-0.37, Z:0.42 [[ 9.88942921e-01 1.48080594e-01 8.00230829e-03 3.66997309e+02] [-1.48076432e-01 9.88975293e-01 -1.11350372e-03 -3.67963566e-01] [-8.07897348e-03 -8.37616297e-05 9.99967361e-01 4.19268276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:367.03, Y:-0.37, Z:0.42 [[ 9.88796533e-01 1.49054955e-01 8.00230829e-03 3.67027292e+02] [-1.49050824e-01 9.88828909e-01 -1.11350372e-03 -3.69277787e-01] [-8.07888702e-03 -9.17220260e-05 9.99967361e-01 4.19269596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96864 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:367.06, Y:-0.37, Z:0.42 [[ 9.88980188e-01 1.47831494e-01 8.00238221e-03 3.67056873e+02] [-1.47827327e-01 9.89012559e-01 -1.11297223e-03 -3.67564492e-01] [-8.07898886e-03 -8.22632873e-05 9.99967361e-01 4.19026000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99864 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:367.09, Y:-0.37, Z:0.42 [[ 9.89148166e-01 1.46703301e-01 8.00289961e-03 3.67085455e+02] [-1.46699127e-01 9.89180537e-01 -1.10923933e-03 -3.69701540e-01] [-8.07904160e-03 -7.68163365e-05 9.99967361e-01 4.17607736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02864 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:367.11, Y:-0.37, Z:0.42 [[ 9.89556189e-01 1.43925305e-01 8.00341266e-03 3.67114118e+02] [-1.43921070e-01 9.89588553e-01 -1.10552510e-03 -3.70478149e-01] [-8.07919859e-03 -5.78805094e-05 9.99967361e-01 4.16921793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:367.14, Y:-0.37, Z:0.42 [[ 9.89803359e-01 1.42215496e-01 8.00392249e-03 3.67142806e+02] [-1.42211235e-01 9.89835719e-01 -1.10182157e-03 -3.73659773e-01] [-8.07926447e-03 -4.76610187e-05 9.99967361e-01 4.16625964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08864 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:367.17, Y:-0.38, Z:0.42 [[ 9.90099860e-01 1.40136349e-01 8.00443252e-03 3.67171723e+02] [-1.40132050e-01 9.90132215e-01 -1.09810375e-03 -3.77574621e-01] [-8.07933075e-03 -3.44451724e-05 9.99967361e-01 4.15942160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11864 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:367.20, Y:-0.38, Z:0.43 [[ 9.90609063e-01 1.36490314e-01 8.00494169e-03 3.67200009e+02] [-1.36485927e-01 9.90641405e-01 -1.09437938e-03 -3.81013091e-01] [-8.07939888e-03 -8.45975224e-06 9.99967361e-01 4.27607033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14864 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:367.23, Y:-0.38, Z:0.42 [[ 9.90869435e-01 1.34586835e-01 8.00913158e-03 3.67229227e+02] [-1.34582634e-01 9.90901803e-01 -1.06365968e-03 -3.84716407e-01] [-8.07941751e-03 -2.39421643e-05 9.99967361e-01 4.15449455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17864 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:367.26, Y:-0.39, Z:0.41 [[ 9.91056544e-01 1.33202259e-01 8.00533821e-03 3.67258001e+02] [-1.33197788e-01 9.91088875e-01 -1.09148170e-03 -3.89243950e-01] [-8.07938947e-03 1.54267382e-05 9.99967361e-01 4.14836811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20864 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:367.29, Y:-0.39, Z:0.41 [[ 9.91237668e-01 1.31847608e-01 8.00583923e-03 3.67287181e+02] [-1.31843123e-01 9.91269997e-01 -1.08779436e-03 -3.94024817e-01] [-8.07937131e-03 2.27478972e-05 9.99967361e-01 4.14713060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23864 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:367.32, Y:-0.40, Z:0.41 [[ 9.91727528e-01 1.28110947e-01 8.00591030e-03 3.67316253e+02] [-1.28106344e-01 9.91759841e-01 -1.08727101e-03 -3.99658027e-01] [-8.07923165e-03 5.26686861e-05 9.99967361e-01 4.13561542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26864 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:367.35, Y:-0.41, Z:0.41 [[ 9.91960073e-01 1.26297732e-01 8.00598141e-03 3.67345549e+02] [-1.26293074e-01 9.91992378e-01 -1.08674715e-03 -4.05152517e-01] [-8.07912624e-03 6.69097762e-05 9.99967361e-01 4.13498667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29864 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:367.38, Y:-0.41, Z:0.41 [[ 9.92509872e-01 1.21901838e-01 8.00605184e-03 3.67375433e+02] [-1.21897041e-01 9.92542156e-01 -1.08622807e-03 -4.13284727e-01] [-8.07875715e-03 1.02178056e-04 9.99967361e-01 4.13044363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32864 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:367.41, Y:-0.42, Z:0.41 [[ 9.92829305e-01 1.19272267e-01 8.00605184e-03 3.67405027e+02] [-1.19267385e-01 9.92861577e-01 -1.08622807e-03 -4.18733124e-01] [-8.07845814e-03 1.23578195e-04 9.99967361e-01 4.12470625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35864 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:367.43, Y:-0.43, Z:0.41 [[ 9.93494259e-01 1.13600444e-01 8.00605184e-03 3.67434873e+02] [-1.13595378e-01 9.93526502e-01 -1.08622807e-03 -4.25791774e-01] [-8.07762067e-03 1.69710873e-04 9.99967361e-01 4.12263216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38864 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:367.47, Y:-0.43, Z:0.41 [[ 9.93713475e-01 1.11666613e-01 8.00605184e-03 3.67465278e+02] [-1.11661483e-01 9.93745709e-01 -1.08622807e-03 -4.32289589e-01] [-8.07727507e-03 1.85431849e-04 9.99967361e-01 4.11712859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41864 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:367.50, Y:-0.44, Z:0.41 [[ 9.93850630e-01 1.10439250e-01 8.00608613e-03 3.67495835e+02] [-1.10434083e-01 9.93882857e-01 -1.08597528e-03 -4.38845507e-01] [-8.07704605e-03 1.95152437e-04 9.99967361e-01 4.12350488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44864 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:367.53, Y:-0.45, Z:0.41 [[ 9.93875013e-01 1.10219609e-01 8.00601835e-03 3.67526605e+02] [-1.10214431e-01 9.93907239e-01 -1.08647471e-03 -4.47381231e-01] [-8.07699041e-03 1.97441313e-04 9.99967361e-01 4.12862422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:367.56, Y:-0.45, Z:0.41 [[ 9.93847220e-01 1.10469942e-01 8.00595077e-03 3.67557584e+02] [-1.10464768e-01 9.93879446e-01 -1.08697250e-03 -4.53173039e-01] [-8.07702770e-03 1.95909106e-04 9.99967361e-01 4.11760105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50864 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:367.59, Y:-0.46, Z:0.41 [[ 9.93736758e-01 1.11459234e-01 8.00588272e-03 3.67587695e+02] [-1.11454088e-01 9.93768989e-01 -1.08747348e-03 -4.61466594e-01] [-8.07720694e-03 1.88374022e-04 9.99967361e-01 4.11333373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:367.62, Y:-0.47, Z:0.41 [[ 9.93748379e-01 1.11355586e-01 8.00581496e-03 3.67618837e+02] [-1.11350432e-01 9.93780608e-01 -1.08797208e-03 -4.68287484e-01] [-8.07717543e-03 1.89719537e-04 9.99967361e-01 4.10826949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56864 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:367.65, Y:-0.48, Z:0.41 [[ 9.93685772e-01 1.11912891e-01 8.00574652e-03 3.67649689e+02] [-1.11907752e-01 9.93718003e-01 -1.08847547e-03 -4.75634054e-01] [-8.07726888e-03 1.85697487e-04 9.99967361e-01 4.10385331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59864 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:367.68, Y:-0.48, Z:0.41 [[ 9.93801873e-01 1.10877171e-01 8.00567842e-03 3.67680356e+02] [-1.10871994e-01 9.93834098e-01 -1.08897607e-03 -4.84439410e-01] [-8.07705878e-03 1.94620925e-04 9.99967361e-01 4.11064437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:367.71, Y:-0.49, Z:0.41 [[ 9.94121392e-01 1.07974848e-01 8.00561030e-03 3.67712096e+02] [-1.07969573e-01 9.94153602e-01 -1.08947667e-03 -4.93102709e-01] [-8.07644239e-03 2.18709741e-04 9.99967361e-01 4.10609333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:367.74, Y:-0.50, Z:0.41 [[ 9.94168002e-01 1.07544856e-01 8.00547304e-03 3.67743436e+02] [-1.07539559e-01 9.94200208e-01 -1.09048429e-03 -4.99465802e-01] [-8.07631894e-03 2.23219542e-04 9.99967361e-01 4.09739634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:367.77, Y:-0.51, Z:0.41 [[ 9.94177737e-01 1.07454839e-01 8.00533586e-03 3.67774961e+02] [-1.07449531e-01 9.94209941e-01 -1.09149041e-03 -5.05675771e-01] [-8.07627042e-03 2.24965880e-04 9.99967361e-01 4.10130805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71864 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:367.81, Y:-0.52, Z:0.42 [[ 9.93817110e-01 1.10740550e-01 8.00519898e-03 3.67805725e+02] [-1.10735340e-01 9.93849330e-01 -1.09249337e-03 -5.15652596e-01] [-8.07694496e-03 1.99280172e-04 9.99967361e-01 4.17578042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:367.84, Y:-0.52, Z:0.41 [[ 9.93904715e-01 1.09951846e-01 8.00060835e-03 3.67835919e+02] [-1.09946340e-01 9.93936886e-01 -1.12612771e-03 -5.23842635e-01] [-8.07591957e-03 2.39626032e-04 9.99967361e-01 4.09924783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:367.87, Y:-0.53, Z:0.41 [[ 9.93651312e-01 1.12218468e-01 8.00537515e-03 3.67867169e+02] [-1.12213317e-01 9.93683542e-01 -1.09115557e-03 -5.33903675e-01] [-8.07725734e-03 1.85918472e-04 9.99967361e-01 4.11543624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:367.90, Y:-0.54, Z:0.41 [[ 9.93568738e-01 1.12947243e-01 8.00523588e-03 3.67898687e+02] [-1.12942107e-01 9.93600970e-01 -1.09217639e-03 -5.40640483e-01] [-8.07736845e-03 1.81024107e-04 9.99967361e-01 4.11538144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83864 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:367.93, Y:-0.55, Z:0.42 [[ 9.93569679e-01 1.12938976e-01 8.00509692e-03 3.67926694e+02] [-1.12933831e-01 9.93601910e-01 -1.09319395e-03 -5.51660633e-01] [-8.07734379e-03 1.82118092e-04 9.99967361e-01 4.20226374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:367.96, Y:-0.56, Z:0.41 [[ 9.93428012e-01 1.14177719e-01 8.01462737e-03 3.67959219e+02] [-1.14173177e-01 9.93460335e-01 -1.02346419e-03 -5.60668790e-01] [-8.07907120e-03 1.01682527e-04 9.99967359e-01 4.10548410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:367.99, Y:-0.57, Z:0.41 [[ 9.93377669e-01 1.14615595e-01 8.00452897e-03 3.67990164e+02] [-1.14610473e-01 9.93409903e-01 -1.09714031e-03 -5.68743033e-01] [-8.07752774e-03 1.72471833e-04 9.99967361e-01 4.11093791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:368.02, Y:-0.58, Z:0.41 [[ 9.93187932e-01 1.16248272e-01 8.00438846e-03 3.68021640e+02] [-1.16243196e-01 9.93220174e-01 -1.09816448e-03 -5.78471139e-01] [-8.07777982e-03 1.60228018e-04 9.99967361e-01 4.11219433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95864 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:368.05, Y:-0.59, Z:0.41 [[ 9.92910308e-01 1.18596176e-01 8.00424646e-03 3.68052566e+02] [-1.18591167e-01 9.92942560e-01 -1.09919853e-03 -5.88006147e-01] [-8.07811771e-03 1.42172620e-04 9.99967361e-01 4.10290736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:368.09, Y:-0.60, Z:0.41 [[ 9.92726846e-01 1.20122206e-01 8.00410454e-03 3.68085171e+02] [-1.20117238e-01 9.92759104e-01 -1.10023100e-03 -5.95177754e-01] [-8.07830983e-03 1.30797921e-04 9.99967361e-01 4.10184274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01864 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:368.12, Y:-0.60, Z:0.41 [[ 9.92603558e-01 1.21136757e-01 8.00388798e-03 3.68117987e+02] [-1.21131810e-01 9.92635820e-01 -1.10180416e-03 -6.02080178e-01] [-8.07841489e-03 1.24129296e-04 9.99967361e-01 4.09917310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:368.15, Y:-0.61, Z:0.42 [[ 9.92200157e-01 1.24397705e-01 8.00367198e-03 3.68148226e+02] [-1.24392851e-01 9.92232433e-01 -1.10337099e-03 -6.09607151e-01] [-8.07875974e-03 9.91652957e-05 9.99967361e-01 4.20486993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07864 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:368.18, Y:-0.62, Z:0.42 [[ 9.92065520e-01 1.25467126e-01 8.00032096e-03 3.68177696e+02] [-1.25462111e-01 9.92097771e-01 -1.12766296e-03 -6.16686926e-01] [-8.07858522e-03 1.14978388e-04 9.99967361e-01 4.19115176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:368.21, Y:-0.62, Z:0.41 [[ 9.92086924e-01 1.25297556e-01 8.00357723e-03 3.68208008e+02] [-1.25292726e-01 9.92119203e-01 -1.10403780e-03 -6.22201200e-01] [-8.07883590e-03 9.25114586e-05 9.99967361e-01 4.07012508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13864 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:368.24, Y:-0.63, Z:0.41 [[ 9.92126424e-01 1.24984401e-01 8.00364036e-03 3.68239868e+02] [-1.24979565e-01 9.92158702e-01 -1.10357994e-03 -6.29256364e-01] [-8.07881171e-03 9.45993337e-05 9.99967361e-01 4.06440972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:368.27, Y:-0.64, Z:0.41 [[ 9.92153921e-01 1.24765949e-01 8.00342106e-03 3.68271820e+02] [-1.24761093e-01 9.92186196e-01 -1.10516808e-03 -6.35407986e-01] [-8.07877124e-03 9.79812815e-05 9.99967361e-01 4.06756607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.19864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:368.30, Y:-0.64, Z:0.41 [[ 9.92162280e-01 1.24699467e-01 8.00327465e-03 3.68303760e+02] [-1.24694600e-01 9.92194554e-01 -1.10622733e-03 -6.41586781e-01] [-8.07875148e-03 9.95919042e-05 9.99967361e-01 4.06879296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:368.34, Y:-0.65, Z:0.41 [[ 9.92137136e-01 1.24899373e-01 8.00312686e-03 3.68336945e+02] [-1.24894504e-01 9.92169409e-01 -1.10729550e-03 -6.46128648e-01] [-8.07875816e-03 9.90424237e-05 9.99967361e-01 4.06608643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.25864 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:368.37, Y:-0.65, Z:0.42 [[ 9.91781806e-01 1.27690260e-01 8.00290343e-03 3.68368747e+02] [-1.27685469e-01 9.91814091e-01 -1.10890797e-03 -6.53338990e-01] [-8.07898914e-03 7.79402720e-05 9.99967361e-01 4.17310159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28864 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:368.40, Y:-0.66, Z:0.42 [[ 9.91739451e-01 1.28019480e-01 7.99208634e-03 3.68400697e+02] [-1.28014071e-01 9.91771642e-01 -1.18690015e-03 -6.59230981e-01] [-8.07827093e-03 1.53996193e-04 9.99967358e-01 4.16221545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.31864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:368.43, Y:-0.67, Z:0.41 [[ 9.91792599e-01 1.27607118e-01 7.99147799e-03 3.68429438e+02] [-1.27601660e-01 9.91824782e-01 -1.19129894e-03 -6.65188828e-01] [-8.07816414e-03 1.61795619e-04 9.99967358e-01 4.06279671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34864 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:368.46, Y:-0.67, Z:0.41 [[ 9.91627544e-01 1.28882739e-01 8.00334261e-03 3.68462073e+02] [-1.28878015e-01 9.91659838e-01 -1.10539639e-03 -6.71063037e-01] [-8.07905996e-03 6.46865911e-05 9.99967362e-01 4.06929459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.37864 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:368.49, Y:-0.68, Z:0.41 [[ 9.90973855e-01 1.33816177e-01 8.00311887e-03 3.68494238e+02] [-1.33811601e-01 9.91006171e-01 -1.10701391e-03 -6.76544620e-01] [-8.07927656e-03 2.61116999e-05 9.99967362e-01 4.07267792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40864 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:368.53, Y:-0.68, Z:0.42 [[ 9.90496798e-01 1.37302754e-01 8.00289231e-03 3.68526350e+02] [-1.37298278e-01 9.90529128e-01 -1.10864938e-03 -6.81261635e-01] [-8.07931855e-03 -6.69666734e-07 9.99967362e-01 4.16694721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43864 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:368.56, Y:-0.69, Z:0.41 [[ 9.90093195e-01 1.40183978e-01 7.99486080e-03 3.68555616e+02] [-1.40179128e-01 9.90125472e-01 -1.16659570e-03 -6.86883837e-01] [-8.07945335e-03 3.43258443e-05 9.99967360e-01 4.07856119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46864 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:368.59, Y:-0.69, Z:0.41 [[ 9.89908287e-01 1.41483347e-01 8.00290028e-03 3.68587297e+02] [-1.41479008e-01 9.89940635e-01 -1.10855719e-03 -6.92434748e-01] [-8.07923857e-03 -3.48724449e-05 9.99967362e-01 4.08551216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49864 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:368.62, Y:-0.70, Z:0.41 [[ 9.89507952e-01 1.44256608e-01 8.00274894e-03 3.68619319e+02] [-1.44252352e-01 9.89540311e-01 -1.10964864e-03 -6.98541734e-01] [-8.07911682e-03 -5.64091968e-05 9.99967362e-01 4.08567310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52864 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:368.65, Y:-0.70, Z:0.41 [[ 9.89305643e-01 1.45637574e-01 8.00259745e-03 3.68650679e+02] [-1.45633354e-01 9.89338007e-01 -1.11074008e-03 -7.03697681e-01] [-8.07903930e-03 -6.65836819e-05 9.99967362e-01 4.07579486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55864 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:368.68, Y:-0.71, Z:0.41 [[ 9.89080207e-01 1.47160816e-01 8.00244702e-03 3.68682031e+02] [-1.47156636e-01 9.89112576e-01 -1.11182279e-03 -7.09191835e-01] [-8.07893774e-03 -7.79312737e-05 9.99967362e-01 4.06699350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:368.71, Y:-0.71, Z:0.41 [[ 9.88842985e-01 1.48746478e-01 8.00229653e-03 3.68714667e+02] [-1.48742342e-01 9.88875360e-01 -1.11290486e-03 -7.14224457e-01] [-8.07881454e-03 -8.97921622e-05 9.99967362e-01 4.06416051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61864 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:368.75, Y:-0.72, Z:0.41 [[ 9.88590517e-01 1.50415277e-01 8.00206929e-03 3.68746881e+02] [-1.50411183e-01 9.88622898e-01 -1.11453644e-03 -7.19246589e-01] [-8.07867223e-03 -1.01780552e-04 9.99967362e-01 4.07848094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64864 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:368.78, Y:-0.72, Z:0.41 [[ 9.88421858e-01 1.51519635e-01 8.00191959e-03 3.68778837e+02] [-1.51515568e-01 9.88454242e-01 -1.11561014e-03 -7.23555067e-01] [-8.07856821e-03 -1.09721941e-04 9.99967362e-01 4.07272062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67864 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:368.81, Y:-0.73, Z:0.41 [[ 9.88453585e-01 1.51312534e-01 8.00176952e-03 3.68811154e+02] [-1.51308451e-01 9.88485966e-01 -1.11668551e-03 -7.28477530e-01] [-8.07860539e-03 -1.06943556e-04 9.99967362e-01 4.07364824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70864 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:368.84, Y:-0.73, Z:0.41 [[ 9.88639070e-01 1.50095852e-01 8.00154518e-03 3.68842888e+02] [-1.50091717e-01 9.88671445e-01 -1.11829072e-03 -7.33640515e-01] [-8.07875003e-03 -9.53797579e-05 9.99967362e-01 4.07517805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73864 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:368.87, Y:-0.74, Z:0.41 [[ 9.88886066e-01 1.48459848e-01 8.00139651e-03 3.68874540e+02] [-1.48455651e-01 9.88918433e-01 -1.11935346e-03 -7.39473804e-01] [-8.07890754e-03 -8.09394872e-05 9.99967362e-01 4.07719342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76864 meters Centerline goodness : 0.988438 Centerline is valid? [True, True] Translation: X:368.91, Y:-0.74, Z:0.42 [[ 9.88743350e-01 1.49407390e-01 8.00124632e-03 3.68906796e+02] [-1.49403215e-01 9.88775720e-01 -1.12042600e-03 -7.44143954e-01] [-8.07883801e-03 -8.75981629e-05 9.99967362e-01 4.18034542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79864 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:368.94, Y:-0.75, Z:0.41 [[ 9.88908216e-01 1.48312710e-01 7.99257936e-03 3.68935973e+02] [-1.48307999e-01 9.88940514e-01 -1.18219906e-03 -7.48962567e-01] [-8.07952068e-03 -1.62770854e-05 9.99967360e-01 4.07947770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82864 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:368.97, Y:-0.75, Z:0.41 [[ 9.89023704e-01 1.47540155e-01 8.00101691e-03 3.68968063e+02] [-1.47535906e-01 9.89056064e-01 -1.12203243e-03 -7.54769040e-01] [-8.07899914e-03 -7.07206128e-05 9.99967362e-01 4.08065225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85864 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:369.00, Y:-0.76, Z:0.41 [[ 9.88879487e-01 1.48503691e-01 8.00086663e-03 3.68999814e+02] [-1.48499464e-01 9.88911850e-01 -1.12310302e-03 -7.56612531e-01] [-8.07893677e-03 -7.75108739e-05 9.99967362e-01 4.08331860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88864 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:369.03, Y:-0.76, Z:0.41 [[ 9.88676951e-01 1.49846173e-01 8.00071606e-03 3.69031744e+02] [-1.49841982e-01 9.88709319e-01 -1.12417465e-03 -7.59395207e-01] [-8.07883579e-03 -8.73975829e-05 9.99967362e-01 4.08758902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91864 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:369.06, Y:-0.76, Z:0.41 [[ 9.88419434e-01 1.51535522e-01 8.00056405e-03 3.69064276e+02] [-1.51531377e-01 9.88451807e-01 -1.12525541e-03 -7.62549863e-01] [-8.07868816e-03 -1.00112175e-04 9.99967362e-01 4.07584130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94864 meters Centerline goodness : 0.989097 Centerline is valid? [True, True] Translation: X:369.10, Y:-0.76, Z:0.42 [[ 9.88074876e-01 1.53766164e-01 8.00033230e-03 3.69095922e+02] [-1.53762079e-01 9.88107258e-01 -1.12690073e-03 -7.63376460e-01] [-8.07846561e-03 -1.16685429e-04 9.99967362e-01 4.17648339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97864 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:369.13, Y:-0.77, Z:0.41 [[ 9.87919758e-01 1.54759896e-01 7.99543828e-03 3.69126202e+02] [-1.54755563e-01 9.87952107e-01 -1.16155869e-03 -7.65557894e-01] [-8.07887280e-03 -8.98117763e-05 9.99967361e-01 4.06766840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00864 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:369.16, Y:-0.77, Z:0.42 [[ 9.87794786e-01 1.55555331e-01 7.99993001e-03 3.69158465e+02] [-1.55551281e-01 9.87827172e-01 -1.12975216e-03 -7.65369065e-01] [-8.07828721e-03 -1.28436074e-04 9.99967362e-01 4.16049503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03864 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:369.19, Y:-0.77, Z:0.42 [[ 9.88254629e-01 1.52606959e-01 7.99401357e-03 3.69190204e+02] [-1.52602474e-01 9.88286958e-01 -1.17159058e-03 -7.67715712e-01] [-8.07917223e-03 -6.20764349e-05 9.99967361e-01 4.16818533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06864 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:369.22, Y:-0.77, Z:0.41 [[ 9.88710389e-01 1.49625646e-01 7.99584032e-03 3.69220845e+02] [-1.49621168e-01 9.88742719e-01 -1.15868257e-03 -7.72017136e-01] [-8.07919753e-03 -5.07454782e-05 9.99967361e-01 4.06084792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09864 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:369.25, Y:-0.78, Z:0.41 [[ 9.88992289e-01 1.47750664e-01 7.99954040e-03 3.69253501e+02] [-1.47746336e-01 9.89024639e-01 -1.13254779e-03 -7.76659043e-01] [-8.07907725e-03 -6.18217545e-05 9.99967362e-01 4.05593133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12864 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:369.29, Y:-0.78, Z:0.41 [[ 9.89250845e-01 1.46009511e-01 7.99931058e-03 3.69286176e+02] [-1.46005113e-01 9.89283185e-01 -1.13416872e-03 -7.81266766e-01] [-8.07918287e-03 -4.59628784e-05 9.99967362e-01 4.14520171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15864 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:369.32, Y:-0.79, Z:0.42 [[ 9.90118332e-01 1.40006397e-01 7.99364044e-03 3.69317797e+02] [-1.40001481e-01 9.90150598e-01 -1.17408786e-03 -7.87793609e-01] [-8.07928767e-03 4.33644132e-05 9.99967361e-01 4.15296233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18864 meters Centerline goodness : 0.989242 Centerline is valid? [True, True] Translation: X:369.35, Y:-0.80, Z:0.42 [[ 9.90658975e-01 1.36127976e-01 7.99804581e-03 3.69350431e+02] [-1.36123183e-01 9.90691260e-01 -1.14310298e-03 -7.96064855e-01] [-8.07920237e-03 4.37057706e-05 9.99967362e-01 4.15831516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21864 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:369.38, Y:-0.80, Z:0.42 [[ 9.90805922e-01 1.35054422e-01 7.99554565e-03 3.69381511e+02] [-1.35049453e-01 9.90838180e-01 -1.16065240e-03 -8.02595125e-01] [-8.07904314e-03 7.01872036e-05 9.99967362e-01 4.15568544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24864 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:369.41, Y:-0.81, Z:0.41 [[ 9.90941803e-01 1.34053787e-01 7.99534649e-03 3.69411778e+02] [-1.34048774e-01 9.90974054e-01 -1.16205006e-03 -8.09661850e-01] [-8.07895814e-03 7.97575943e-05 9.99967362e-01 4.06741523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27864 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:369.44, Y:-0.82, Z:0.41 [[ 9.90498102e-01 1.37293602e-01 7.99852702e-03 3.69443171e+02] [-1.37288875e-01 9.90530396e-01 -1.13972940e-03 -8.18023166e-01] [-8.07926169e-03 3.07910385e-05 9.99967362e-01 4.06699442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30864 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:369.48, Y:-0.82, Z:0.41 [[ 9.90152587e-01 1.39763658e-01 7.99837398e-03 3.69475287e+02] [-1.39759003e-01 9.90184892e-01 -1.14080240e-03 -8.24215244e-01] [-8.07931179e-03 1.17236775e-05 9.99967362e-01 4.07299533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33864 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:369.51, Y:-0.83, Z:0.41 [[ 9.89391039e-01 1.45056542e-01 7.99818128e-03 3.69507068e+02] [-1.45052049e-01 9.89423367e-01 -1.14215183e-03 -8.29505908e-01] [-8.07926404e-03 -3.01177901e-05 9.99967362e-01 4.07277548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36864 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:369.54, Y:-0.83, Z:0.41 [[ 9.88599966e-01 1.50353383e-01 7.99802660e-03 3.69538744e+02] [-1.50349053e-01 9.88632315e-01 -1.14323395e-03 -8.32605705e-01] [-8.07899665e-03 -7.22946869e-05 9.99967362e-01 4.06731812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:369.57, Y:-0.84, Z:0.41 [[ 9.88208204e-01 1.52907097e-01 7.99787053e-03 3.69571768e+02] [-1.52902843e-01 9.88240563e-01 -1.14432474e-03 -8.36156397e-01] [-8.07879545e-03 -9.20660517e-05 9.99967362e-01 4.06501463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:369.60, Y:-0.84, Z:0.41 [[ 9.87842865e-01 1.55249836e-01 7.99763892e-03 3.69603535e+02] [-1.55245646e-01 9.87875233e-01 -1.14594116e-03 -8.39250891e-01] [-8.07857659e-03 -1.09588822e-04 9.99967362e-01 4.07091183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:369.64, Y:-0.84, Z:0.41 [[ 9.87390557e-01 1.58101004e-01 7.99748370e-03 3.69636473e+02] [-1.58096898e-01 9.87422936e-01 -1.14702344e-03 -8.43267024e-01] [-8.07824440e-03 -1.31817259e-04 9.99967362e-01 4.05224313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:369.67, Y:-0.85, Z:0.40 [[ 9.87184058e-01 1.59385320e-01 7.99725250e-03 3.69668600e+02] [-1.59381244e-01 9.87216440e-01 -1.14863313e-03 -8.48783311e-01] [-8.07809441e-03 -1.40699730e-04 9.99967362e-01 4.02767436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51864 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:369.70, Y:-0.85, Z:0.40 [[ 9.87241605e-01 1.59028488e-01 7.99710198e-03 3.69701130e+02] [-1.59024391e-01 9.87273985e-01 -1.14968018e-03 -8.53333249e-01] [-8.07816264e-03 -1.36722167e-04 9.99967362e-01 4.03398825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:369.73, Y:-0.86, Z:0.41 [[ 9.87264161e-01 1.58888409e-01 7.99687295e-03 3.69733878e+02] [-1.58884295e-01 9.87296539e-01 -1.15127103e-03 -8.56968921e-01] [-8.07820861e-03 -1.33968886e-04 9.99967362e-01 4.13951581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57864 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:369.76, Y:-0.86, Z:0.40 [[ 9.87501884e-01 1.57404627e-01 7.98826015e-03 3.69764085e+02] [-1.57399981e-01 9.87534192e-01 -1.21099321e-03 -8.61222679e-01] [-8.07929596e-03 -6.14939190e-05 9.99967360e-01 4.03324819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:369.80, Y:-0.87, Z:0.41 [[ 9.87413549e-01 1.57957393e-01 7.99659219e-03 3.69796728e+02] [-1.57953232e-01 9.87445921e-01 -1.15321760e-03 -8.65365336e-01] [-8.07836159e-03 -1.24384899e-04 9.99967362e-01 4.13210206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:369.83, Y:-0.87, Z:0.40 [[ 9.87583164e-01 1.56893891e-01 7.98761121e-03 3.69826718e+02] [-1.56889192e-01 9.87615464e-01 -1.21537815e-03 -8.70832746e-01] [-8.07937376e-03 -5.28828676e-05 9.99967360e-01 4.01650390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:369.86, Y:-0.88, Z:0.40 [[ 9.87516484e-01 1.57312599e-01 7.99626719e-03 3.69858388e+02] [-1.57308399e-01 9.87548851e-01 -1.15547609e-03 -8.75263508e-01] [-8.07847542e-03 -1.16828301e-04 9.99967362e-01 4.01968152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.69864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:369.89, Y:-0.88, Z:0.40 [[ 9.87464796e-01 1.57636732e-01 7.99611307e-03 3.69890310e+02] [-1.57632534e-01 9.87497163e-01 -1.15654166e-03 -8.78992851e-01] [-8.07845242e-03 -1.18403392e-04 9.99967362e-01 4.01170316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72864 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:369.92, Y:-0.88, Z:0.40 [[ 9.87587052e-01 1.56868989e-01 7.99595962e-03 3.69923233e+02] [-1.56864757e-01 9.87619415e-01 -1.15760158e-03 -8.83987768e-01] [-8.07855675e-03 -1.11051928e-04 9.99967362e-01 4.00990243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.75864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:369.96, Y:-0.89, Z:0.40 [[ 9.87561376e-01 1.57030561e-01 7.99572707e-03 3.69955215e+02] [-1.57026321e-01 9.87593738e-01 -1.15920562e-03 -8.88582474e-01] [-8.07856069e-03 -1.10752905e-04 9.99967362e-01 3.99683763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:369.99, Y:-0.89, Z:0.40 [[ 9.87469642e-01 1.57606402e-01 7.99557245e-03 3.69986873e+02] [-1.57602172e-01 9.87502005e-01 -1.16027112e-03 -8.92404266e-01] [-8.07850998e-03 -1.14387082e-04 9.99967362e-01 3.97942998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.81864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:370.02, Y:-0.90, Z:0.41 [[ 9.87214079e-01 1.59199356e-01 7.99541702e-03 3.70019775e+02] [-1.59195170e-01 9.87246448e-01 -1.16134121e-03 -8.96021832e-01] [-8.07833183e-03 -1.26339379e-04 9.99967362e-01 4.05312608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:370.05, Y:-0.90, Z:0.40 [[ 9.87129266e-01 1.59724898e-01 7.98558423e-03 3.70049677e+02] [-1.59720183e-01 9.87161564e-01 -1.22887800e-03 -8.99219527e-01] [-8.07934423e-03 -6.23975379e-05 9.99967360e-01 3.97962780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.87864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:370.08, Y:-0.90, Z:0.40 [[ 9.86936200e-01 1.60913075e-01 7.99499616e-03 3.70082062e+02] [-1.60908922e-01 9.86968573e-01 -1.16424542e-03 -9.02604102e-01] [-8.07815225e-03 -1.37430261e-04 9.99967362e-01 3.97044347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:370.11, Y:-0.90, Z:0.40 [[ 9.86530568e-01 1.63381525e-01 7.99476089e-03 3.70114766e+02] [-1.63377440e-01 9.86562949e-01 -1.16585875e-03 -9.03493711e-01] [-8.07781466e-03 -1.56008268e-04 9.99967362e-01 3.97115683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:370.15, Y:-0.91, Z:0.40 [[ 9.86247143e-01 1.65083794e-01 7.99460822e-03 3.70148077e+02] [-1.65079756e-01 9.86279531e-01 -1.16690467e-03 -9.06477869e-01] [-8.07755550e-03 -1.68891574e-04 9.99967362e-01 3.96877826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:370.18, Y:-0.91, Z:0.40 [[ 9.85782805e-01 1.67834298e-01 7.99437775e-03 3.70181770e+02] [-1.67830338e-01 9.85815202e-01 -1.16848147e-03 -9.07198409e-01] [-8.07709039e-03 -1.89830177e-04 9.99967362e-01 3.95386336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:370.21, Y:-0.91, Z:0.40 [[ 9.85515835e-01 1.69394898e-01 7.99414680e-03 3.70213825e+02] [-1.69390977e-01 9.85548237e-01 -1.17005942e-03 -9.08621541e-01] [-8.07681938e-03 -2.01024247e-04 9.99967362e-01 3.95627686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:370.25, Y:-0.90, Z:0.40 [[ 9.84591879e-01 1.74685225e-01 7.99399622e-03 3.70246949e+02] [-1.74681469e-01 9.84624300e-01 -1.17108728e-03 -9.04853858e-01] [-8.07565458e-03 -2.43359976e-04 9.99967362e-01 3.95885278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:370.28, Y:-0.90, Z:0.40 [[ 9.84144280e-01 1.77189542e-01 7.99384565e-03 3.70279662e+02] [-1.77185860e-01 9.84176710e-01 -1.17211415e-03 -9.04836878e-01] [-8.07504309e-03 -2.62866982e-04 9.99967362e-01 3.95419411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:370.31, Y:-0.91, Z:0.40 [[ 9.84109884e-01 1.77380485e-01 7.99369510e-03 3.70312803e+02] [-1.77376801e-01 9.84142314e-01 -1.17314001e-03 -9.09656951e-01] [-8.07502574e-03 -2.63397384e-04 9.99967362e-01 3.95148808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:370.35, Y:-0.91, Z:0.39 [[ 9.83593149e-01 1.80223809e-01 7.99346719e-03 3.70346242e+02] [-1.80220207e-01 9.83625588e-01 -1.17469091e-03 -9.05401775e-01] [-8.07428613e-03 -2.85166380e-04 9.99967362e-01 3.94426786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:370.38, Y:-0.91, Z:0.39 [[ 9.83534446e-01 1.80543904e-01 7.99331641e-03 3.70379245e+02] [-1.80540304e-01 9.83566885e-01 -1.17571595e-03 -9.05648519e-01] [-8.07422967e-03 -2.86758634e-04 9.99967362e-01 3.93507223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:370.41, Y:-0.91, Z:0.39 [[ 9.83632659e-01 1.80008066e-01 7.99307206e-03 3.70411760e+02] [-1.80004434e-01 9.83665094e-01 -1.17737484e-03 -9.06316684e-01] [-8.07444295e-03 -2.80684070e-04 9.99967362e-01 3.93237096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:370.44, Y:-0.90, Z:0.39 [[ 9.83972213e-01 1.78142630e-01 7.99292120e-03 3.70444530e+02] [-1.78138928e-01 9.84004641e-01 -1.17839810e-03 -9.01102864e-01] [-8.07499449e-03 -2.64339431e-04 9.99967362e-01 3.92637053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:370.48, Y:-0.90, Z:0.39 [[ 9.84477028e-01 1.75331390e-01 7.99280685e-03 3.70477518e+02] [-1.75327590e-01 9.84509444e-01 -1.17917319e-03 -8.96055121e-01] [-8.07573991e-03 -2.40490641e-04 9.99967362e-01 3.93706493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:370.51, Y:-0.90, Z:0.39 [[ 9.84706578e-01 1.74037562e-01 7.99265536e-03 3.70510238e+02] [-1.74033711e-01 9.84738988e-01 -1.18019913e-03 -8.97092760e-01] [-8.07607833e-03 -2.28841624e-04 9.99967362e-01 3.92892925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29864 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:370.54, Y:-0.89, Z:0.41 [[ 9.84986387e-01 1.72446910e-01 7.99250348e-03 3.70544059e+02] [-1.72442998e-01 9.85018790e-01 -1.18122680e-03 -8.93401184e-01] [-8.07646502e-03 -2.14758943e-04 9.99967362e-01 4.05364262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:370.57, Y:-0.89, Z:0.39 [[ 9.85156668e-01 1.71471890e-01 7.98316091e-03 3.70574207e+02] [-1.71467434e-01 9.85189002e-01 -1.24448364e-03 -8.93261114e-01] [-8.07831630e-03 -1.42840757e-04 9.99967360e-01 3.91219573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:370.61, Y:-0.89, Z:0.39 [[ 9.85227397e-01 1.71064576e-01 7.99292559e-03 3.70606065e+02] [-1.71060643e-01 9.85259797e-01 -1.17824243e-03 -8.94132239e-01] [-8.07666379e-03 -2.06438266e-04 9.99967362e-01 3.89430574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38864 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:370.64, Y:-0.89, Z:0.40 [[ 9.85603439e-01 1.68884504e-01 7.99284877e-03 3.70638704e+02] [-1.68880495e-01 9.85635830e-01 -1.17876329e-03 -8.93045364e-01] [-8.07711299e-03 -1.88043106e-04 9.99967362e-01 4.02086119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:370.67, Y:-0.89, Z:0.39 [[ 9.85940678e-01 1.66904766e-01 7.98613781e-03 3.70668672e+02] [-1.66900324e-01 9.85973013e-01 -1.22422478e-03 -8.94540924e-01] [-8.07844531e-03 -1.25875975e-04 9.99967361e-01 3.89488033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:370.70, Y:-0.89, Z:0.39 [[ 9.86746426e-01 1.62072835e-01 7.99288826e-03 3.70699578e+02] [-1.62068605e-01 9.86778789e-01 -1.17843923e-03 -8.92629790e-01] [-8.07820558e-03 -1.32575552e-04 9.99967362e-01 3.89337478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47864 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:370.73, Y:-0.90, Z:0.39 [[ 9.87226656e-01 1.59121472e-01 7.99288826e-03 3.70729806e+02] [-1.59117145e-01 9.87259006e-01 -1.17843923e-03 -8.95054806e-01] [-8.07856590e-03 -1.08418945e-04 9.99967362e-01 3.89177429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50864 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:370.76, Y:-0.90, Z:0.40 [[ 9.88095002e-01 1.53637171e-01 7.99288826e-03 3.70759976e+02] [-1.53632664e-01 9.88127328e-01 -1.17843923e-03 -8.98521879e-01] [-8.07904338e-03 -6.35588081e-05 9.99967362e-01 4.01709846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:370.79, Y:-0.90, Z:0.39 [[ 9.88543417e-01 1.50725192e-01 7.98936820e-03 3.70789691e+02] [-1.50720397e-01 9.88575701e-01 -1.20232270e-03 -9.02546758e-01] [-8.07931559e-03 -1.56125542e-05 9.99967362e-01 3.89150115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:370.82, Y:-0.91, Z:0.39 [[ 9.88819096e-01 1.48905696e-01 7.99309306e-03 3.70819990e+02] [-1.48901046e-01 9.88851401e-01 -1.17702751e-03 -9.06282788e-01] [-8.07924737e-03 -2.63126383e-05 9.99967362e-01 3.88628797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59864 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:370.85, Y:-0.91, Z:0.40 [[ 9.89255522e-01 1.45978161e-01 7.99309306e-03 3.70850109e+02] [-1.45973416e-01 9.89287813e-01 -1.17702751e-03 -9.09025851e-01] [-8.07928986e-03 -2.39813010e-06 9.99967362e-01 4.00770759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62864 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:370.88, Y:-0.91, Z:0.40 [[ 9.89771272e-01 1.42439379e-01 7.99079006e-03 3.70879347e+02] [-1.42434392e-01 9.89803527e-01 -1.19269593e-03 -9.13103295e-01] [-8.07919905e-03 4.23328469e-05 9.99967362e-01 4.01279766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65864 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:370.91, Y:-0.92, Z:0.40 [[ 9.89987977e-01 1.40925332e-01 7.99097671e-03 3.70908783e+02] [-1.40920306e-01 9.90020226e-01 -1.19142452e-03 -9.17461425e-01] [-8.07913047e-03 5.34050690e-05 9.99967362e-01 4.00423071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68864 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:370.94, Y:-0.92, Z:0.40 [[ 9.90184978e-01 1.39534356e-01 7.99206067e-03 3.70938282e+02] [-1.39529344e-01 9.90217229e-01 -1.18402169e-03 -9.21986542e-01] [-8.07908787e-03 5.72735133e-05 9.99967362e-01 4.01440817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71864 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:370.97, Y:-0.93, Z:0.40 [[ 9.90128796e-01 1.39932390e-01 7.99333291e-03 3.70967549e+02] [-1.39927462e-01 9.90161060e-01 -1.17531186e-03 -9.26358666e-01] [-8.07915118e-03 4.52233334e-05 9.99967362e-01 4.00903407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:371.00, Y:-0.93, Z:0.39 [[ 9.90203618e-01 1.39401959e-01 7.99299226e-03 3.70996832e+02] [-1.39396994e-01 9.90235877e-01 -1.17764652e-03 -9.31326122e-01] [-8.07911393e-03 5.19107475e-05 9.99967362e-01 3.86609085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77864 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:371.03, Y:-0.94, Z:0.39 [[ 9.90153855e-01 1.39754871e-01 7.99491397e-03 3.71026727e+02] [-1.39750024e-01 9.90186131e-01 -1.16445244e-03 -9.36320832e-01] [-8.07919084e-03 3.56976579e-05 9.99967362e-01 3.85876796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80864 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:371.06, Y:-0.94, Z:0.40 [[ 9.90198324e-01 1.39439453e-01 7.99491397e-03 3.71055658e+02] [-1.39434597e-01 9.90230598e-01 -1.16445244e-03 -9.41139341e-01] [-8.07917905e-03 3.82712532e-05 9.99967362e-01 3.98980856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83864 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:371.09, Y:-0.95, Z:0.39 [[ 9.90218778e-01 1.39293964e-01 7.99766460e-03 3.71085652e+02] [-1.39289255e-01 9.90251075e-01 -1.14555436e-03 -9.46054684e-01] [-8.07926478e-03 2.03606925e-05 9.99967362e-01 3.85807989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:371.12, Y:-0.95, Z:0.39 [[ 9.90206167e-01 1.39383724e-01 7.99525403e-03 3.71115973e+02] [-1.39378884e-01 9.90238444e-01 -1.16213855e-03 -9.51184965e-01] [-8.07919111e-03 3.63871817e-05 9.99967362e-01 3.85705086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89864 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:371.15, Y:-0.96, Z:0.40 [[ 9.90191045e-01 1.39491113e-01 7.99525403e-03 3.71145469e+02] [-1.39486276e-01 9.90223322e-01 -1.16213855e-03 -9.57565019e-01] [-8.07919501e-03 3.55109787e-05 9.99967362e-01 3.96056742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:371.18, Y:-0.96, Z:0.39 [[ 9.90343098e-01 1.38407553e-01 7.99363268e-03 3.71175227e+02] [-1.38402591e-01 9.90375356e-01 -1.17330895e-03 -9.62956630e-01] [-8.07909163e-03 5.56389450e-05 9.99967362e-01 3.86338984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95864 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:371.20, Y:-0.97, Z:0.40 [[ 9.89961388e-01 1.41111727e-01 7.99572177e-03 3.71204879e+02] [-1.41106969e-01 9.89993677e-01 -1.15889542e-03 -9.68651919e-01] [-8.07924773e-03 1.90096537e-05 9.99967362e-01 3.96413529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:371.23, Y:-0.97, Z:0.40 [[ 9.89969841e-01 1.41052368e-01 7.99651990e-03 3.71234323e+02] [-1.41047653e-01 9.90002136e-01 -1.15337723e-03 -9.73279336e-01] [-8.07925838e-03 1.39183157e-05 9.99967362e-01 3.95238925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01864 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:371.26, Y:-0.98, Z:0.39 [[ 9.89305983e-01 1.45635362e-01 8.00087666e-03 3.71264610e+02] [-1.45631041e-01 9.89338334e-01 -1.12318464e-03 -9.77144714e-01] [-8.07914938e-03 -5.40027117e-05 9.99967362e-01 3.94979050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:371.29, Y:-0.98, Z:0.40 [[ 9.89146256e-01 1.46716486e-01 7.99736615e-03 3.71293379e+02] [-1.46712003e-01 9.89178584e-01 -1.14751081e-03 -9.80281497e-01] [-8.07918208e-03 -3.82535885e-05 9.99967362e-01 3.95710833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07864 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:371.32, Y:-0.98, Z:0.38 [[ 9.88299910e-01 1.52312925e-01 8.00381296e-03 3.71324257e+02] [-1.52308987e-01 9.88332311e-01 -1.10283787e-03 -9.84990371e-01] [-8.07840342e-03 -1.29118084e-04 9.99967361e-01 3.83829676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:371.35, Y:-0.99, Z:0.38 [[ 9.88168555e-01 1.53163201e-01 7.99629044e-03 3.71353636e+02] [-1.53158869e-01 9.88200904e-01 -1.15492142e-03 -9.89399092e-01] [-8.07883290e-03 -8.34457678e-05 9.99967362e-01 3.84028951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13864 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:371.38, Y:-0.99, Z:0.39 [[ 9.88243321e-01 1.52680047e-01 7.99636673e-03 3.71382480e+02] [-1.52675703e-01 9.88275669e-01 -1.15439291e-03 -9.93008644e-01] [-8.07886744e-03 -8.00298355e-05 9.99967362e-01 3.93836271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:371.41, Y:-1.00, Z:0.39 [[ 9.88180317e-01 1.53086928e-01 8.00332533e-03 3.71412986e+02] [-1.53082989e-01 9.88212717e-01 -1.10618825e-03 -9.97524141e-01] [-8.07833083e-03 -1.32059505e-04 9.99967361e-01 3.93982152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19864 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:371.44, Y:-1.00, Z:0.38 [[ 9.87899494e-01 1.54888875e-01 8.00169283e-03 3.71442982e+02] [-1.54884903e-01 9.87931889e-01 -1.11749270e-03 -1.00249647e+00] [-8.07821471e-03 -1.35370942e-04 9.99967362e-01 3.82690037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:371.47, Y:-1.01, Z:0.38 [[ 9.87622660e-01 1.56644625e-01 7.99639699e-03 3.71472741e+02] [-1.56640413e-01 9.87655025e-01 -1.15418335e-03 -1.00719339e+00] [-8.07847828e-03 -1.12661294e-04 9.99967362e-01 3.82597564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.25864 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:371.50, Y:-1.01, Z:0.39 [[ 9.87516473e-01 1.57312656e-01 7.99647297e-03 3.71502068e+02] [-1.57308470e-01 9.87548841e-01 -1.15365667e-03 -1.00830557e+00] [-8.07839241e-03 -1.18657962e-04 9.99967362e-01 3.92925458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:371.53, Y:-1.01, Z:0.38 [[ 9.87097725e-01 1.59918698e-01 8.00574118e-03 3.71533378e+02] [-1.59915118e-01 9.87130168e-01 -1.08941068e-03 -1.01100229e+00] [-8.07692577e-03 -2.04884247e-04 9.99967360e-01 3.82854724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31864 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:371.56, Y:-1.01, Z:0.39 [[ 9.87299942e-01 1.58665941e-01 7.99648774e-03 3.71562438e+02] [-1.58661800e-01 9.87332316e-01 -1.15355594e-03 -1.01412267e+00] [-8.07822080e-03 -1.29831433e-04 9.99967362e-01 3.93210243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34864 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:371.59, Y:-1.02, Z:0.39 [[ 9.87343668e-01 1.58393364e-01 8.00143403e-03 3.71592096e+02] [-1.58389493e-01 9.87376076e-01 -1.11920970e-03 -1.01634620e+00] [-8.07769992e-03 -1.62298468e-04 9.99967362e-01 3.94000418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37864 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:371.62, Y:-1.02, Z:0.38 [[ 9.87127982e-01 1.59732007e-01 8.00208735e-03 3.71622653e+02] [-1.59728216e-01 9.87160400e-01 -1.11466390e-03 -1.01906645e+00] [-8.07739125e-03 -1.77843209e-04 9.99967362e-01 3.83759892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40864 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:371.65, Y:-1.02, Z:0.38 [[ 9.87352923e-01 1.58335881e-01 7.99714091e-03 3.71651430e+02] [-1.58331766e-01 9.87385300e-01 -1.14908896e-03 -1.02135792e+00] [-8.07820139e-03 -1.31645095e-04 9.99967362e-01 3.82311933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43864 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:371.68, Y:-1.02, Z:0.39 [[ 9.87621242e-01 1.56653501e-01 7.99767856e-03 3.71680243e+02] [-1.56649361e-01 9.87653616e-01 -1.14533465e-03 -1.02485127e+00] [-8.07835683e-03 -1.21674407e-04 9.99967362e-01 3.94588251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46864 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:371.71, Y:-1.03, Z:0.38 [[ 9.87318261e-01 1.58551753e-01 7.99953974e-03 3.71710152e+02] [-1.58547781e-01 9.87350657e-01 -1.13231288e-03 -1.02622149e+00] [-8.07788101e-03 -1.50356088e-04 9.99967362e-01 3.83216777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49864 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:371.74, Y:-1.03, Z:0.38 [[ 9.87257398e-01 1.58930360e-01 7.99817110e-03 3.71739034e+02] [-1.58926323e-01 9.87289785e-01 -1.14189923e-03 -1.02805875e+00] [-8.07799508e-03 -1.43771459e-04 9.99967362e-01 3.82375517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52864 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:371.77, Y:-1.03, Z:0.38 [[ 9.87088800e-01 1.59974131e-01 7.99869953e-03 3.71768149e+02] [-1.59970158e-01 9.87121195e-01 -1.13818563e-03 -1.03031051e+00] [-8.07776609e-03 -1.56062940e-04 9.99967362e-01 3.82083984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55864 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:371.80, Y:-1.03, Z:0.38 [[ 9.86681003e-01 1.62470338e-01 7.99922403e-03 3.71796949e+02] [-1.62466477e-01 9.86713412e-01 -1.13448743e-03 -1.02994747e+00] [-8.07726219e-03 -1.80228543e-04 9.99967362e-01 3.82445410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58864 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:371.83, Y:-1.03, Z:0.38 [[ 9.86933647e-01 1.60928493e-01 7.99974464e-03 3.71825761e+02] [-1.60924611e-01 9.86966054e-01 -1.13080443e-03 -1.02918812e+00] [-8.07745505e-03 -1.71326855e-04 9.99967362e-01 3.81637575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61864 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:371.85, Y:-1.03, Z:0.38 [[ 9.87320271e-01 1.58539199e-01 8.00027169e-03 3.71853400e+02] [-1.58535269e-01 9.87352672e-01 -1.12706324e-03 -1.03219412e+00] [-8.07777333e-03 -1.55552844e-04 9.99967362e-01 3.80492204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:371.88, Y:-1.04, Z:0.38 [[ 9.87925642e-01 1.54722050e-01 8.00087499e-03 3.71881294e+02] [-1.54718030e-01 9.87958031e-01 -1.12276412e-03 -1.03597197e+00] [-8.07824506e-03 -1.28672154e-04 9.99967362e-01 3.80010819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67864 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:371.91, Y:-1.04, Z:0.39 [[ 9.89113082e-01 1.46939742e-01 8.00146934e-03 3.71910257e+02] [-1.46935501e-01 9.89145443e-01 -1.11851230e-03 -1.04026830e+00] [-8.07897084e-03 -6.93647598e-05 9.99967362e-01 3.91210751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70864 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:371.94, Y:-1.05, Z:0.38 [[ 9.90124687e-01 1.39961154e-01 7.99870937e-03 3.71938699e+02] [-1.39956525e-01 9.90156995e-01 -1.13831916e-03 -1.04608438e+00] [-8.07929850e-03 7.60633394e-06 9.99967362e-01 3.78610164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73864 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:371.97, Y:-1.05, Z:0.38 [[ 9.90448964e-01 1.37647430e-01 8.00216350e-03 3.71966647e+02] [-1.37642926e-01 9.90481290e-01 -1.11349602e-03 -1.05076097e+00] [-8.07926309e-03 1.41978704e-06 9.99967362e-01 3.79041775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76864 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:371.99, Y:-1.05, Z:0.38 [[ 9.90692023e-01 1.35887004e-01 8.00234760e-03 3.71994961e+02] [-1.35882454e-01 9.90724342e-01 -1.11217140e-03 -1.05496755e+00] [-8.07925020e-03 1.44407039e-05 9.99967362e-01 3.78255744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79864 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:372.02, Y:-1.06, Z:0.39 [[ 9.90680117e-01 1.35973745e-01 8.00286114e-03 3.72024379e+02] [-1.35969227e-01 9.90712441e-01 -1.10846371e-03 -1.05809894e+00] [-8.07925606e-03 9.99011105e-06 9.99967362e-01 3.90323665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82864 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:372.05, Y:-1.06, Z:0.38 [[ 9.90564956e-01 1.36810115e-01 8.00382637e-03 3.72054183e+02] [-1.36805681e-01 9.90597291e-01 -1.10147733e-03 -1.06240537e+00] [-8.07926196e-03 -3.88407614e-06 9.99967362e-01 3.78028022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85864 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:372.08, Y:-1.07, Z:0.38 [[ 9.90656320e-01 1.36146985e-01 8.00332136e-03 3.72081930e+02] [-1.36142500e-01 9.90688649e-01 -1.10513455e-03 -1.06961711e+00] [-8.07926036e-03 5.21635272e-06 9.99967362e-01 3.78575592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88864 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:372.11, Y:-1.07, Z:0.39 [[ 9.90835920e-01 1.34833667e-01 8.00382909e-03 3.72111020e+02] [-1.34829168e-01 9.90868247e-01 -1.10144507e-03 -1.07466422e+00] [-8.07925197e-03 1.22017206e-05 9.99967362e-01 3.91423848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91864 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:372.14, Y:-1.08, Z:0.38 [[ 9.90952871e-01 1.33971240e-01 8.00708540e-03 3.72141380e+02] [-1.33966905e-01 9.90985220e-01 -1.07778078e-03 -1.07882798e+00] [-8.07929492e-03 -4.65448403e-06 9.99967362e-01 3.78872861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94864 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:372.17, Y:-1.08, Z:0.39 [[ 9.91054169e-01 1.33220023e-01 8.00372033e-03 3.72170882e+02] [-1.33215466e-01 9.91086487e-01 -1.10221618e-03 -1.08408093e+00] [-8.07921633e-03 2.61366128e-05 9.99967362e-01 3.89503460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97864 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:372.20, Y:-1.09, Z:0.38 [[ 9.91130497e-01 1.32651012e-01 8.00298623e-03 3.72199755e+02] [-1.32646393e-01 9.91162806e-01 -1.10755392e-03 -1.08946837e+00] [-8.07918044e-03 3.61632069e-05 9.99967362e-01 3.78713367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00864 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:372.23, Y:-1.10, Z:0.38 [[ 9.91174176e-01 1.32324188e-01 8.00392026e-03 3.72228666e+02] [-1.32319613e-01 9.91206491e-01 -1.10076237e-03 -1.09639809e+00] [-8.07919520e-03 3.19716074e-05 9.99967362e-01 3.79288449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03864 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:372.26, Y:-1.10, Z:0.38 [[ 9.91182830e-01 1.32259341e-01 8.00399236e-03 3.72258536e+02] [-1.32254769e-01 9.91215146e-01 -1.10023784e-03 -1.10052191e+00] [-8.07919519e-03 3.19706922e-05 9.99967362e-01 3.79044782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:372.29, Y:-1.11, Z:0.38 [[ 9.91097241e-01 1.32899190e-01 8.00406431e-03 3.72287308e+02] [-1.32894643e-01 9.91129560e-01 -1.09971420e-03 -1.10526461e+00] [-8.07921586e-03 2.62264427e-05 9.99967362e-01 3.77960799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09864 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:372.32, Y:-1.11, Z:0.38 [[ 9.91052900e-01 1.33229411e-01 8.00456702e-03 3.72315897e+02] [-1.33224904e-01 9.91085225e-01 -1.09604285e-03 -1.11042347e+00] [-8.07923325e-03 1.98287737e-05 9.99967362e-01 3.78143212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12864 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:372.34, Y:-1.12, Z:0.39 [[ 9.90932422e-01 1.34122536e-01 8.00506679e-03 3.72344765e+02] [-1.34118087e-01 9.90964755e-01 -1.09238043e-03 -1.11538060e+00] [-8.07925189e-03 8.85094100e-06 9.99967362e-01 3.88207497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:372.37, Y:-1.12, Z:0.38 [[ 9.90793677e-01 1.35143728e-01 8.00388261e-03 3.72373614e+02] [-1.35139243e-01 9.90826005e-01 -1.10106636e-03 -1.12088796e+00] [-8.07925725e-03 9.29095224e-06 9.99967362e-01 3.77521522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:372.40, Y:-1.13, Z:0.38 [[ 9.90783084e-01 1.35221267e-01 8.00557306e-03 3.72401466e+02] [-1.35216884e-01 9.90815426e-01 -1.08863519e-03 -1.12617557e+00] [-8.07925191e-03 -3.88731356e-06 9.99967362e-01 3.77140506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21864 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:372.43, Y:-1.13, Z:0.38 [[ 9.90719505e-01 1.35686278e-01 8.00607444e-03 3.72430461e+02] [-1.35681941e-01 9.90751853e-01 -1.08493537e-03 -1.13355738e+00] [-8.07924392e-03 -1.14130885e-05 9.99967362e-01 3.77040273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24864 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:372.46, Y:-1.14, Z:0.38 [[ 9.90680029e-01 1.35974194e-01 8.00614599e-03 3.72459845e+02] [-1.35969871e-01 9.90712379e-01 -1.08440713e-03 -1.13914908e+00] [-8.07923932e-03 -1.42941456e-05 9.99967362e-01 3.76888199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:372.49, Y:-1.15, Z:0.38 [[ 9.90484705e-01 1.37389771e-01 8.00621744e-03 3.72488530e+02] [-1.37385498e-01 9.90517062e-01 -1.08387930e-03 -1.14601699e+00] [-8.07920891e-03 -2.63723036e-05 9.99967362e-01 3.77429477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30864 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:372.52, Y:-1.15, Z:0.38 [[ 9.90422791e-01 1.37835386e-01 8.00628833e-03 3.72518024e+02] [-1.37831132e-01 9.90455151e-01 -1.08335542e-03 -1.15086209e+00] [-8.07919423e-03 -3.05358804e-05 9.99967362e-01 3.76963514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33864 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:372.55, Y:-1.16, Z:0.39 [[ 9.90169717e-01 1.39641790e-01 8.00636007e-03 3.72547934e+02] [-1.39637599e-01 9.90202085e-01 -1.08282501e-03 -1.15598556e+00] [-8.07912205e-03 -4.58083654e-05 9.99967362e-01 3.86838149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36864 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:372.58, Y:-1.16, Z:0.39 [[ 9.89657072e-01 1.43230125e-01 8.00068953e-03 3.72578200e+02] [-1.43225712e-01 9.89689411e-01 -1.12483847e-03 -1.16179227e+00] [-8.07930846e-03 -3.27001118e-05 9.99967361e-01 3.86569958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:372.61, Y:-1.17, Z:0.38 [[ 9.89600281e-01 1.43622206e-01 7.99660104e-03 3.72607046e+02] [-1.43617561e-01 9.89632589e-01 -1.15518162e-03 -1.16593924e+00] [-8.07960673e-03 -5.28427973e-06 9.99967359e-01 3.77304453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:372.64, Y:-1.17, Z:0.38 [[ 9.88932359e-01 1.48150854e-01 8.00716096e-03 3.72637165e+02] [-1.48146991e-01 9.88964767e-01 -1.07664633e-03 -1.16607344e+00] [-8.07830614e-03 -1.21506414e-04 9.99967363e-01 3.78097686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:372.67, Y:-1.17, Z:0.38 [[ 9.88691341e-01 1.49750849e-01 8.00723154e-03 3.72666365e+02] [-1.49747043e-01 9.88723756e-01 -1.07612117e-03 -1.16601212e+00] [-8.07809010e-03 -1.35107564e-04 9.99967363e-01 3.77496092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:372.70, Y:-1.17, Z:0.39 [[ 9.88674391e-01 1.49862685e-01 8.00772797e-03 3.72696417e+02] [-1.49858913e-01 9.88706810e-01 -1.07241433e-03 -1.16888137e+00] [-8.07801006e-03 -1.39760828e-04 9.99967363e-01 3.87310288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:372.72, Y:-1.17, Z:0.38 [[ 9.88988435e-01 1.47776439e-01 7.99992702e-03 3.72724501e+02] [-1.47772127e-01 9.89020788e-01 -1.13080359e-03 -1.17137440e+00] [-8.07920026e-03 -6.38145563e-05 9.99967361e-01 3.77251959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:372.76, Y:-1.17, Z:0.39 [[ 9.89598152e-01 1.43636211e-01 8.00847316e-03 3.72755800e+02] [-1.43632282e-01 9.89630552e-01 -1.06663807e-03 -1.17152873e+00] [-8.07863756e-03 -9.47322084e-05 9.99967363e-01 3.88531548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57864 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:372.78, Y:-1.17, Z:0.39 [[ 9.90073781e-01 1.40320772e-01 7.99936692e-03 3.72784636e+02] [-1.40316180e-01 9.90106096e-01 -1.13519430e-03 -1.17416911e+00] [-8.07951329e-03 1.48550337e-06 9.99967360e-01 3.88440666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:372.81, Y:-1.18, Z:0.38 [[ 9.91023926e-01 1.33445188e-01 7.99754281e-03 3.72812179e+02] [-1.33440261e-01 9.91056192e-01 -1.14900241e-03 -1.17534595e+00] [-8.07934317e-03 7.14946794e-05 9.99967359e-01 3.75770573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:372.84, Y:-1.18, Z:0.38 [[ 9.91321394e-01 1.31216357e-01 8.01009969e-03 3.72841059e+02] [-1.31212128e-01 9.91353755e-01 -1.05353153e-03 -1.17746694e+00] [-8.07908298e-03 -6.63387988e-06 9.99967364e-01 3.76427491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:372.87, Y:-1.18, Z:0.38 [[ 9.91782749e-01 1.27682455e-01 8.01058343e-03 3.72870320e+02] [-1.27678140e-01 9.91815099e-01 -1.04984047e-03 -1.17714973e+00] [-8.07906381e-03 1.84372722e-05 9.99967364e-01 3.75369762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.69864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:372.90, Y:-1.18, Z:0.38 [[ 9.92062278e-01 1.25492065e-01 8.01107199e-03 3.72897664e+02] [-1.25487709e-01 9.92094623e-01 -1.04609904e-03 -1.17988311e+00] [-8.07901858e-03 3.25043242e-05 9.99967364e-01 3.75497560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:372.93, Y:-1.18, Z:0.38 [[ 9.92584860e-01 1.21289361e-01 8.01162007e-03 3.72926044e+02] [-1.21284902e-01 9.92617191e-01 -1.04188460e-03 -1.18147256e+00] [-8.07884132e-03 6.24703207e-05 9.99967364e-01 3.75267261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:372.95, Y:-1.18, Z:0.38 [[ 9.92855296e-01 1.19055316e-01 8.01209350e-03 3.72954191e+02] [-1.19050814e-01 9.92887620e-01 -1.03823111e-03 -1.18392950e+00] [-8.07871538e-03 7.69669973e-05 9.99967364e-01 3.75243476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:372.98, Y:-1.19, Z:0.38 [[ 9.93482645e-01 1.13701502e-01 8.01262334e-03 3.72981703e+02] [-1.13696859e-01 9.93514950e-01 -1.03412579e-03 -1.18664912e+00] [-8.07824273e-03 1.16375924e-04 9.99967364e-01 3.75718291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.81864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:373.01, Y:-1.19, Z:0.37 [[ 9.93818073e-01 1.10731333e-01 8.01315319e-03 3.73009537e+02] [-1.10726626e-01 9.93850368e-01 -1.03000373e-03 -1.19111694e+00] [-8.07792893e-03 1.36366902e-04 9.99967364e-01 3.74432753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.04, Y:-1.20, Z:0.37 [[ 9.94142830e-01 1.07776689e-01 8.01367707e-03 3.73037536e+02] [-1.07771920e-01 9.94175116e-01 -1.02591154e-03 -1.19522328e+00] [-8.07756768e-03 1.56253246e-04 9.99967364e-01 3.74472651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:373.07, Y:-1.20, Z:0.37 [[ 9.94560748e-01 1.03849373e-01 8.01412543e-03 3.73066038e+02] [-1.03844504e-01 9.94593019e-01 -1.02239705e-03 -1.19976059e+00] [-8.07696850e-03 1.84613090e-04 9.99967364e-01 3.73263291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:373.09, Y:-1.21, Z:0.37 [[ 9.94849909e-01 1.01041700e-01 8.01457439e-03 3.73094358e+02] [-1.01036769e-01 9.94882171e-01 -1.01886545e-03 -1.20545019e+00] [-8.07650506e-03 2.03851506e-04 9.99967364e-01 3.74030732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:373.12, Y:-1.21, Z:0.38 [[ 9.95150827e-01 9.80336207e-02 8.01501286e-03 3.73122836e+02] [-9.80286197e-02 9.95183078e-01 -1.01540444e-03 -1.21360477e+00] [-8.07594894e-03 2.24779918e-04 9.99967364e-01 3.75412313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:373.15, Y:-1.22, Z:0.37 [[ 9.95287074e-01 9.66405607e-02 8.01507536e-03 3.73152128e+02] [-9.66355185e-02 9.95319319e-01 -1.01491083e-03 -1.21945544e+00] [-8.07564090e-03 2.35586665e-04 9.99967364e-01 3.74480108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.18, Y:-1.23, Z:0.37 [[ 9.95270924e-01 9.68067451e-02 8.01513744e-03 3.73181236e+02] [-9.68017122e-02 9.95303170e-01 -1.01442032e-03 -1.22848283e+00] [-8.07569443e-03 2.33744021e-04 9.99967364e-01 3.73420537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.21, Y:-1.24, Z:0.37 [[ 9.95167323e-01 9.78660167e-02 8.01513744e-03 3.73211341e+02] [-9.78610181e-02 9.95199574e-01 -1.01442032e-03 -1.23594434e+00] [-8.07593864e-03 2.25148443e-04 9.99967364e-01 3.73401127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.24, Y:-1.24, Z:0.37 [[ 9.95083508e-01 9.87145900e-02 8.01513744e-03 3.73241580e+02] [-9.87096190e-02 9.95115763e-01 -1.01442032e-03 -1.24303157e+00] [-8.07612770e-03 2.18261767e-04 9.99967364e-01 3.73382810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.27, Y:-1.25, Z:0.37 [[ 9.94716747e-01 1.02344272e-01 8.01513744e-03 3.73271095e+02] [-1.02339419e-01 9.94749021e-01 -1.01442032e-03 -1.25149090e+00] [-8.07687023e-03 1.88796374e-04 9.99967364e-01 3.73875133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.30, Y:-1.26, Z:0.37 [[ 9.94428966e-01 1.05103709e-01 8.01513744e-03 3.73300797e+02] [-1.05098946e-01 9.94461252e-01 -1.01442032e-03 -1.25968860e+00] [-8.07736295e-03 1.66386455e-04 9.99967364e-01 3.71626199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.33, Y:-1.27, Z:0.37 [[ 9.94256195e-01 1.06725706e-01 8.01513744e-03 3.73331126e+02] [-1.06720995e-01 9.94288489e-01 -1.01442032e-03 -1.26646491e+00] [-8.07762362e-03 1.53210243e-04 9.99967364e-01 3.71590924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.36, Y:-1.27, Z:0.37 [[ 9.94161627e-01 1.07603050e-01 8.01513744e-03 3.73362174e+02] [-1.07598367e-01 9.94193926e-01 -1.01442032e-03 -1.27369747e+00] [-8.07775568e-03 1.46082053e-04 9.99967364e-01 3.71018529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.39, Y:-1.28, Z:0.37 [[ 9.93849113e-01 1.10452252e-01 8.01507373e-03 3.73392353e+02] [-1.10447658e-01 9.93881424e-01 -1.01492345e-03 -1.28189644e+00] [-8.07813347e-03 1.23434652e-04 9.99967364e-01 3.71502580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.42, Y:-1.29, Z:0.37 [[ 9.93722208e-01 1.11588232e-01 8.01500999e-03 3.73422951e+02] [-1.11583671e-01 9.93754524e-01 -1.01542658e-03 -1.28783603e+00] [-8.07826209e-03 1.14707712e-04 9.99967364e-01 3.72544207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:373.45, Y:-1.30, Z:0.38 [[ 9.93352719e-01 1.14830903e-01 8.01494539e-03 3.73453195e+02] [-1.14826444e-01 9.93385049e-01 -1.01593620e-03 -1.29625675e+00] [-8.07858779e-03 8.88553096e-05 9.99967364e-01 3.82565590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.48, Y:-1.30, Z:0.37 [[ 9.93278155e-01 1.15474192e-01 8.01360461e-03 3.73483831e+02] [-1.15469668e-01 9.93310476e-01 -1.02650473e-03 -1.30266246e+00] [-8.07853222e-03 9.42764576e-05 9.99967364e-01 3.69389670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.52, Y:-1.31, Z:0.37 [[ 9.92694277e-01 1.20390335e-01 8.01497501e-03 3.73515059e+02] [-1.20386058e-01 9.92726632e-01 -1.01569067e-03 -1.30989279e+00] [-8.07895849e-03 4.33790684e-05 9.99967364e-01 3.68398811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:373.55, Y:-1.31, Z:0.38 [[ 9.92335405e-01 1.23313449e-01 8.01484199e-03 3.73545644e+02] [-1.23309259e-01 9.92367771e-01 -1.01673924e-03 -1.31403929e+00] [-8.07904851e-03 2.06421116e-05 9.99967364e-01 3.82277663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:373.58, Y:-1.32, Z:0.38 [[ 9.91706531e-01 1.28272796e-01 8.01535778e-03 3.73577772e+02] [-1.28268801e-01 9.91738922e-01 -1.01267160e-03 -1.31948394e+00] [-8.07904050e-03 -2.38472948e-05 9.99967364e-01 3.82797203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:373.61, Y:-1.32, Z:0.37 [[ 9.91548170e-01 1.29491495e-01 8.01116521e-03 3.73607100e+02] [-1.29487272e-01 9.91580533e-01 -1.04573070e-03 -1.32482565e+00] [-8.07912870e-03 -4.51574233e-07 9.99967363e-01 3.68453229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:373.64, Y:-1.33, Z:0.37 [[ 9.90962769e-01 1.33897545e-01 8.01489732e-03 3.73638755e+02] [-1.33893704e-01 9.90995178e-01 -1.01629796e-03 -1.33114596e+00] [-8.07880440e-03 -6.60308525e-05 9.99967364e-01 3.67646282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.67, Y:-1.34, Z:0.37 [[ 9.90772476e-01 1.35298426e-01 8.01476267e-03 3.73670149e+02] [-1.35294623e-01 9.90804890e-01 -1.01735874e-03 -1.33585981e+00] [-8.07871308e-03 -7.63832579e-05 9.99967364e-01 3.67690111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.70, Y:-1.34, Z:0.37 [[ 9.90649771e-01 1.36193971e-01 8.01462774e-03 3.73702107e+02] [-1.36190188e-01 9.90682187e-01 -1.01842054e-03 -1.34220422e+00] [-8.07865168e-03 -8.26155831e-05 9.99967364e-01 3.67697439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:373.73, Y:-1.35, Z:0.37 [[ 9.90705840e-01 1.35785514e-01 8.01449234e-03 3.73733550e+02] [-1.35781709e-01 9.90738254e-01 -1.01948502e-03 -1.34798423e+00] [-8.07869544e-03 -7.82117034e-05 9.99967364e-01 3.66061246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.77, Y:-1.35, Z:0.37 [[ 9.90900829e-01 1.34355193e-01 8.01435532e-03 3.73765281e+02] [-1.34351332e-01 9.90933236e-01 -1.02056100e-03 -1.35407260e+00] [-8.07880872e-03 -6.54645707e-05 9.99967364e-01 3.65628236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:373.80, Y:-1.36, Z:0.38 [[ 9.91025554e-01 1.33432097e-01 8.01421851e-03 3.73796581e+02] [-1.33428198e-01 9.91057956e-01 -1.02163422e-03 -1.36274739e+00] [-8.07887381e-03 -5.68571184e-05 9.99967364e-01 3.75769735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:373.83, Y:-1.37, Z:0.37 [[ 9.91183248e-01 1.32255783e-01 8.01105168e-03 3.73827978e+02] [-1.32251645e-01 9.91215621e-01 -1.04644762e-03 -1.37235361e+00] [-8.07907832e-03 -2.22534083e-05 9.99967363e-01 3.74257887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:373.86, Y:-1.38, Z:0.37 [[ 9.91279733e-01 1.31530659e-01 8.01100597e-03 3.73859432e+02] [-1.31526495e-01 9.91312103e-01 -1.04680567e-03 -1.37886903e+00] [-8.07909422e-03 -1.59822856e-05 9.99967363e-01 3.74508729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.89, Y:-1.39, Z:0.36 [[ 9.91374813e-01 1.30812049e-01 8.01170556e-03 3.73890856e+02] [-1.30807905e-01 9.91407186e-01 -1.04133227e-03 -1.38547054e+00] [-8.07908127e-03 -1.56438347e-05 9.99967364e-01 3.63243077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:373.92, Y:-1.40, Z:0.36 [[ 9.91369185e-01 1.30854563e-01 8.01390670e-03 3.73921954e+02] [-1.30850559e-01 9.91401575e-01 -1.02410775e-03 -1.39664125e+00] [-8.07900890e-03 -3.33553056e-05 9.99967364e-01 3.62809780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:373.95, Y:-1.41, Z:0.36 [[ 9.91164321e-01 1.32397384e-01 8.01376775e-03 3.73952817e+02] [-1.32393423e-01 9.91196716e-01 -1.02519395e-03 -1.40582925e+00] [-8.07895327e-03 -4.48344753e-05 9.99967364e-01 3.63388635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:373.98, Y:-1.41, Z:0.36 [[ 9.90944038e-01 1.34036174e-01 8.01362933e-03 3.73984593e+02] [-1.34032257e-01 9.90976438e-01 -1.02627476e-03 -1.41156666e+00] [-8.07887579e-03 -5.71039690e-05 9.99967364e-01 3.62414575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:374.02, Y:-1.42, Z:0.36 [[ 9.90662422e-01 1.36101985e-01 8.01349033e-03 3.74016603e+02] [-1.36098127e-01 9.90694829e-01 -1.02735897e-03 -1.41784610e+00] [-8.07874903e-03 -7.28550973e-05 9.99967364e-01 3.62485738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:374.05, Y:-1.43, Z:0.37 [[ 9.90128099e-01 1.39936180e-01 8.01335126e-03 3.74048687e+02] [-1.39932439e-01 9.90160520e-01 -1.02844254e-03 -1.42687314e+00] [-8.07842037e-03 -1.03037927e-04 9.99967364e-01 3.74287624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:374.08, Y:-1.43, Z:0.36 [[ 9.90052931e-01 1.40467390e-01 8.00658099e-03 3.74078929e+02] [-1.40463240e-01 9.90085304e-01 -1.08114179e-03 -1.43216781e+00] [-8.07906334e-03 -5.42427088e-05 9.99967362e-01 3.61802469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:374.11, Y:-1.44, Z:0.36 [[ 9.90024739e-01 1.40665575e-01 8.01329146e-03 3.74112151e+02] [-1.40661854e-01 9.90057162e-01 -1.02887825e-03 -1.43642715e+00] [-8.07834435e-03 -1.08549515e-04 9.99967364e-01 3.61532446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:374.14, Y:-1.44, Z:0.36 [[ 9.89918286e-01 1.41412793e-01 8.01308473e-03 3.74144109e+02] [-1.41409084e-01 9.89950710e-01 -1.03048577e-03 -1.44060671e+00] [-8.07828279e-03 -1.13026260e-04 9.99967364e-01 3.63044910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:374.18, Y:-1.45, Z:0.36 [[ 9.89885495e-01 1.41642151e-01 8.01294764e-03 3.74175818e+02] [-1.41638441e-01 9.89917920e-01 -1.03155065e-03 -1.44586154e+00] [-8.07827151e-03 -1.13824388e-04 9.99967364e-01 3.62857225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:374.21, Y:-1.45, Z:0.36 [[ 9.89900460e-01 1.41537539e-01 8.01280982e-03 3.74207189e+02] [-1.41533816e-01 9.89932883e-01 -1.03262010e-03 -1.45355477e+00] [-8.07829843e-03 -1.11892438e-04 9.99967364e-01 3.62625009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01864 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:374.24, Y:-1.46, Z:0.37 [[ 9.89675707e-01 1.43100633e-01 8.01267242e-03 3.74239528e+02] [-1.43096953e-01 9.89708136e-01 -1.03368516e-03 -1.45799345e+00] [-8.07812808e-03 -1.23575909e-04 9.99967364e-01 3.74046751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:374.27, Y:-1.46, Z:0.37 [[ 9.89228536e-01 1.46160377e-01 8.00294209e-03 3.74270086e+02] [-1.46156188e-01 9.89260905e-01 -1.10895921e-03 -1.46131309e+00] [-8.07908364e-03 -7.26654132e-05 9.99967361e-01 3.74968837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:374.30, Y:-1.47, Z:0.36 [[ 9.89260955e-01 1.45940750e-01 8.00375436e-03 3.74298240e+02] [-1.45936604e-01 9.89293329e-01 -1.10265960e-03 -1.46535766e+00] [-8.07898377e-03 -7.72226454e-05 9.99967361e-01 3.62628905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:374.33, Y:-1.47, Z:0.36 [[ 9.89072629e-01 1.47211157e-01 8.01304407e-03 3.74330476e+02] [-1.47207638e-01 9.89105075e-01 -1.03041838e-03 -1.47050236e+00] [-8.07743164e-03 -1.60422673e-04 9.99967364e-01 3.62192870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:374.36, Y:-1.48, Z:0.36 [[ 9.89058873e-01 1.47303562e-01 8.01290731e-03 3.74362462e+02] [-1.47300038e-01 9.89091318e-01 -1.03148078e-03 -1.47503353e+00] [-8.07743785e-03 -1.60106331e-04 9.99967364e-01 3.61911739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:374.39, Y:-1.48, Z:0.36 [[ 9.88896992e-01 1.48386439e-01 8.01277100e-03 3.74394169e+02] [-1.48382941e-01 9.88929440e-01 -1.03253862e-03 -1.48092073e+00] [-8.07727986e-03 -1.67884190e-04 9.99967364e-01 3.62047211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.19864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:374.43, Y:-1.49, Z:0.36 [[ 9.88846496e-01 1.48722581e-01 8.01263468e-03 3.74426054e+02] [-1.48719086e-01 9.88878944e-01 -1.03359541e-03 -1.48578741e+00] [-8.07724469e-03 -1.69564505e-04 9.99967364e-01 3.61134612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22864 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:374.46, Y:-1.49, Z:0.37 [[ 9.88505398e-01 1.50973104e-01 8.01249808e-03 3.74458105e+02] [-1.50969674e-01 9.88537853e-01 -1.03465321e-03 -1.49038248e+00] [-8.07686246e-03 -1.86883937e-04 9.99967364e-01 3.74060097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:374.49, Y:-1.49, Z:0.36 [[ 9.88470900e-01 1.51199228e-01 8.00459673e-03 3.74488093e+02] [-1.51195311e-01 9.88503302e-01 -1.09569045e-03 -1.49386587e+00] [-8.07823785e-03 -1.27199364e-04 9.99967362e-01 3.60651182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:374.52, Y:-1.50, Z:0.36 [[ 9.87808145e-01 1.55469850e-01 8.01218302e-03 3.74520351e+02] [-1.55466549e-01 9.87840613e-01 -1.03708116e-03 -1.49557396e+00] [-8.07599464e-03 -2.21189222e-04 9.99967364e-01 3.61324026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.31864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:374.55, Y:-1.50, Z:0.36 [[ 9.87280413e-01 1.58786630e-01 8.01204734e-03 3.74552557e+02] [-1.58783429e-01 9.87312891e-01 -1.03812835e-03 -1.49801342e+00] [-8.07523852e-03 -2.47256563e-04 9.99967364e-01 3.60529306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34864 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:374.59, Y:-1.50, Z:0.37 [[ 9.86358576e-01 1.64415843e-01 8.01191339e-03 3.74585000e+02] [-1.64412818e-01 9.86391071e-01 -1.03916105e-03 -1.49885276e+00] [-8.07373437e-03 -2.92275848e-04 9.99967364e-01 3.74125324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.37864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:374.61, Y:-1.50, Z:0.36 [[ 9.85933071e-01 1.66948785e-01 8.00519366e-03 3.74614497e+02] [-1.66945424e-01 9.85965534e-01 -1.09096325e-03 -1.50099121e+00] [-8.07498003e-03 -2.60813706e-04 9.99967363e-01 3.59978847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:374.65, Y:-1.50, Z:0.36 [[ 9.85645579e-01 1.68637480e-01 8.01198624e-03 3.74647272e+02] [-1.68634600e-01 9.85678088e-01 -1.03856198e-03 -1.50295040e+00] [-8.07237975e-03 -3.27444072e-04 9.99967364e-01 3.59675860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:374.68, Y:-1.50, Z:0.36 [[ 9.85162468e-01 1.71437229e-01 8.01178772e-03 3.74680116e+02] [-1.71434429e-01 9.85194983e-01 -1.04009114e-03 -1.50176093e+00] [-8.07148341e-03 -3.48837502e-04 9.99967364e-01 3.58549588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:374.71, Y:-1.50, Z:0.36 [[ 9.85237322e-01 1.71006528e-01 8.01165731e-03 3.74712104e+02] [-1.71003705e-01 9.85269836e-01 -1.04109471e-03 -1.50327193e+00] [-8.07167827e-03 -3.44297723e-04 9.99967364e-01 3.59308951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:374.74, Y:-1.50, Z:0.36 [[ 9.85667393e-01 1.68509957e-01 8.01152706e-03 3.74744557e+02] [-1.68507044e-01 9.85699899e-01 -1.04209607e-03 -1.50310987e+00] [-8.07256497e-03 -3.22838632e-04 9.99967364e-01 3.59842501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:374.78, Y:-1.51, Z:0.36 [[ 9.86042479e-01 1.66301071e-01 8.01139606e-03 3.74776384e+02] [-1.66298077e-01 9.86074978e-01 -1.04310221e-03 -1.50603281e+00] [-8.07330620e-03 -3.03736665e-04 9.99967364e-01 3.59418115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:374.81, Y:-1.51, Z:0.36 [[ 9.86807701e-01 1.61698427e-01 8.01126420e-03 3.74808050e+02] [-1.61695273e-01 9.86840184e-01 -1.04411394e-03 -1.50837804e+00] [-8.07466901e-03 -2.65043872e-04 9.99967364e-01 3.58592965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:374.84, Y:-1.51, Z:0.36 [[ 9.87115476e-01 1.59808820e-01 8.01113115e-03 3.74840507e+02] [-1.59805595e-01 9.87147952e-01 -1.04513378e-03 -1.51112548e+00] [-8.07519330e-03 -2.48555854e-04 9.99967364e-01 3.59342440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:374.87, Y:-1.51, Z:0.37 [[ 9.87302848e-01 1.58647126e-01 8.01096313e-03 3.74872926e+02] [-1.58643854e-01 9.87335319e-01 -1.04642007e-03 -1.51147817e+00] [-8.07551838e-03 -2.37756550e-04 9.99967364e-01 3.69343940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:374.90, Y:-1.51, Z:0.36 [[ 9.87401459e-01 1.58032475e-01 8.00595587e-03 3.74902279e+02] [-1.58028872e-01 9.87433896e-01 -1.08476188e-03 -1.51369717e+00] [-8.07677980e-03 -1.94076707e-04 9.99967363e-01 3.58283881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:374.93, Y:-1.51, Z:0.36 [[ 9.87055887e-01 1.60176456e-01 8.01113627e-03 3.74934466e+02] [-1.60173244e-01 9.87088365e-01 -1.04505008e-03 -1.51296611e+00] [-8.07509182e-03 -2.51646849e-04 9.99967364e-01 3.58615233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:374.97, Y:-1.51, Z:0.36 [[ 9.86850377e-01 1.61437782e-01 8.01100046e-03 3.74966513e+02] [-1.61434604e-01 9.86882857e-01 -1.04609014e-03 -1.51392425e+00] [-8.07479749e-03 -2.60918241e-04 9.99967364e-01 3.57829828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:375.00, Y:-1.51, Z:0.36 [[ 9.86738072e-01 1.62122800e-01 8.01086528e-03 3.74999121e+02] [-1.62119636e-01 9.86770554e-01 -1.04712426e-03 -1.51305419e+00] [-8.07464869e-03 -2.65481193e-04 9.99967364e-01 3.57713487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:375.03, Y:-1.52, Z:0.36 [[ 9.86859722e-01 1.61380657e-01 8.01072886e-03 3.75030932e+02] [-1.61377460e-01 9.86892201e-01 -1.04816686e-03 -1.51549557e+00] [-8.07487970e-03 -2.58357421e-04 9.99967364e-01 3.57514730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:375.06, Y:-1.52, Z:0.36 [[ 9.87110580e-01 1.59839083e-01 8.01059220e-03 3.75062982e+02] [-1.59835827e-01 9.87143053e-01 -1.04921023e-03 -1.51783951e+00] [-8.07530525e-03 -2.44693102e-04 9.99967364e-01 3.57560891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:375.10, Y:-1.52, Z:0.36 [[ 9.87761408e-01 1.55766600e-01 8.01045549e-03 3.75095117e+02] [-1.55763201e-01 9.87793866e-01 -1.05025302e-03 -1.51672121e+00] [-8.07627314e-03 -2.10334789e-04 9.99967364e-01 3.57868502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:375.13, Y:-1.52, Z:0.36 [[ 9.88460904e-01 1.51264257e-01 8.01031683e-03 3.75126499e+02] [-1.51260702e-01 9.88493346e-01 -1.05130950e-03 -1.51694537e+00] [-8.07717043e-03 -1.72467807e-04 9.99967364e-01 3.57997823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:375.16, Y:-1.52, Z:0.37 [[ 9.88895994e-01 1.48393227e-01 8.01024760e-03 3.75156796e+02] [-1.48389574e-01 9.88928424e-01 -1.05183674e-03 -1.52043868e+00] [-8.07764698e-03 -1.48480087e-04 9.99967364e-01 3.67033601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:375.19, Y:-1.52, Z:0.36 [[ 9.89072751e-01 1.47210401e-01 8.01188695e-03 3.75188324e+02] [-1.47206810e-01 9.89105189e-01 -1.03933442e-03 -1.52394258e+00] [-8.07759979e-03 -1.51426966e-04 9.99967364e-01 3.57464565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:375.22, Y:-1.53, Z:0.36 [[ 9.89553241e-01 1.43945182e-01 8.01049628e-03 3.75219778e+02] [-1.43941398e-01 9.89585657e-01 -1.04994446e-03 -1.52785421e+00] [-8.07820666e-03 -1.14066088e-04 9.99967364e-01 3.57487770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97864 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:375.25, Y:-1.53, Z:0.37 [[ 9.89689175e-01 1.43007586e-01 8.01042589e-03 3.75251845e+02] [-1.43003767e-01 9.89721587e-01 -1.05048116e-03 -1.53254557e+00] [-8.07831820e-03 -1.05871246e-04 9.99967364e-01 3.67209518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00864 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:375.28, Y:-1.54, Z:0.37 [[ 9.90214536e-01 1.39323857e-01 8.00220242e-03 3.75282640e+02] [-1.39319410e-01 9.90246870e-01 -1.11321021e-03 -1.53761084e+00] [-8.07925264e-03 -1.25451869e-05 9.99967362e-01 3.67042811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:375.31, Y:-1.54, Z:0.37 [[ 9.90540248e-01 1.36988811e-01 8.00523701e-03 3.75313851e+02] [-1.36984475e-01 9.90572595e-01 -1.09001341e-03 -1.54253031e+00] [-8.07908804e-03 -1.68910392e-05 9.99967363e-01 3.66953409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06864 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:375.34, Y:-1.55, Z:0.37 [[ 9.90838140e-01 1.34817176e-01 8.00683180e-03 3.75344889e+02] [-1.34812868e-01 9.90870490e-01 -1.07779429e-03 -1.54806116e+00] [-8.07903854e-03 -1.15042680e-05 9.99967364e-01 3.66552646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:375.38, Y:-1.55, Z:0.37 [[ 9.90763759e-01 1.35362596e-01 8.00881707e-03 3.75375500e+02] [-1.35358429e-01 9.90796128e-01 -1.06255346e-03 -1.55266218e+00] [-8.07893494e-03 -3.13214343e-05 9.99967364e-01 3.66450914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:375.41, Y:-1.56, Z:0.36 [[ 9.90852316e-01 1.34712987e-01 8.00614857e-03 3.75405592e+02] [-1.34708634e-01 9.90884661e-01 -1.08301729e-03 -1.55783260e+00] [-8.07906631e-03 -5.38714859e-06 9.99967364e-01 3.55506862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:375.44, Y:-1.56, Z:0.35 [[ 9.90865595e-01 1.34614971e-01 8.01137361e-03 3.75436817e+02] [-1.34610939e-01 9.90897980e-01 -1.04287869e-03 -1.56450237e+00] [-8.07884102e-03 -4.50659115e-05 9.99967365e-01 3.54867469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:375.47, Y:-1.57, Z:0.36 [[ 9.90899284e-01 1.34366768e-01 8.01123342e-03 3.75468642e+02] [-1.34362719e-01 9.90931668e-01 -1.04395448e-03 -1.57067480e+00] [-8.07885769e-03 -4.19573546e-05 9.99967365e-01 3.55309809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:375.50, Y:-1.58, Z:0.36 [[ 9.90786686e-01 1.35194543e-01 8.01109381e-03 3.75500614e+02] [-1.35190512e-01 9.90819072e-01 -1.04502477e-03 -1.57540830e+00] [-8.07882618e-03 -4.76272461e-05 9.99967365e-01 3.55510907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:375.53, Y:-1.58, Z:0.36 [[ 9.90567870e-01 1.36788594e-01 8.01095308e-03 3.75532511e+02] [-1.36784607e-01 9.90600261e-01 -1.04610245e-03 -1.57998140e+00] [-8.07874709e-03 -5.95395910e-05 9.99967365e-01 3.55812038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:375.56, Y:-1.58, Z:0.36 [[ 9.89949138e-01 1.41196780e-01 8.01081210e-03 3.75564835e+02] [-1.41192928e-01 9.89981546e-01 -1.04718096e-03 -1.58429998e+00] [-8.07841472e-03 -9.44141312e-05 9.99967365e-01 3.56245033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:375.60, Y:-1.59, Z:0.36 [[ 9.89686941e-01 1.43023034e-01 8.01067108e-03 3.75596808e+02] [-1.43019234e-01 9.89719354e-01 -1.04825860e-03 -1.58818508e+00] [-8.07824133e-03 -1.08232195e-04 9.99967365e-01 3.55019025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:375.63, Y:-1.59, Z:0.35 [[ 9.89209149e-01 1.46291119e-01 8.01053031e-03 3.75629388e+02] [-1.46287416e-01 9.89241573e-01 -1.04933323e-03 -1.59080446e+00] [-8.07785774e-03 -1.33829754e-04 9.99967365e-01 3.54751191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:375.66, Y:-1.59, Z:0.35 [[ 9.89070611e-01 1.47224862e-01 8.01038964e-03 3.75661072e+02] [-1.47221182e-01 9.89103038e-01 -1.05040593e-03 -1.59445647e+00] [-8.07774660e-03 -1.40373399e-04 9.99967365e-01 3.54031272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:375.69, Y:-1.60, Z:0.35 [[ 9.89266973e-01 1.45899593e-01 8.01024870e-03 3.75692819e+02] [-1.45895861e-01 9.89299395e-01 -1.05147968e-03 -1.60133893e+00] [-8.07794464e-03 -1.28468009e-04 9.99967365e-01 3.54174902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:375.72, Y:-1.61, Z:0.35 [[ 9.89347648e-01 1.45351541e-01 8.01010818e-03 3.75724355e+02] [-1.45347782e-01 9.89380066e-01 -1.05254900e-03 -1.60740724e+00] [-8.07803098e-03 -1.22914575e-04 9.99967365e-01 3.53918943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:375.76, Y:-1.61, Z:0.35 [[ 9.89656943e-01 1.43230496e-01 8.00996673e-03 3.75755883e+02] [-1.43226658e-01 9.89689352e-01 -1.05362440e-03 -1.61328832e+00] [-8.07828993e-03 -1.04514069e-04 9.99967365e-01 3.53400576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:375.79, Y:-1.62, Z:0.35 [[ 9.89715216e-01 1.42827287e-01 8.00982440e-03 3.75787952e+02] [-1.42823428e-01 9.89747622e-01 -1.05470531e-03 -1.61765512e+00] [-8.07834535e-03 -1.00132677e-04 9.99967365e-01 3.53025219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:375.82, Y:-1.62, Z:0.35 [[ 9.89531804e-01 1.44092521e-01 8.00968348e-03 3.75819765e+02] [-1.44088695e-01 9.89564214e-01 -1.05577435e-03 -1.62133187e+00] [-8.07822533e-03 -1.09382541e-04 9.99967365e-01 3.53119103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:375.85, Y:-1.63, Z:0.35 [[ 9.89478413e-01 1.44458708e-01 8.00954120e-03 3.75851609e+02] [-1.44454885e-01 9.89510823e-01 -1.05685269e-03 -1.62510286e+00] [-8.07819928e-03 -1.11284435e-04 9.99967365e-01 3.52912423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:375.88, Y:-1.63, Z:0.35 [[ 9.89329189e-01 1.45477164e-01 8.00939843e-03 3.75883853e+02] [-1.45473366e-01 9.89361603e-01 -1.05793355e-03 -1.62740364e+00] [-8.07809644e-03 -1.18509608e-04 9.99967365e-01 3.53303418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:375.92, Y:-1.63, Z:0.35 [[ 9.89221610e-01 1.46206904e-01 8.00925648e-03 3.75915561e+02] [-1.46203120e-01 9.89254025e-01 -1.05900717e-03 -1.62998596e+00] [-8.07802336e-03 -1.23385513e-04 9.99967365e-01 3.52703532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:375.95, Y:-1.63, Z:0.35 [[ 9.88940193e-01 1.48098446e-01 8.00911532e-03 3.75947164e+02] [-1.48094716e-01 9.88972614e-01 -1.06007364e-03 -1.62990158e+00] [-8.07779097e-03 -1.37758228e-04 9.99967365e-01 3.53288698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:375.98, Y:-1.63, Z:0.35 [[ 9.88713291e-01 1.49605762e-01 8.00904527e-03 3.75979223e+02] [-1.49602077e-01 9.88745717e-01 -1.06060264e-03 -1.63158785e+00] [-8.07758147e-03 -1.49537877e-04 9.99967365e-01 3.53075647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.69864 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:376.01, Y:-1.63, Z:0.36 [[ 9.88690100e-01 1.49758953e-01 8.00890342e-03 3.76007777e+02] [-1.49755265e-01 9.88722526e-01 -1.06167264e-03 -1.63285368e+00] [-8.07757821e-03 -1.49710228e-04 9.99967365e-01 3.61979228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:376.04, Y:-1.63, Z:0.35 [[ 9.87923437e-01 1.54735048e-01 8.02171361e-03 3.76040868e+02] [-1.54732305e-01 9.87955962e-01 -9.65240126e-04 -1.63223524e+00] [-8.07445626e-03 -2.87634894e-04 9.99967360e-01 3.51193931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.75864 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:376.07, Y:-1.63, Z:0.36 [[ 9.88102304e-01 1.53589403e-01 8.00820201e-03 3.76071272e+02] [-1.53585800e-01 9.88134740e-01 -1.06668008e-03 -1.63367848e+00] [-8.07701337e-03 -1.75957065e-04 9.99967365e-01 3.60726401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:376.10, Y:-1.63, Z:0.35 [[ 9.87920578e-01 1.54753762e-01 8.01276128e-03 3.76103013e+02] [-1.54750475e-01 9.87953048e-01 -1.03240290e-03 -1.63161443e+00] [-8.07600016e-03 -2.20046544e-04 9.99967364e-01 3.52914443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.81864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:376.13, Y:-1.63, Z:0.35 [[ 9.87721200e-01 1.56021461e-01 8.00840362e-03 3.76134021e+02] [-1.56017950e-01 9.87753646e-01 -1.06516579e-03 -1.63240188e+00] [-8.07651860e-03 -1.97367884e-04 9.99967365e-01 3.51790904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:376.16, Y:-1.64, Z:0.35 [[ 9.87721200e-01 1.56021461e-01 8.00840362e-03 3.76164741e+02] [-1.56017950e-01 9.87753646e-01 -1.06516579e-03 -1.63648780e+00] [-8.07651860e-03 -1.97367884e-04 9.99967365e-01 3.51540527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.87864 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:376.20, Y:-1.63, Z:0.35 [[ 9.87447507e-01 1.57744371e-01 8.00840362e-03 3.76195166e+02] [-1.57740916e-01 9.87479959e-01 -1.06516579e-03 -1.63368908e+00] [-8.07616199e-03 -2.11457623e-04 9.99967365e-01 3.50767136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90864 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:376.22, Y:-1.63, Z:0.35 [[ 9.87340880e-01 1.58410386e-01 8.00847329e-03 3.76224535e+02] [-1.58406958e-01 9.87373335e-01 -1.06464177e-03 -1.63399721e+00] [-8.07600329e-03 -2.17433549e-04 9.99967365e-01 3.50174633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:376.25, Y:-1.63, Z:0.35 [[ 9.87260428e-01 1.58911012e-01 8.00860583e-03 3.76253666e+02] [-1.58907608e-01 9.87292885e-01 -1.06364379e-03 -1.63033463e+00] [-8.07586427e-03 -2.22534973e-04 9.99967365e-01 3.50269695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96864 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:376.28, Y:-1.63, Z:0.35 [[ 9.87207359e-01 1.59240338e-01 8.00909159e-03 3.76282321e+02] [-1.59236974e-01 9.87239820e-01 -1.05997340e-03 -1.63030004e+00] [-8.07568467e-03 -2.28929971e-04 9.99967365e-01 3.49706613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99864 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:376.31, Y:-1.63, Z:0.35 [[ 9.87628485e-01 1.56607223e-01 8.00957567e-03 3.76311283e+02] [-1.56603803e-01 9.87660940e-01 -1.05630279e-03 -1.62823685e+00] [-8.07616969e-03 -2.11095287e-04 9.99967365e-01 3.48339349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02864 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:376.34, Y:-1.63, Z:0.35 [[ 9.87840147e-01 1.55266492e-01 8.01005948e-03 3.76340477e+02] [-1.55263058e-01 9.87872601e-01 -1.05262123e-03 -1.63033639e+00] [-8.07635509e-03 -2.03844818e-04 9.99967365e-01 3.48636850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05864 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:376.37, Y:-1.63, Z:0.35 [[ 9.88537125e-01 1.50765324e-01 8.01054320e-03 3.76369942e+02] [-1.50761772e-01 9.88569567e-01 -1.04892711e-03 -1.63017368e+00] [-8.07712105e-03 -1.70780293e-04 9.99967365e-01 3.49000561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08864 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:376.40, Y:-1.63, Z:0.35 [[ 9.88965906e-01 1.47926534e-01 8.01103237e-03 3.76398335e+02] [-1.47922919e-01 9.88998341e-01 -1.04517772e-03 -1.63210168e+00] [-8.07750724e-03 -1.51370154e-04 9.99967365e-01 3.49436786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11864 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:376.43, Y:-1.63, Z:0.35 [[ 9.89460739e-01 1.44579601e-01 8.01151427e-03 3.76426095e+02] [-1.44575907e-01 9.89493164e-01 -1.04147067e-03 -1.63472244e+00] [-8.07791402e-03 -1.27777595e-04 9.99967365e-01 3.48804703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14864 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:376.45, Y:-1.64, Z:0.35 [[ 9.90313431e-01 1.38618596e-01 8.01206733e-03 3.76453349e+02] [-1.38614741e-01 9.90345837e-01 -1.03719843e-03 -1.63898986e+00] [-8.07849252e-03 -8.34391064e-05 9.99967365e-01 3.48287976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17864 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:376.48, Y:-1.64, Z:0.35 [[ 9.90673364e-01 1.36022367e-01 8.01261458e-03 3.76480710e+02] [-1.36018461e-01 9.90705764e-01 -1.03295343e-03 -1.64217689e+00] [-8.07864822e-03 -6.65440606e-05 9.99967365e-01 3.47122278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20864 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:376.51, Y:-1.64, Z:0.35 [[ 9.91345549e-01 1.31033556e-01 8.01316310e-03 3.76509642e+02] [-1.31029521e-01 9.91377933e-01 -1.02868059e-03 -1.64411689e+00] [-8.07886475e-03 -3.01829990e-05 9.99967365e-01 3.46760442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23864 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:376.54, Y:-1.65, Z:0.35 [[ 9.91753142e-01 1.27912028e-01 8.01363997e-03 3.76538342e+02] [-1.27907921e-01 9.91785518e-01 -1.02495217e-03 -1.64833855e+00] [-8.07891578e-03 -8.50849248e-06 9.99967365e-01 3.46889309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26864 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:376.57, Y:-1.65, Z:0.35 [[ 9.92223512e-01 1.24210616e-01 8.01411252e-03 3.76566486e+02] [-1.24206419e-01 9.92255876e-01 -1.02124392e-03 -1.65347988e+00] [-8.07889957e-03 1.78980121e-05 9.99967365e-01 3.49206815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29864 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:376.59, Y:-1.66, Z:0.35 [[ 9.92324131e-01 1.23404153e-01 8.01458354e-03 3.76593920e+02] [-1.23399960e-01 9.92356496e-01 -1.01753390e-03 -1.65658338e+00] [-8.07889195e-03 2.07241581e-05 9.99967365e-01 3.49620169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32864 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:376.62, Y:-1.66, Z:0.35 [[ 9.92386620e-01 1.22900588e-01 8.01512148e-03 3.76621927e+02] [-1.22896412e-01 9.92418987e-01 -1.01327878e-03 -1.65916092e+00] [-8.07889129e-03 2.05346295e-05 9.99967365e-01 3.50078667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35864 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:376.65, Y:-1.66, Z:0.35 [[ 9.92489690e-01 1.22065414e-01 8.01565204e-03 3.76650002e+02] [-1.22061245e-01 9.92522057e-01 -1.00906415e-03 -1.66372709e+00] [-8.07888329e-03 2.30852987e-05 9.99967365e-01 3.50061918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38864 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:376.68, Y:-1.67, Z:0.35 [[ 9.92780272e-01 1.19679039e-01 8.01617694e-03 3.76678662e+02] [-1.19674826e-01 9.92812634e-01 -1.00487695e-03 -1.67008625e+00] [-8.07882445e-03 3.82874240e-05 9.99967365e-01 3.50300144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41864 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:376.71, Y:-1.67, Z:0.35 [[ 9.92951082e-01 1.18253466e-01 8.01663577e-03 3.76706880e+02] [-1.18249237e-01 9.92983442e-01 -1.00120310e-03 -1.67484494e+00] [-8.07878231e-03 4.61846389e-05 9.99967365e-01 3.50636491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44864 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:376.73, Y:-1.68, Z:0.35 [[ 9.93102372e-01 1.16976087e-01 8.01709693e-03 3.76734598e+02] [-1.16971846e-01 9.93134730e-01 -9.97496636e-04 -1.67952286e+00] [-8.07874065e-03 5.28416470e-05 9.99967365e-01 3.49972215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47864 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:376.76, Y:-1.69, Z:0.35 [[ 9.93178449e-01 1.16328352e-01 8.01761731e-03 3.76762457e+02] [-1.16324124e-01 9.93210809e-01 -9.93296285e-04 -1.68520253e+00] [-8.07873269e-03 5.38781565e-05 9.99967365e-01 3.49591649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50864 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:376.79, Y:-1.69, Z:0.35 [[ 9.93319957e-01 1.15113746e-01 8.01806635e-03 3.76790750e+02] [-1.15109508e-01 9.93352315e-01 -9.89658175e-04 -1.69267391e+00] [-8.07868803e-03 6.00915426e-05 9.99967365e-01 3.50394230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53864 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:376.82, Y:-1.70, Z:0.35 [[ 9.93372801e-01 1.14656797e-01 8.01851597e-03 3.76819110e+02] [-1.14652573e-01 9.93405162e-01 -9.86001753e-04 -1.69842974e+00] [-8.07868695e-03 6.01238335e-05 9.99967365e-01 3.50100874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56864 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:376.85, Y:-1.70, Z:0.35 [[ 9.93336774e-01 1.14968468e-01 8.01896299e-03 3.76848659e+02] [-1.14964284e-01 9.93369140e-01 -9.82352707e-04 -1.70364998e+00] [-8.07872995e-03 5.39127299e-05 9.99967365e-01 3.49980801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59864 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:376.88, Y:-1.71, Z:0.35 [[ 9.93067670e-01 1.17270191e-01 8.01902649e-03 3.76878369e+02] [-1.17266086e-01 9.93100046e-01 -9.81834077e-04 -1.70804396e+00] [-8.07883544e-03 3.46678281e-05 9.99967365e-01 3.50534592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62864 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:376.91, Y:-1.71, Z:0.35 [[ 9.92541172e-01 1.21645867e-01 8.01908990e-03 3.76907208e+02] [-1.21641909e-01 9.92573566e-01 -9.81315933e-04 -1.71257892e+00] [-8.07890968e-03 -1.46093835e-06 9.99967365e-01 3.51234766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65864 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:376.94, Y:-1.72, Z:0.35 [[ 9.92300833e-01 1.23591056e-01 8.01918582e-03 3.76936278e+02] [-1.23587168e-01 9.92333236e-01 -9.80531438e-04 -1.71645360e+00] [-8.07888953e-03 -1.80863005e-05 9.99967365e-01 3.51443161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68864 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:376.97, Y:-1.72, Z:0.35 [[ 9.92134982e-01 1.24915446e-01 8.01925022e-03 3.76965011e+02] [-1.24911605e-01 9.92167390e-01 -9.80004483e-04 -1.71966261e+00] [-8.07885626e-03 -2.94006850e-05 9.99967365e-01 3.51932057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71864 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:376.99, Y:-1.72, Z:0.35 [[ 9.91945663e-01 1.26409990e-01 8.01970329e-03 3.76993521e+02] [-1.26406228e-01 9.91978081e-01 -9.76282694e-04 -1.72089351e+00] [-8.07878176e-03 -4.53210617e-05 9.99967365e-01 3.52935154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74864 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:377.02, Y:-1.72, Z:0.35 [[ 9.91637916e-01 1.28801867e-01 8.02015692e-03 3.77022322e+02] [-1.28798214e-01 9.91670346e-01 -9.72541746e-04 -1.72059400e+00] [-8.07861698e-03 -6.85726141e-05 9.99967365e-01 3.51905571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77864 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:377.05, Y:-1.73, Z:0.35 [[ 9.91654882e-01 1.28671147e-01 8.02060465e-03 3.77050874e+02] [-1.28667520e-01 9.91687315e-01 -9.68835208e-04 -1.72560135e+00] [-8.07859303e-03 -7.12411425e-05 9.99967365e-01 3.50872277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80864 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:377.08, Y:-1.73, Z:0.35 [[ 9.91797679e-01 1.27565776e-01 8.02105310e-03 3.77079776e+02] [-1.27562142e-01 9.91830111e-01 -9.65108111e-04 -1.72889171e+00] [-8.07863675e-03 -6.59907324e-05 9.99967365e-01 3.51848957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83864 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:377.11, Y:-1.73, Z:0.35 [[ 9.91925191e-01 1.26570418e-01 8.02149609e-03 3.77108817e+02] [-1.26566781e-01 9.91957623e-01 -9.61412022e-04 -1.73090335e+00] [-8.07867052e-03 -6.16061380e-05 9.99967365e-01 3.52110712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86864 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:377.14, Y:-1.74, Z:0.35 [[ 9.92218856e-01 1.24247292e-01 8.02193886e-03 3.77137600e+02] [-1.24243610e-01 9.92251283e-01 -9.57703321e-04 -1.73511327e+00] [-8.07877117e-03 -4.64233474e-05 9.99967365e-01 3.51278062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89864 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:377.17, Y:-1.74, Z:0.35 [[ 9.92506308e-01 1.21929774e-01 8.02238591e-03 3.77166294e+02] [-1.21926046e-01 9.92538729e-01 -9.53943777e-04 -1.74088931e+00] [-8.07884286e-03 -3.13425802e-05 9.99967365e-01 3.50471671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:377.19, Y:-1.75, Z:0.35 [[ 9.92825809e-01 1.19300238e-01 8.02282725e-03 3.77194358e+02] [-1.19296454e-01 9.92858224e-01 -9.50217418e-04 -1.74705205e+00] [-8.07889118e-03 -1.36944675e-05 9.99967365e-01 3.50762985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95864 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:377.22, Y:-1.75, Z:0.35 [[ 9.92903730e-01 1.18649948e-01 8.02326650e-03 3.77223431e+02] [-1.18646174e-01 9.92936146e-01 -9.46493975e-04 -1.75073662e+00] [-8.07889278e-03 -1.21524741e-05 9.99967365e-01 3.50054047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:377.25, Y:-1.75, Z:0.35 [[ 9.92977759e-01 1.18028786e-01 8.02350922e-03 3.77252167e+02] [-1.18025007e-01 9.93010174e-01 -9.44431956e-04 -1.75414787e+00] [-8.07889644e-03 -9.17480939e-06 9.99967365e-01 3.50213011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01864 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:377.28, Y:-1.76, Z:0.36 [[ 9.93089605e-01 1.17083954e-01 8.02394893e-03 3.77281164e+02] [-1.17080175e-01 9.93122021e-01 -9.40681271e-04 -1.75864967e+00] [-8.07889906e-03 -5.26455212e-06 9.99967365e-01 3.58788584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:377.31, Y:-1.76, Z:0.35 [[ 9.93013633e-01 1.17726477e-01 8.02510572e-03 3.77310700e+02] [-1.17722799e-01 9.93046060e-01 -9.30785997e-04 -1.76281090e+00] [-8.07887777e-03 -2.04547221e-05 9.99967365e-01 3.49714472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07864 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:377.34, Y:-1.77, Z:0.35 [[ 9.93111062e-01 1.16901784e-01 8.02436552e-03 3.77338775e+02] [-1.16898028e-01 9.93143480e-01 -9.37124170e-04 -1.76701516e+00] [-8.07889779e-03 -7.36412870e-06 9.99967365e-01 3.49880802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:377.37, Y:-1.77, Z:0.35 [[ 9.93121598e-01 1.16812219e-01 8.02480200e-03 3.77367046e+02] [-1.16808490e-01 9.93154019e-01 -9.33371504e-04 -1.77038768e+00] [-8.07889355e-03 -1.04136045e-05 9.99967365e-01 3.49691998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13864 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:377.40, Y:-1.77, Z:0.35 [[ 9.93127685e-01 1.16760427e-01 8.02523580e-03 3.77395664e+02] [-1.16756727e-01 9.93160109e-01 -9.29626612e-04 -1.77335744e+00] [-8.07888766e-03 -1.37623412e-05 9.99967365e-01 3.49919668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:377.42, Y:-1.78, Z:0.35 [[ 9.93162512e-01 1.16463783e-01 8.02566803e-03 3.77424032e+02] [-1.16460103e-01 9.93194939e-01 -9.25879941e-04 -1.77758268e+00] [-8.07888435e-03 -1.51208784e-05 9.99967365e-01 3.49723740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19864 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:377.45, Y:-1.78, Z:0.35 [[ 9.93164582e-01 1.16446102e-01 8.02610053e-03 3.77452687e+02] [-1.16442452e-01 9.93197012e-01 -9.22115474e-04 -1.78050083e+00] [-8.07887582e-03 -1.87663992e-05 9.99967365e-01 3.50170613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22864 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:377.48, Y:-1.78, Z:0.35 [[ 9.93117868e-01 1.16843805e-01 8.02652782e-03 3.77481817e+02] [-1.16840198e-01 9.93150303e-01 -9.18381060e-04 -1.78219403e+00] [-8.07885567e-03 -2.57604621e-05 9.99967365e-01 3.50618288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25864 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:377.51, Y:-1.78, Z:0.36 [[ 9.93019171e-01 1.17679625e-01 8.02695211e-03 3.77511187e+02] [-1.17676076e-01 9.93051612e-01 -9.14657465e-04 -1.78245474e+00] [-8.07881428e-03 -3.63078305e-05 9.99967365e-01 3.59208117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28864 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:377.54, Y:-1.79, Z:0.35 [[ 9.93401840e-01 1.14404375e-01 8.02642075e-03 3.77541009e+02] [-1.14400682e-01 9.93434265e-01 -9.19326320e-04 -1.78717840e+00] [-8.07889635e-03 -4.96754639e-06 9.99967365e-01 3.49765607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31864 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:377.57, Y:-1.79, Z:0.35 [[ 9.93645277e-01 1.12270325e-01 8.02736628e-03 3.77569496e+02] [-1.12266629e-01 9.93677701e-01 -9.10994605e-04 -1.79110739e+00] [-8.07889253e-03 4.00013629e-06 9.99967365e-01 3.49861091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34864 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:377.60, Y:-1.79, Z:0.35 [[ 9.93859973e-01 1.10353558e-01 8.02778504e-03 3.77598316e+02] [-1.10349830e-01 9.93892395e-01 -9.07289383e-04 -1.79410558e+00] [-8.07887711e-03 1.58538902e-05 9.99967365e-01 3.49707637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37864 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:377.63, Y:-1.80, Z:0.35 [[ 9.94179503e-01 1.07436792e-01 8.02820366e-03 3.77627259e+02] [-1.07432999e-01 9.94211916e-01 -9.03569953e-04 -1.79757298e+00] [-8.07881240e-03 3.58167338e-05 9.99967365e-01 3.49478627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40864 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:377.66, Y:-1.80, Z:0.35 [[ 9.94408532e-01 1.05295836e-01 8.02862038e-03 3.77655800e+02] [-1.05292002e-01 9.94440941e-01 -8.99851885e-04 -1.80185576e+00] [-8.07873946e-03 4.94708775e-05 9.99967365e-01 3.48594074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43864 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:377.68, Y:-1.81, Z:0.35 [[ 9.94596877e-01 1.03501631e-01 8.02902921e-03 3.77684704e+02] [-1.03497768e-01 9.94629282e-01 -8.96189163e-04 -1.80619016e+00] [-8.07866460e-03 6.03603389e-05 9.99967365e-01 3.48652629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46864 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:377.71, Y:-1.81, Z:0.35 [[ 9.94673900e-01 1.02758754e-01 8.02943436e-03 3.77714501e+02] [-1.02754897e-01 9.94706306e-01 -8.92544402e-04 -1.81003756e+00] [-8.07864574e-03 6.27269243e-05 9.99967365e-01 3.49273372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49864 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:377.74, Y:-1.81, Z:0.35 [[ 9.94648608e-01 1.03003275e-01 8.02949228e-03 3.77743986e+02] [-1.02999430e-01 9.94681015e-01 -8.92023013e-04 -1.81422934e+00] [-8.07866482e-03 6.02163204e-05 9.99967365e-01 3.49426184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52864 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:377.77, Y:-1.82, Z:0.35 [[ 9.94811124e-01 1.01421662e-01 8.02955028e-03 3.77773376e+02] [-1.01417770e-01 9.94843526e-01 -8.91500626e-04 -1.82241915e+00] [-8.07856359e-03 7.25356557e-05 9.99967365e-01 3.48699252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:377.80, Y:-1.83, Z:0.35 [[ 9.94944906e-01 1.00100742e-01 8.02960785e-03 3.77802265e+02] [-1.00096811e-01 9.94977304e-01 -8.90981803e-04 -1.82805831e+00] [-8.07846551e-03 8.27396689e-05 9.99967365e-01 3.48060817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58864 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:377.83, Y:-1.83, Z:0.35 [[ 9.95122188e-01 9.83227127e-02 8.02966563e-03 3.77832558e+02] [-9.83187279e-02 9.95154578e-01 -8.90460800e-04 -1.83481916e+00] [-8.07831103e-03 9.66507892e-05 9.99967365e-01 3.47004066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61864 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:377.86, Y:-1.84, Z:0.35 [[ 9.95144474e-01 9.80968929e-02 8.02966563e-03 3.77862693e+02] [-9.80929008e-02 9.95176864e-01 -8.90460800e-04 -1.83997933e+00] [-8.07828889e-03 9.84839505e-05 9.99967365e-01 3.47334153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:377.89, Y:-1.85, Z:0.35 [[ 9.95133697e-01 9.82061603e-02 8.02966563e-03 3.77892455e+02] [-9.82021717e-02 9.95166087e-01 -8.90460800e-04 -1.84563851e+00] [-8.07829966e-03 9.75969453e-05 9.99967365e-01 3.46518774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67864 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:377.92, Y:-1.85, Z:0.35 [[ 9.94958159e-01 9.99689299e-02 8.02966563e-03 3.77922691e+02] [-9.99649987e-02 9.94990556e-01 -8.90460800e-04 -1.85383913e+00] [-8.07845988e-03 8.32857237e-05 9.99967365e-01 3.46226815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70864 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:377.95, Y:-1.86, Z:0.35 [[ 9.94951620e-01 1.00033993e-01 8.02960823e-03 3.77954335e+02] [-1.00030060e-01 9.94984017e-01 -8.90978109e-04 -1.85733345e+00] [-8.07845994e-03 8.32779237e-05 9.99967365e-01 3.45969638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73864 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:377.99, Y:-1.86, Z:0.35 [[ 9.94842524e-01 1.01113196e-01 8.02954993e-03 3.77985086e+02] [-1.01109294e-01 9.94874925e-01 -8.91503167e-04 -1.86411451e+00] [-8.07854062e-03 7.50431392e-05 9.99967365e-01 3.46413353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76864 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:378.02, Y:-1.87, Z:0.35 [[ 9.94802283e-01 1.01508354e-01 8.02949155e-03 3.78015705e+02] [-1.01504460e-01 9.94834684e-01 -8.92028626e-04 -1.86972312e+00] [-8.07856505e-03 7.23629059e-05 9.99967365e-01 3.46098901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:378.05, Y:-1.88, Z:0.35 [[ 9.94736400e-01 1.02151963e-01 8.02943323e-03 3.78046408e+02] [-1.02148086e-01 9.94768803e-01 -8.92553272e-04 -1.87595038e+00] [-8.07860576e-03 6.76639940e-05 9.99967365e-01 3.46283776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82864 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:378.08, Y:-1.88, Z:0.35 [[ 9.94824824e-01 1.01287214e-01 8.02937460e-03 3.78077374e+02] [-1.01283304e-01 9.94857223e-01 -8.93080447e-04 -1.88360268e+00] [-8.07853895e-03 7.52170078e-05 9.99967365e-01 3.46129015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:378.11, Y:-1.89, Z:0.35 [[ 9.94928107e-01 1.00267600e-01 8.02931618e-03 3.78108188e+02] [-1.00263654e-01 9.94960502e-01 -8.93605392e-04 -1.88936558e+00] [-8.07845212e-03 8.40245456e-05 9.99967365e-01 3.45780952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88864 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:378.14, Y:-1.90, Z:0.35 [[ 9.95089974e-01 9.86482342e-02 8.02925839e-03 3.78139594e+02] [-9.86442304e-02 9.95122363e-01 -8.94124350e-04 -1.89954199e+00] [-8.07829836e-03 9.76941617e-05 9.99967365e-01 3.45735541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:378.17, Y:-1.91, Z:0.35 [[ 9.95280196e-01 9.67102100e-02 8.02914156e-03 3.78171570e+02] [-9.67061347e-02 9.95312575e-01 -8.95172170e-04 -1.90701552e+00] [-8.07807785e-03 1.14479887e-04 9.99967365e-01 3.47250385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94864 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:378.20, Y:-1.91, Z:0.35 [[ 9.95422253e-01 9.52369318e-02 8.02902521e-03 3.78203065e+02] [-9.52328001e-02 9.95454625e-01 -8.96214562e-04 -1.91354810e+00] [-8.07788301e-03 1.27485365e-04 9.99967365e-01 3.47881959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97864 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:378.23, Y:-1.92, Z:0.35 [[ 9.95499451e-01 9.44265800e-02 8.02890812e-03 3.78234337e+02] [-9.44224136e-02 9.95531819e-01 -8.97262352e-04 -1.92289565e+00] [-8.07775892e-03 1.35115297e-04 9.99967365e-01 3.46988657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00864 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:378.27, Y:-1.93, Z:0.35 [[ 9.95436734e-01 9.50854761e-02 8.02879272e-03 3.78265571e+02] [-9.50813228e-02 9.95469103e-01 -8.98293704e-04 -1.92995421e+00] [-8.07782978e-03 1.30806318e-04 9.99967365e-01 3.45923072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03864 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:378.30, Y:-1.94, Z:0.35 [[ 9.95280564e-01 9.67064619e-02 8.02867652e-03 3.78297307e+02] [-9.67023529e-02 9.95312939e-01 -8.99331121e-04 -1.93984353e+00] [-8.07801675e-03 1.18694875e-04 9.99967365e-01 3.46913986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06864 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:378.33, Y:-1.95, Z:0.35 [[ 9.95067181e-01 9.88779456e-02 8.02855971e-03 3.78328951e+02] [-9.88738989e-02 9.95099564e-01 -9.00372664e-04 -1.94580048e+00] [-8.07824327e-03 1.02116287e-04 9.99967365e-01 3.47604135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09864 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:378.36, Y:-1.95, Z:0.36 [[ 9.94984282e-01 9.97086898e-02 8.02844160e-03 3.78358052e+02] [-9.97046616e-02 9.95016667e-01 -9.01424616e-04 -1.95211626e+00] [-8.07831307e-03 9.64302716e-05 9.99967365e-01 3.56562027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12864 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:378.39, Y:-1.96, Z:0.35 [[ 9.94515737e-01 1.04278162e-01 8.03210839e-03 3.78389201e+02] [-1.04274547e-01 9.94548171e-01 -8.68705284e-04 -1.96039256e+00] [-8.07890570e-03 2.63966130e-05 9.99967365e-01 3.48855718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15864 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:378.42, Y:-1.96, Z:0.36 [[ 9.94329803e-01 1.06036716e-01 8.02855881e-03 3.78419167e+02] [-1.06032903e-01 9.94362214e-01 -9.00357291e-04 -1.96495935e+00] [-8.07876644e-03 4.39606935e-05 9.99967365e-01 3.56889612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:378.45, Y:-1.97, Z:0.35 [[ 9.93788000e-01 1.10999488e-01 8.03273012e-03 3.78450486e+02] [-1.10996137e-01 9.93820463e-01 -8.63170744e-04 -1.97008635e+00] [-8.07890308e-03 -3.37932872e-05 9.99967365e-01 3.48170328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21864 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:378.48, Y:-1.97, Z:0.35 [[ 9.93602188e-01 1.12650942e-01 8.02851131e-03 3.78481925e+02] [-1.12647341e-01 9.93634624e-01 -9.00772647e-04 -1.97429927e+00] [-8.07887970e-03 -9.38077886e-06 9.99967365e-01 3.48379292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24864 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:378.51, Y:-1.98, Z:0.35 [[ 9.93372729e-01 1.14656732e-01 8.02838799e-03 3.78514086e+02] [-1.14653187e-01 9.93405171e-01 -9.01870456e-04 -1.97857954e+00] [-8.07884766e-03 -2.45867575e-05 9.99967365e-01 3.48932377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27864 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:378.55, Y:-1.98, Z:0.35 [[ 9.93251740e-01 1.15700168e-01 8.02826390e-03 3.78545786e+02] [-1.15696649e-01 9.93284184e-01 -9.02973767e-04 -1.98191669e+00] [-8.07882177e-03 -3.19629660e-05 9.99967365e-01 3.49021646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30864 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:378.58, Y:-1.98, Z:0.35 [[ 9.93116888e-01 1.16852026e-01 8.02814050e-03 3.78578235e+02] [-1.16848535e-01 9.93149335e-01 -9.04069554e-04 -1.98462455e+00] [-8.07878476e-03 -4.02297145e-05 9.99967365e-01 3.49249083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33864 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:378.61, Y:-1.99, Z:0.35 [[ 9.92827025e-01 1.19289774e-01 8.02798658e-03 3.78610166e+02] [-1.19286352e-01 9.92859480e-01 -9.05434280e-04 -1.98595921e+00] [-8.07867163e-03 -5.86896124e-05 9.99967365e-01 3.50576638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36864 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:378.64, Y:-1.99, Z:0.35 [[ 9.92739622e-01 1.20014982e-01 8.02786164e-03 3.78642390e+02] [-1.20011575e-01 9.92772079e-01 -9.06540686e-04 -1.98884254e+00] [-8.07863535e-03 -6.34774614e-05 9.99967365e-01 3.50731135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39864 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:378.67, Y:-1.99, Z:0.35 [[ 9.92561840e-01 1.21476535e-01 8.02773903e-03 3.78673995e+02] [-1.21473167e-01 9.92594301e-01 -9.07625110e-04 -1.99138559e+00] [-8.07854316e-03 -7.42808340e-05 9.99967365e-01 3.50933131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:378.71, Y:-1.99, Z:0.35 [[ 9.92245808e-01 1.24031503e-01 8.02761510e-03 3.78706102e+02] [-1.24028210e-01 9.92278276e-01 -9.08719954e-04 -1.99168525e+00] [-8.07833797e-03 -9.39771640e-05 9.99967365e-01 3.50968902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:378.74, Y:-1.99, Z:0.35 [[ 9.92166929e-01 1.24660915e-01 8.02749175e-03 3.78738513e+02] [-1.24657633e-01 9.92199399e-01 -9.09808247e-04 -1.99264845e+00] [-8.07829002e-03 -9.80064692e-05 9.99967365e-01 3.52907170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:378.77, Y:-2.00, Z:0.35 [[ 9.92226310e-01 1.24187400e-01 8.02736677e-03 3.78770575e+02] [-1.24184094e-01 9.92258777e-01 -9.10909670e-04 -1.99548369e+00] [-8.07834864e-03 -9.30427293e-05 9.99967365e-01 3.52244960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51864 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:378.80, Y:-2.00, Z:0.35 [[ 9.92302089e-01 1.23580449e-01 8.02724084e-03 3.78803105e+02] [-1.23577114e-01 9.92334553e-01 -9.12018017e-04 -1.99790247e+00] [-8.07841605e-03 -8.69858741e-05 9.99967365e-01 3.51353201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:378.83, Y:-2.00, Z:0.35 [[ 9.92426443e-01 1.22577811e-01 8.02711545e-03 3.78834803e+02] [-1.22574435e-01 9.92458903e-01 -9.13120287e-04 -1.99981840e+00] [-8.07851048e-03 -7.77144211e-05 9.99967365e-01 3.51805825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57864 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:378.87, Y:-2.00, Z:0.35 [[ 9.92508373e-01 1.21912663e-01 8.02699122e-03 3.78867160e+02] [-1.21909256e-01 9.92540829e-01 -9.14211098e-04 -1.99969484e+00] [-8.07857043e-03 -7.12023581e-05 9.99967365e-01 3.50188326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:378.90, Y:-2.00, Z:0.35 [[ 9.92516422e-01 1.21847121e-01 8.02686703e-03 3.78899100e+02] [-1.21843703e-01 9.92548877e-01 -9.15300167e-04 -2.00187413e+00] [-8.07858455e-03 -6.95727595e-05 9.99967365e-01 3.51089697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63864 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:378.93, Y:-2.01, Z:0.35 [[ 9.92481642e-01 1.22130106e-01 8.02674250e-03 3.78931180e+02] [-1.22126688e-01 9.92514097e-01 -9.16390944e-04 -2.00500603e+00] [-8.07857401e-03 -7.07782894e-05 9.99967365e-01 3.51436509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:378.96, Y:-2.01, Z:0.35 [[ 9.92500357e-01 1.21977931e-01 8.02661727e-03 3.78963475e+02] [-1.21974500e-01 9.92532810e-01 -9.17486523e-04 -2.00816880e+00] [-8.07859411e-03 -6.84369239e-05 9.99967365e-01 3.51435249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.69864 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:379.00, Y:-2.01, Z:0.35 [[ 9.92402454e-01 1.22771923e-01 8.02649080e-03 3.78995198e+02] [-1.22768508e-01 9.92434909e-01 -9.18591606e-04 -2.01084534e+00] [-8.07854693e-03 -7.37877393e-05 9.99967365e-01 3.50845423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:379.03, Y:-2.01, Z:0.35 [[ 9.92276080e-01 1.23789173e-01 8.02636507e-03 3.79026809e+02] [-1.23785783e-01 9.92308538e-01 -9.19688896e-04 -2.01486231e+00] [-8.07847811e-03 -8.09645956e-05 9.99967365e-01 3.49535344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.75864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:379.06, Y:-2.02, Z:0.35 [[ 9.92133108e-01 1.24929879e-01 8.02623916e-03 3.79058357e+02] [-1.24926517e-01 9.92165570e-01 -9.20786411e-04 -2.01860215e+00] [-8.07839188e-03 -8.91474223e-05 9.99967365e-01 3.48838270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:379.09, Y:-2.02, Z:0.35 [[ 9.92014610e-01 1.25867371e-01 8.02611366e-03 3.79090320e+02] [-1.25864032e-01 9.92047073e-01 -9.21879073e-04 -2.02074640e+00] [-8.07831706e-03 -9.56815135e-05 9.99967365e-01 3.48593827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.81864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:379.12, Y:-2.02, Z:0.35 [[ 9.91941268e-01 1.26444080e-01 8.02598843e-03 3.79122835e+02] [-1.26440750e-01 9.91973732e-01 -9.22968022e-04 -2.02232674e+00] [-8.07827354e-03 -9.92819281e-05 9.99967365e-01 3.47795906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:379.16, Y:-2.03, Z:0.35 [[ 9.91854275e-01 1.27124676e-01 8.02586210e-03 3.79155389e+02] [-1.27121360e-01 9.91886741e-01 -9.24065243e-04 -2.02508070e+00] [-8.07821769e-03 -1.03720440e-04 9.99967365e-01 3.48412164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.87864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:379.19, Y:-2.03, Z:0.35 [[ 9.91545771e-01 1.29508963e-01 8.02573605e-03 3.79187080e+02] [-1.29505716e-01 9.91578244e-01 -9.25158722e-04 -2.02907234e+00] [-8.07796161e-03 -1.22041475e-04 9.99967365e-01 3.48017912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:379.22, Y:-2.03, Z:0.35 [[ 9.91272029e-01 1.31587820e-01 8.02561051e-03 3.79218684e+02] [-1.31584633e-01 9.91304507e-01 -9.26246522e-04 -2.03182682e+00] [-8.07770663e-03 -1.37884742e-04 9.99967365e-01 3.48324432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:379.25, Y:-2.03, Z:0.35 [[ 9.91066241e-01 1.33128875e-01 8.02548439e-03 3.79250573e+02] [-1.33125729e-01 9.91098724e-01 -9.27337992e-04 -2.03406697e+00] [-8.07750280e-03 -1.49345083e-04 9.99967365e-01 3.47003669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:379.28, Y:-2.04, Z:0.35 [[ 9.90899069e-01 1.34367512e-01 8.02535812e-03 3.79282868e+02] [-1.34364398e-01 9.90931555e-01 -9.28429445e-04 -2.03672637e+00] [-8.07733136e-03 -1.58342540e-04 9.99967365e-01 3.46473322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:379.31, Y:-2.04, Z:0.35 [[ 9.90318135e-01 1.38584221e-01 8.02523288e-03 3.79314772e+02] [-1.38581236e-01 9.90350633e-01 -9.29510741e-04 -2.03764234e+00] [-8.07660999e-03 -1.91635351e-04 9.99967365e-01 3.47163004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02864 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:379.35, Y:-2.04, Z:0.35 [[ 9.90062655e-01 1.40397779e-01 8.02510737e-03 3.79346057e+02] [-1.40394845e-01 9.90095158e-01 -9.30593105e-04 -2.03903240e+00] [-8.07627315e-03 -2.05338228e-04 9.99967365e-01 3.47269799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05864 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:379.38, Y:-2.04, Z:0.35 [[ 9.89672455e-01 1.43122434e-01 8.02504567e-03 3.79377500e+02] [-1.43119585e-01 9.89704965e-01 -9.31124921e-04 -2.03739475e+00] [-8.07569240e-03 -2.27032521e-04 9.99967365e-01 3.47106527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08864 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:379.41, Y:-2.04, Z:0.35 [[ 9.89388003e-01 1.45075771e-01 8.02498418e-03 3.79408276e+02] [-1.45072982e-01 9.89420518e-01 -9.31654564e-04 -2.03829993e+00] [-8.07524451e-03 -2.42440538e-04 9.99967365e-01 3.46945847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11864 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:379.44, Y:-2.04, Z:0.35 [[ 9.89219856e-01 1.46217909e-01 8.02498418e-03 3.79438785e+02] [-1.46215158e-01 9.89252374e-01 -9.31654564e-04 -2.03921786e+00] [-8.07495923e-03 -2.51763133e-04 9.99967365e-01 3.46693834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14864 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:379.47, Y:-2.04, Z:0.35 [[ 9.88962485e-01 1.47948652e-01 8.02498418e-03 3.79470072e+02] [-1.47945958e-01 9.88995008e-01 -9.31654564e-04 -2.03682288e+00] [-8.07450633e-03 -2.65892558e-04 9.99967365e-01 3.46822078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17864 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:379.50, Y:-2.04, Z:0.35 [[ 9.88997645e-01 1.47713430e-01 8.02498418e-03 3.79500135e+02] [-1.47710728e-01 9.89030168e-01 -9.31654564e-04 -2.03686821e+00] [-8.07456934e-03 -2.63972088e-04 9.99967365e-01 3.47575897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20864 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:379.53, Y:-2.03, Z:0.35 [[ 9.89022912e-01 1.47544155e-01 8.02504474e-03 3.79530594e+02] [-1.47541451e-01 9.89055435e-01 -9.31132567e-04 -2.03438017e+00] [-8.07459729e-03 -2.63115305e-04 9.99967365e-01 3.47396804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23864 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:379.56, Y:-2.04, Z:0.35 [[ 9.89177250e-01 1.46505859e-01 8.02510502e-03 3.79559836e+02] [-1.46503126e-01 9.89209770e-01 -9.30612751e-04 -2.03600275e+00] [-8.07485251e-03 -2.55162007e-04 9.99967365e-01 3.46905614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26864 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:379.59, Y:-2.04, Z:0.35 [[ 9.89376829e-01 1.45151947e-01 8.02516553e-03 3.79589753e+02] [-1.45149173e-01 9.89409345e-01 -9.30090650e-04 -2.03735372e+00] [-8.07517824e-03 -2.44636004e-04 9.99967365e-01 3.46919865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29864 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:379.62, Y:-2.04, Z:0.35 [[ 9.89943238e-01 1.41237323e-01 8.02522621e-03 3.79618947e+02] [-1.41234425e-01 9.89975744e-01 -9.29566842e-04 -2.03745187e+00] [-8.07606881e-03 -2.13219799e-04 9.99967365e-01 3.46209337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32864 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:379.65, Y:-2.04, Z:0.35 [[ 9.90341993e-01 1.38413606e-01 8.02565425e-03 3.79647810e+02] [-1.38410645e-01 9.90374493e-01 -9.25856423e-04 -2.04012296e+00] [-8.07655438e-03 -1.93921488e-04 9.99967365e-01 3.45370711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35864 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:379.68, Y:-2.04, Z:0.34 [[ 9.91095304e-01 1.32912302e-01 8.02608821e-03 3.79676185e+02] [-1.32909192e-01 9.91127790e-01 -9.22079097e-04 -2.04249423e+00] [-8.07743472e-03 -1.52872634e-04 9.99967365e-01 3.44582432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38864 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:379.71, Y:-2.05, Z:0.34 [[ 9.91444742e-01 1.30280079e-01 8.02651783e-03 3.79705139e+02] [-1.30276912e-01 9.91477223e-01 -9.18324045e-04 -2.04566145e+00] [-8.07774893e-03 -1.35202412e-04 9.99967365e-01 3.43823567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41864 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:379.73, Y:-2.05, Z:0.34 [[ 9.91918680e-01 1.26621088e-01 8.02694660e-03 3.79733515e+02] [-1.26617832e-01 9.91951152e-01 -9.14560773e-04 -2.04880540e+00] [-8.07814161e-03 -1.09184665e-04 9.99967365e-01 3.44520448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44864 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:379.76, Y:-2.05, Z:0.34 [[ 9.92133473e-01 1.24926908e-01 8.02737452e-03 3.79762165e+02] [-1.24923628e-01 9.92165943e-01 -9.10789246e-04 -2.05199253e+00] [-8.07826969e-03 -9.91842472e-05 9.99967365e-01 3.43985170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47864 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:379.79, Y:-2.05, Z:0.34 [[ 9.92298855e-01 1.23606378e-01 8.02780230e-03 3.79790861e+02] [-1.23603084e-01 9.92331323e-01 -9.07002998e-04 -2.05489702e+00] [-8.07835103e-03 -9.22430876e-05 9.99967365e-01 3.43469518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50864 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:379.82, Y:-2.06, Z:0.34 [[ 9.92519299e-01 1.21823594e-01 8.02822793e-03 3.79819963e+02] [-1.21820273e-01 9.92551765e-01 -9.03219768e-04 -2.05770860e+00] [-8.07846528e-03 -8.15378685e-05 9.99967365e-01 3.42409452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53864 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:379.85, Y:-2.06, Z:0.34 [[ 9.92635716e-01 1.20871318e-01 8.02865016e-03 3.79849774e+02] [-1.20867997e-01 9.92668181e-01 -8.99450915e-04 -2.06097229e+00] [-8.07850337e-03 -7.75797574e-05 9.99967365e-01 3.42791247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56864 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:379.88, Y:-2.06, Z:0.34 [[ 9.92845518e-01 1.19135711e-01 8.02871001e-03 3.79878423e+02] [-1.19132337e-01 9.92877978e-01 -8.98916316e-04 -2.06256642e+00] [-8.07862240e-03 -6.39939516e-05 9.99967365e-01 3.42089088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59864 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:379.91, Y:-2.06, Z:0.34 [[ 9.92895704e-01 1.18716700e-01 8.02912915e-03 3.79907082e+02] [-1.18713343e-01 9.92928165e-01 -8.95156869e-04 -2.06473134e+00] [-8.07861854e-03 -6.43673507e-05 9.99967365e-01 3.42222875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62864 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:379.94, Y:-2.07, Z:0.34 [[ 9.92856760e-01 1.19041930e-01 8.02954477e-03 3.79935509e+02] [-1.19038614e-01 9.92889225e-01 -8.91413117e-04 -2.06703627e+00] [-8.07856402e-03 -7.07803400e-05 9.99967365e-01 3.41341032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65864 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:379.96, Y:-2.07, Z:0.34 [[ 9.92913010e-01 1.18571809e-01 8.02995899e-03 3.79964578e+02] [-1.18568508e-01 9.92945477e-01 -8.87666021e-04 -2.07053065e+00] [-8.07856363e-03 -7.07251143e-05 9.99967365e-01 3.41104195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68864 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:379.99, Y:-2.07, Z:0.34 [[ 9.92943517e-01 1.18316035e-01 8.03037748e-03 3.79993434e+02] [-1.18312756e-01 9.92975987e-01 -8.83863839e-04 -2.07169386e+00] [-8.07854727e-03 -7.24692211e-05 9.99967365e-01 3.40827032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71864 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:380.02, Y:-2.07, Z:0.34 [[ 9.92966083e-01 1.18126477e-01 8.03079327e-03 3.80022436e+02] [-1.18123222e-01 9.92998555e-01 -8.80069643e-04 -2.07330994e+00] [-8.07852564e-03 -7.47438712e-05 9.99967365e-01 3.40782065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74864 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:380.05, Y:-2.07, Z:0.34 [[ 9.92841390e-01 1.19169942e-01 8.03119945e-03 3.80050946e+02] [-1.19166752e-01 9.92873868e-01 -8.76347270e-04 -2.07366183e+00] [-8.07840231e-03 -8.69781077e-05 9.99967365e-01 3.40175047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77864 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:380.08, Y:-2.08, Z:0.34 [[ 9.92841499e-01 1.19168999e-01 8.03166758e-03 3.80078946e+02] [-1.19165843e-01 9.92873981e-01 -8.72035650e-04 -2.07648132e+00] [-8.07835338e-03 -9.13072600e-05 9.99967365e-01 3.39608563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80864 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:380.11, Y:-2.08, Z:0.34 [[ 9.92888677e-01 1.18775249e-01 8.03210086e-03 3.80107443e+02] [-1.18772113e-01 9.92921161e-01 -8.68026410e-04 -2.07896799e+00] [-8.07834296e-03 -9.21359941e-05 9.99967365e-01 3.37328672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83864 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:380.14, Y:-2.08, Z:0.34 [[ 9.92959984e-01 1.18177614e-01 8.03250864e-03 3.80135052e+02] [-1.18174489e-01 9.92992469e-01 -8.64236329e-04 -2.08174448e+00] [-8.07835398e-03 -9.10855098e-05 9.99967365e-01 3.37176580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86864 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:380.16, Y:-2.08, Z:0.34 [[ 9.92968601e-01 1.18105159e-01 8.03296582e-03 3.80163985e+02] [-1.18102067e-01 9.93001089e-01 -8.59965796e-04 -2.08467435e+00] [-8.07831021e-03 -9.47908311e-05 9.99967365e-01 3.36342445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89864 meters Centerline goodness : 0.990983 Centerline is valid? [True, True] Translation: X:380.19, Y:-2.09, Z:0.34 [[ 9.92895960e-01 1.18714265e-01 8.03336335e-03 3.80191728e+02] [-1.18711222e-01 9.92928453e-01 -8.56236106e-04 -2.08699705e+00] [-8.07820248e-03 -1.03497012e-04 9.99967365e-01 3.36600124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:380.22, Y:-2.09, Z:0.34 [[ 9.92933815e-01 1.18397201e-01 8.03381338e-03 3.80219855e+02] [-1.18394182e-01 9.92966309e-01 -8.51992571e-04 -2.09010099e+00] [-8.07817956e-03 -1.05184532e-04 9.99967365e-01 3.37039279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95864 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:380.25, Y:-2.09, Z:0.34 [[ 9.92901104e-01 1.18671177e-01 8.03426385e-03 3.80247702e+02] [-1.18668202e-01 9.92933603e-01 -8.47723328e-04 -2.09366116e+00] [-8.07809087e-03 -1.11706217e-04 9.99967365e-01 3.35969263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:380.28, Y:-2.10, Z:0.34 [[ 9.92947756e-01 1.18280165e-01 8.03471297e-03 3.80276504e+02] [-1.18277212e-01 9.92980257e-01 -8.43444975e-04 -2.09743011e+00] [-8.07807415e-03 -1.12826651e-04 9.99967365e-01 3.36431131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01864 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:380.31, Y:-2.10, Z:0.34 [[ 9.93027513e-01 1.17608653e-01 8.03510250e-03 3.80306110e+02] [-1.17605708e-01 9.93060014e-01 -8.39717600e-04 -2.10034418e+00] [-8.07809706e-03 -1.11111237e-04 9.99967365e-01 3.44198289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:380.34, Y:-2.11, Z:0.34 [[ 9.92995136e-01 1.17881667e-01 8.03573540e-03 3.80336117e+02] [-1.17878780e-01 9.93027642e-01 -8.33651735e-04 -2.10539812e+00] [-8.07797964e-03 -1.19430569e-04 9.99967365e-01 3.35368669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07864 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:380.36, Y:-2.11, Z:0.34 [[ 9.93078561e-01 1.17176816e-01 8.03530877e-03 3.80363608e+02] [-1.17173872e-01 9.93111062e-01 -8.37743849e-04 -2.10918719e+00] [-8.07811818e-03 -1.09582788e-04 9.99967365e-01 3.35504827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:380.39, Y:-2.11, Z:0.34 [[ 9.93054791e-01 1.17378058e-01 8.03575690e-03 3.80391383e+02] [-1.17375156e-01 9.93087296e-01 -8.33423006e-04 -2.11362008e+00] [-8.07803367e-03 -1.15563512e-04 9.99967365e-01 3.35188694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13864 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:380.42, Y:-2.12, Z:0.33 [[ 9.93108842e-01 1.16919833e-01 8.03620045e-03 3.80420222e+02] [-1.16916950e-01 9.93141349e-01 -8.29123998e-04 -2.11770765e+00] [-8.07802399e-03 -1.16157675e-04 9.99967365e-01 3.34217310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:380.45, Y:-2.12, Z:0.34 [[ 9.93082050e-01 1.17147153e-01 8.03658658e-03 3.80448407e+02] [-1.17144309e-01 9.93114560e-01 -8.25364236e-04 -2.12230959e+00] [-8.07794021e-03 -1.21785973e-04 9.99967365e-01 3.35452543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.19864 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:380.48, Y:-2.13, Z:0.33 [[ 9.92835718e-01 1.19216794e-01 8.03697063e-03 3.80477056e+02] [-1.19214047e-01 9.92868237e-01 -8.21607464e-04 -2.12743859e+00] [-8.07760226e-03 -1.42398561e-04 9.99967365e-01 3.34798718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22864 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:380.51, Y:-2.13, Z:0.33 [[ 9.92539568e-01 1.21657745e-01 8.03735324e-03 3.80505922e+02] [-1.21655109e-01 9.92572096e-01 -8.17847342e-04 -2.13172905e+00] [-8.07715002e-03 -1.66039240e-04 9.99967366e-01 3.34351672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.25864 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:380.53, Y:-2.14, Z:0.33 [[ 9.92329988e-01 1.23355540e-01 8.03773137e-03 3.80534179e+02] [-1.23352990e-01 9.92362523e-01 -8.14114061e-04 -2.13544494e+00] [-8.07676886e-03 -1.83608402e-04 9.99967366e-01 3.33376879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28864 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:380.56, Y:-2.14, Z:0.33 [[ 9.92197058e-01 1.24420202e-01 8.03810651e-03 3.80562474e+02] [-1.24417718e-01 9.92229598e-01 -8.10393153e-04 -2.13888805e+00] [-8.07647647e-03 -1.96013163e-04 9.99967366e-01 3.32919241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.31864 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:380.59, Y:-2.14, Z:0.33 [[ 9.91865579e-01 1.27035648e-01 8.03847945e-03 3.80591000e+02] [-1.27033279e-01 9.91898127e-01 -8.06676805e-04 -2.14136913e+00] [-8.07582943e-03 -2.21039450e-04 9.99967366e-01 3.33261535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34864 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:380.62, Y:-2.14, Z:0.33 [[ 9.91710107e-01 1.28243677e-01 8.03885130e-03 3.80619479e+02] [-1.28241378e-01 9.91742660e-01 -8.02953999e-04 -2.14358138e+00] [-8.07544555e-03 -2.34615769e-04 9.99967366e-01 3.32264908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.37864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:380.65, Y:-2.15, Z:0.33 [[ 9.91726617e-01 1.28115917e-01 8.03921973e-03 3.80647569e+02] [-1.28113643e-01 9.91759172e-01 -7.99248203e-04 -2.14581353e+00] [-8.07536632e-03 -2.37298012e-04 9.99967366e-01 3.31218324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:380.68, Y:-2.15, Z:0.33 [[ 9.91809799e-01 1.27470337e-01 8.03963813e-03 3.80675013e+02] [-1.27468077e-01 9.91842355e-01 -7.95017083e-04 -2.14961987e+00] [-8.07539471e-03 -2.36291478e-04 9.99967366e-01 3.31371857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:380.70, Y:-2.15, Z:0.33 [[ 9.91937717e-01 1.26471033e-01 8.04005327e-03 3.80702699e+02] [-1.26468774e-01 9.91970274e-01 -7.90796350e-04 -2.15371453e+00] [-8.07550667e-03 -2.32394954e-04 9.99967366e-01 3.31319568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:380.73, Y:-2.16, Z:0.33 [[ 9.91931118e-01 1.26522755e-01 8.04047188e-03 3.80731451e+02] [-1.26520532e-01 9.91963677e-01 -7.86516919e-04 -2.15833558e+00] [-8.07536834e-03 -2.37114176e-04 9.99967366e-01 3.31312308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:380.76, Y:-2.16, Z:0.33 [[ 9.91963966e-01 1.26264942e-01 8.04083409e-03 3.80759681e+02] [-1.26262741e-01 9.91996526e-01 -7.82796303e-04 -2.16133707e+00] [-8.07531922e-03 -2.38752026e-04 9.99967366e-01 3.31054413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.79, Y:-2.16, Z:0.33 [[ 9.92014529e-01 1.25867046e-01 8.04119428e-03 3.80788761e+02] [-1.25864862e-01 9.92047090e-01 -7.79078700e-04 -2.16367697e+00] [-8.07530372e-03 -2.39246416e-04 9.99967366e-01 3.29810195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:380.82, Y:-2.17, Z:0.33 [[ 9.92211608e-01 1.24303892e-01 8.04155230e-03 3.80817196e+02] [-1.24301687e-01 9.92244168e-01 -7.75365577e-04 -2.16689038e+00] [-8.07556433e-03 -2.30251792e-04 9.99967366e-01 3.29101638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.85, Y:-2.17, Z:0.33 [[ 9.92380567e-01 1.22947707e-01 8.04190682e-03 3.80846225e+02] [-1.22945487e-01 9.92413126e-01 -7.71670909e-04 -2.17008318e+00] [-8.07576905e-03 -2.22924939e-04 9.99967366e-01 3.28239156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.87, Y:-2.17, Z:0.33 [[ 9.92691597e-01 1.20410611e-01 8.04226336e-03 3.80874368e+02] [-1.20408339e-01 9.92724152e-01 -7.67937087e-04 -2.17402210e+00] [-8.07621685e-03 -2.06030876e-04 9.99967366e-01 3.26828992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:380.90, Y:-2.18, Z:0.33 [[ 9.92813157e-01 1.19404149e-01 8.04261652e-03 3.80903425e+02] [-1.19401873e-01 9.92845712e-01 -7.64220376e-04 -2.17726958e+00] [-8.07632842e-03 -2.01575436e-04 9.99967366e-01 3.26243348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:380.93, Y:-2.18, Z:0.33 [[ 9.93124311e-01 1.16787896e-01 8.04297259e-03 3.80932486e+02] [-1.16785565e-01 9.93156863e-01 -7.60454447e-04 -2.17992646e+00] [-8.07674530e-03 -1.84077298e-04 9.99967366e-01 3.26401803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:380.96, Y:-2.18, Z:0.33 [[ 9.93316653e-01 1.15140485e-01 8.04332599e-03 3.80961129e+02] [-1.15138130e-01 9.93349203e-01 -7.56697951e-04 -2.18195509e+00] [-8.07695803e-03 -1.74452839e-04 9.99967366e-01 3.26377562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:380.99, Y:-2.18, Z:0.33 [[ 9.93496067e-01 1.13581974e-01 8.04367824e-03 3.80990096e+02] [-1.13579599e-01 9.93528615e-01 -7.52934870e-04 -2.18450055e+00] [-8.07714432e-03 -1.65559913e-04 9.99967366e-01 3.26097449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:381.02, Y:-2.19, Z:0.32 [[ 9.93669951e-01 1.12050534e-01 8.04402695e-03 3.81019269e+02] [-1.12048139e-01 9.93702497e-01 -7.49190744e-04 -2.18689232e+00] [-8.07731689e-03 -1.56869923e-04 9.99967366e-01 3.24975588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:381.05, Y:-2.19, Z:0.32 [[ 9.93836403e-01 1.10564424e-01 8.04435000e-03 3.81047644e+02] [-1.10562009e-01 9.93868948e-01 -7.45705869e-04 -2.18915114e+00] [-8.07747821e-03 -1.48289858e-04 9.99967366e-01 3.23902787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:381.08, Y:-2.19, Z:0.32 [[ 9.94107524e-01 1.08099558e-01 8.04469769e-03 3.81076174e+02] [-1.08097092e-01 9.94140065e-01 -7.41935869e-04 -2.19084322e+00] [-8.07775922e-03 -1.32044401e-04 9.99967366e-01 3.24237808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85864 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:381.11, Y:-2.19, Z:0.33 [[ 9.94276595e-01 1.06533233e-01 8.04504201e-03 3.81105505e+02] [-1.06530747e-01 9.94309135e-01 -7.38183314e-04 -2.19247860e+00] [-8.07789982e-03 -1.23085942e-04 9.99967366e-01 3.33862715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:381.14, Y:-2.19, Z:0.32 [[ 9.94291344e-01 1.06395424e-01 8.04598342e-03 3.81136234e+02] [-1.06393017e-01 9.94323889e-01 -7.27889183e-04 -2.19263085e+00] [-8.07775761e-03 -1.32302536e-04 9.99967366e-01 3.23848212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:381.16, Y:-2.19, Z:0.32 [[ 9.94406618e-01 1.05312637e-01 8.04531350e-03 3.81164533e+02] [-1.05310135e-01 9.94439156e-01 -7.35219986e-04 -2.19417840e+00] [-8.07800272e-03 -1.16145429e-04 9.99967366e-01 3.23616900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:381.19, Y:-2.20, Z:0.32 [[ 9.94474400e-01 1.04670603e-01 8.04565570e-03 3.81193699e+02] [-1.04668110e-01 9.94506939e-01 -7.31455981e-04 -2.19585245e+00] [-8.07802236e-03 -1.14709326e-04 9.99967366e-01 3.23769265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:381.22, Y:-2.20, Z:0.32 [[ 9.94635163e-01 1.03131736e-01 8.04599299e-03 3.81222347e+02] [-1.03129223e-01 9.94667700e-01 -7.27726751e-04 -2.19678751e+00] [-8.07814107e-03 -1.05954387e-04 9.99967366e-01 3.24128114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00864 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:381.25, Y:-2.20, Z:0.34 [[ 9.94904992e-01 1.00495337e-01 8.04632758e-03 3.81252015e+02] [-1.00492768e-01 9.94937525e-01 -7.24008326e-04 -2.19911850e+00] [-8.07835271e-03 -8.82782324e-05 9.99967366e-01 3.37056265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03864 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:381.28, Y:-2.20, Z:0.32 [[ 9.95095027e-01 9.85956127e-02 8.04931554e-03 3.81282205e+02] [-9.85932507e-02 9.95127577e-01 -6.90700935e-04 -2.20181269e+00] [-8.07819595e-03 -1.06295119e-04 9.99967365e-01 3.22621940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06864 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:381.31, Y:-2.21, Z:0.33 [[ 9.95355690e-01 9.59286345e-02 8.04653292e-03 3.81311612e+02] [-9.59259344e-02 9.95388213e-01 -7.21724493e-04 -2.20534334e+00] [-8.07865807e-03 -5.34986087e-05 9.99967366e-01 3.31531332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:381.34, Y:-2.21, Z:0.32 [[ 9.95514252e-01 9.42687763e-02 8.04811325e-03 3.81341134e+02] [-9.42661646e-02 9.95546782e-01 -7.04076615e-04 -2.20892152e+00] [-8.07864568e-03 -5.77464629e-05 9.99967366e-01 3.21190718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:381.37, Y:-2.21, Z:0.32 [[ 9.95864889e-01 9.04896285e-02 8.04679718e-03 3.81369394e+02] [-9.04867743e-02 9.95897398e-01 -7.18809417e-04 -2.21297999e+00] [-8.07882917e-03 -1.22916614e-05 9.99967366e-01 3.20854671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15864 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:381.40, Y:-2.22, Z:0.32 [[ 9.96136472e-01 8.74492543e-02 8.04713058e-03 3.81399166e+02] [-8.74463313e-02 9.96168976e-01 -7.15057466e-04 -2.21722650e+00] [-8.07883307e-03 8.60277557e-06 9.99967366e-01 3.21399900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18864 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:381.43, Y:-2.22, Z:0.32 [[ 9.96202795e-01 8.66904528e-02 8.04717791e-03 3.81428718e+02] [-8.66875093e-02 9.96235296e-01 -7.14524349e-04 -2.22030977e+00] [-8.07882511e-03 1.42213434e-05 9.99967366e-01 3.20596071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21864 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:381.46, Y:-2.22, Z:0.32 [[ 9.96261991e-01 8.60074881e-02 8.04722526e-03 3.81458501e+02] [-8.60045266e-02 9.96294490e-01 -7.13990711e-04 -2.22301307e+00] [-8.07881474e-03 1.92240079e-05 9.99967366e-01 3.20455709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24864 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:381.49, Y:-2.23, Z:0.32 [[ 9.96261027e-01 8.60186501e-02 8.04727205e-03 3.81488277e+02] [-8.60156932e-02 9.96293527e-01 -7.13462930e-04 -2.22558403e+00] [-8.07881617e-03 1.86036274e-05 9.99967366e-01 3.19768525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27864 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:381.52, Y:-2.23, Z:0.32 [[ 9.96287621e-01 8.57100717e-02 8.04731913e-03 3.81518009e+02] [-8.57071090e-02 9.96320121e-01 -7.12931563e-04 -2.22874846e+00] [-8.07881138e-03 2.05724333e-05 9.99967366e-01 3.18928959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30864 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:381.55, Y:-2.23, Z:0.32 [[ 9.96479974e-01 8.34440007e-02 8.04736598e-03 3.81547154e+02] [-8.34409685e-02 9.96512467e-01 -7.12402351e-04 -2.23247208e+00] [-8.07874623e-03 3.84146656e-05 9.99967366e-01 3.18418414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33864 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:381.58, Y:-2.24, Z:0.33 [[ 9.96606938e-01 8.19136734e-02 8.04741260e-03 3.81577275e+02] [-8.19105955e-02 9.96639427e-01 -7.11875375e-04 -2.23586904e+00] [-8.07868101e-03 5.02915804e-05 9.99967366e-01 3.27003266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36864 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:381.61, Y:-2.24, Z:0.32 [[ 9.96757124e-01 8.00654605e-02 8.04723943e-03 3.81607269e+02] [-8.00623065e-02 9.96789605e-01 -7.13834130e-04 -2.23998036e+00] [-8.07855808e-03 6.72387043e-05 9.99967366e-01 3.18891795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39864 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:381.64, Y:-2.24, Z:0.32 [[ 9.96977239e-01 7.72762696e-02 8.04752823e-03 3.81637348e+02] [-7.72730512e-02 9.97009714e-01 -7.10563341e-04 -2.24374046e+00] [-8.07837351e-03 8.65584172e-05 9.99967366e-01 3.17792884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:381.67, Y:-2.25, Z:0.32 [[ 9.97197314e-01 7.43824874e-02 8.04752823e-03 3.81667225e+02] [-7.43791747e-02 9.97229780e-01 -7.10563341e-04 -2.24772973e+00] [-8.07808827e-03 1.10003347e-04 9.99967366e-01 3.17768606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45864 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:381.70, Y:-2.25, Z:0.32 [[ 9.97195299e-01 7.44095015e-02 8.04752823e-03 3.81697595e+02] [-7.44061897e-02 9.97227764e-01 -7.10563341e-04 -2.25226317e+00] [-8.07809125e-03 1.09784511e-04 9.99967366e-01 3.16632893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:381.73, Y:-2.26, Z:0.32 [[ 9.97159501e-01 7.48876886e-02 8.04752823e-03 3.81728097e+02] [-7.48843923e-02 9.97191969e-01 -7.10563341e-04 -2.25738690e+00] [-8.07814297e-03 1.05910726e-04 9.99967366e-01 3.17715010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51864 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:381.76, Y:-2.26, Z:0.32 [[ 9.97159502e-01 7.48876906e-02 8.04750549e-03 3.81758971e+02] [-7.48843923e-02 9.97191969e-01 -7.10820795e-04 -2.26011371e+00] [-8.07813957e-03 1.06169151e-04 9.99967366e-01 3.17464628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:381.79, Y:-2.27, Z:0.32 [[ 9.96811746e-01 7.93824923e-02 8.04750549e-03 3.81790315e+02] [-7.93793404e-02 9.96844228e-01 -7.10820795e-04 -2.26509121e+00] [-8.07853613e-03 6.97488402e-05 9.99967366e-01 3.16381916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57864 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:381.82, Y:-2.27, Z:0.32 [[ 9.96578528e-01 8.22585896e-02 8.04745958e-03 3.81821361e+02] [-8.22555273e-02 9.96611019e-01 -7.11340138e-04 -2.26799606e+00] [-8.07870073e-03 4.69582764e-05 9.99967366e-01 3.17136333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:381.85, Y:-2.27, Z:0.32 [[ 9.96095620e-01 8.79133327e-02 8.04741328e-03 3.81852705e+02] [-8.79104506e-02 9.96128127e-01 -7.11863651e-04 -2.27341468e+00] [-8.07883702e-03 1.63253811e-06 9.99967366e-01 3.16231478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63864 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:381.88, Y:-2.28, Z:0.32 [[ 9.95908184e-01 9.00118310e-02 8.04736647e-03 3.81883307e+02] [-9.00090131e-02 9.95940696e-01 -7.12392417e-04 -2.27747171e+00] [-8.07882351e-03 -1.48580757e-05 9.99967366e-01 3.15671876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:381.91, Y:-2.28, Z:0.32 [[ 9.95677953e-01 9.25238082e-02 8.04731914e-03 3.81913921e+02] [-9.25210680e-02 9.95710472e-01 -7.12926643e-04 -2.28014221e+00] [-8.07876262e-03 -3.47012210e-05 9.99967366e-01 3.15880960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69864 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:381.94, Y:-2.28, Z:0.32 [[ 9.95288785e-01 9.66202582e-02 8.04731914e-03 3.81944223e+02] [-9.66176518e-02 9.95321316e-01 -7.12926643e-04 -2.28013936e+00] [-8.07855143e-03 -6.79451858e-05 9.99967366e-01 3.15188750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72864 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:381.97, Y:-2.28, Z:0.31 [[ 9.95101273e-01 9.85327165e-02 8.04731914e-03 3.81974591e+02] [-9.85301727e-02 9.95133808e-01 -7.12926643e-04 -2.28123652e+00] [-8.07840594e-03 -8.34695339e-05 9.99967366e-01 3.14660092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75864 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:382.01, Y:-2.28, Z:0.32 [[ 9.94904885e-01 1.00496323e-01 8.04731914e-03 3.82005156e+02] [-1.00493844e-01 9.94937425e-01 -7.12926643e-04 -2.28244482e+00] [-8.07822549e-03 -9.94118330e-05 9.99967366e-01 3.15321810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78864 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:382.03, Y:-2.28, Z:0.32 [[ 9.94790758e-01 1.01619819e-01 8.04731914e-03 3.82034899e+02] [-1.01617376e-01 9.94823301e-01 -7.12926643e-04 -2.28328358e+00] [-8.07810807e-03 -1.08534617e-04 9.99967366e-01 3.16278428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81864 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:382.06, Y:-2.28, Z:0.32 [[ 9.94650129e-01 1.02987191e-01 8.04736610e-03 3.82064571e+02] [-1.02984797e-01 9.94682675e-01 -7.12396098e-04 -2.28313239e+00] [-8.07794332e-03 -1.20171491e-04 9.99967366e-01 3.16065987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84864 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:382.09, Y:-2.28, Z:0.31 [[ 9.94372829e-01 1.05631040e-01 8.04741326e-03 3.82093343e+02] [-1.05628737e-01 9.94405382e-01 -7.11862966e-04 -2.28048714e+00] [-8.07758588e-03 -1.42180912e-04 9.99967366e-01 3.14647028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87864 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:382.12, Y:-2.28, Z:0.31 [[ 9.94099573e-01 1.08172420e-01 8.04774038e-03 3.82122432e+02] [-1.08170230e-01 9.94132134e-01 -7.08145437e-04 -2.27876936e+00] [-8.07711913e-03 -1.66558853e-04 9.99967366e-01 3.14208998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90864 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:382.15, Y:-2.28, Z:0.31 [[ 9.94124282e-01 1.07945082e-01 8.04806756e-03 3.82151505e+02] [-1.07942915e-01 9.94156844e-01 -7.04407355e-04 -2.27857844e+00] [-8.07707875e-03 -1.68463416e-04 9.99967366e-01 3.13970333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93864 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:382.18, Y:-2.28, Z:0.31 [[ 9.94216256e-01 1.07094630e-01 8.04839313e-03 3.82180780e+02] [-1.07092466e-01 9.94248818e-01 -7.00667553e-04 -2.27819476e+00] [-8.07714309e-03 -1.65307194e-04 9.99967366e-01 3.14616288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96864 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:382.21, Y:-2.28, Z:0.31 [[ 9.94391364e-01 1.05456306e-01 8.04871616e-03 3.82209249e+02] [-1.05454118e-01 9.94423925e-01 -6.96937061e-04 -2.27800406e+00] [-8.07733232e-03 -1.55742069e-04 9.99967366e-01 3.14159338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99864 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:382.24, Y:-2.28, Z:0.31 [[ 9.94975581e-01 9.97938161e-02 8.04908685e-03 3.82237426e+02] [-9.97914777e-02 9.95008131e-01 -6.92629150e-04 -2.27615913e+00] [-8.07802698e-03 -1.14081181e-04 9.99967366e-01 3.13360500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02864 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:382.27, Y:-2.28, Z:0.31 [[ 9.95688020e-01 9.24152237e-02 8.04945619e-03 3.82266335e+02] [-9.24126789e-02 9.95720555e-01 -6.88310003e-04 -2.27528733e+00] [-8.07861930e-03 -5.85297865e-05 9.99967366e-01 3.13909789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05864 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:382.29, Y:-2.28, Z:0.31 [[ 9.96118413e-01 8.76544841e-02 8.04977348e-03 3.82294347e+02] [-8.76518140e-02 9.96150938e-01 -6.84579021e-04 -2.27545807e+00] [-8.07879582e-03 -2.36554805e-05 9.99967366e-01 3.13369525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08864 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:382.32, Y:-2.28, Z:0.31 [[ 9.96458211e-01 8.37032260e-02 8.05013572e-03 3.82323256e+02] [-8.37004615e-02 9.96490727e-01 -6.80292456e-04 -2.27635387e+00] [-8.07882828e-03 4.08292760e-06 9.99967366e-01 3.12185393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11864 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:382.35, Y:-2.28, Z:0.31 [[ 9.97137473e-01 7.51801223e-02 8.05044904e-03 3.82351421e+02] [-7.51771100e-02 9.97169968e-01 -6.76564278e-04 -2.27978570e+00] [-8.07853020e-03 6.94181009e-05 9.99967366e-01 3.11705661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14864 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:382.38, Y:-2.28, Z:0.31 [[ 9.97435858e-01 7.11118469e-02 8.05075728e-03 3.82380531e+02] [-7.11087318e-02 9.97468343e-01 -6.72876318e-04 -2.28371519e+00] [-8.07822500e-03 9.86718274e-05 9.99967366e-01 3.11337048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17864 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:382.41, Y:-2.29, Z:0.31 [[ 9.97932507e-01 6.37643793e-02 8.05080062e-03 3.82410015e+02] [-6.37610293e-02 9.97964969e-01 -6.72357406e-04 -2.28688739e+00] [-8.07728944e-03 1.57639978e-04 9.99967366e-01 3.11700640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20864 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:382.44, Y:-2.29, Z:0.31 [[ 9.98119714e-01 6.07636462e-02 8.05084299e-03 3.82440509e+02] [-6.07602026e-02 9.98152166e-01 -6.71849649e-04 -2.28959035e+00] [-8.07679040e-03 1.81415528e-04 9.99967366e-01 3.10737865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23864 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:382.47, Y:-2.29, Z:0.31 [[ 9.98253224e-01 5.85293564e-02 8.05084299e-03 3.82471076e+02] [-5.85258403e-02 9.98285668e-01 -6.71849649e-04 -2.29290451e+00] [-8.07636410e-03 1.99493727e-04 9.99967366e-01 3.10017466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26864 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:382.50, Y:-2.30, Z:0.31 [[ 9.98389879e-01 5.61501027e-02 8.05084299e-03 3.82500947e+02] [-5.61465092e-02 9.98422315e-01 -6.71849649e-04 -2.29860204e+00] [-8.07586572e-03 2.18741160e-04 9.99967366e-01 3.08783629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:382.53, Y:-2.30, Z:0.31 [[ 9.98419717e-01 5.56170106e-02 8.05084299e-03 3.82531367e+02] [-5.56133998e-02 9.98452151e-01 -6.71849649e-04 -2.30233796e+00] [-8.07574777e-03 2.23053187e-04 9.99967366e-01 3.08614713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:382.56, Y:-2.31, Z:0.31 [[ 9.98421521e-01 5.55846217e-02 8.05084299e-03 3.82561622e+02] [-5.55810098e-02 9.98453955e-01 -6.71849649e-04 -2.30673567e+00] [-8.07574053e-03 2.23315165e-04 9.99967366e-01 3.08488228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:382.59, Y:-2.31, Z:0.31 [[ 9.98442484e-01 5.52067946e-02 8.05084299e-03 3.82591870e+02] [-5.52031705e-02 9.98474916e-01 -6.71849649e-04 -2.31085869e+00] [-8.07565545e-03 2.26371175e-04 9.99967366e-01 3.08448764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:382.62, Y:-2.32, Z:0.31 [[ 9.98525455e-01 5.36851981e-02 8.05084299e-03 3.82621604e+02] [-5.36815246e-02 9.98557881e-01 -6.71849649e-04 -2.31762797e+00] [-8.07530110e-03 2.38677450e-04 9.99967366e-01 3.06355466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:382.65, Y:-2.32, Z:0.30 [[ 9.98614357e-01 5.20052896e-02 8.05084299e-03 3.82652702e+02] [-5.20015615e-02 9.98646778e-01 -6.71849649e-04 -2.32271122e+00] [-8.07488814e-03 2.52262298e-04 9.99967366e-01 3.04713006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:382.68, Y:-2.33, Z:0.31 [[ 9.98665833e-01 5.10072367e-02 8.05080180e-03 3.82683405e+02] [-5.10034723e-02 9.98698250e-01 -6.72342835e-04 -2.32767827e+00] [-8.07461602e-03 2.60826971e-04 9.99967366e-01 3.06175577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:382.71, Y:-2.34, Z:0.30 [[ 9.98744413e-01 4.94447426e-02 8.05076106e-03 3.82713723e+02] [-4.94409235e-02 9.98776823e-01 -6.72830316e-04 -2.33551598e+00] [-8.07418148e-03 2.73948457e-04 9.99967366e-01 3.04399194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:382.75, Y:-2.34, Z:0.30 [[ 9.98727115e-01 4.97929253e-02 8.05072023e-03 3.82745680e+02] [-4.97891136e-02 9.98759526e-01 -6.73318490e-04 -2.34156063e+00] [-8.07426002e-03 2.71623209e-04 9.99967366e-01 3.04299033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:382.78, Y:-2.35, Z:0.30 [[ 9.98594047e-01 5.23938546e-02 8.05063793e-03 3.82776956e+02] [-5.23901194e-02 9.98626467e-01 -6.74301087e-04 -2.35129474e+00] [-8.07490935e-03 2.51579169e-04 9.99967366e-01 3.03927999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:382.81, Y:-2.36, Z:0.30 [[ 9.98499952e-01 5.41574885e-02 8.05055486e-03 3.82808899e+02] [-5.41538026e-02 9.98532378e-01 -6.75291498e-04 -2.35685946e+00] [-8.07531178e-03 2.38310371e-04 9.99967366e-01 3.04022490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:382.84, Y:-2.36, Z:0.30 [[ 9.98426594e-01 5.54934800e-02 8.05047191e-03 3.82840371e+02] [-5.54898295e-02 9.98459023e-01 -6.76278870e-04 -2.36233940e+00] [-8.07559539e-03 2.28495496e-04 9.99967366e-01 3.03542100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:382.87, Y:-2.37, Z:0.30 [[ 9.98312582e-01 5.75080835e-02 8.05038788e-03 3.82871499e+02] [-5.75044904e-02 9.98345018e-01 -6.77277735e-04 -2.37175768e+00] [-8.07601358e-03 2.13201433e-04 9.99967366e-01 3.01927282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:382.90, Y:-2.38, Z:0.30 [[ 9.98095315e-01 6.11631796e-02 8.05030298e-03 3.82902680e+02] [-6.11596972e-02 9.98127763e-01 -6.78285412e-04 -2.38233599e+00] [-8.07671699e-03 1.84639399e-04 9.99967366e-01 3.00672594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:382.93, Y:-2.39, Z:0.30 [[ 9.97926823e-01 6.38533543e-02 8.05021773e-03 3.82934424e+02] [-6.38499512e-02 9.97959279e-01 -6.79295694e-04 -2.38830776e+00] [-8.07716478e-03 1.63881385e-04 9.99967366e-01 3.00638991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:382.97, Y:-2.39, Z:0.30 [[ 9.97744238e-01 6.66455555e-02 8.05013173e-03 3.82966546e+02] [-6.66422350e-02 9.97776703e-01 -6.80313283e-04 -2.39344875e+00] [-8.07757376e-03 1.42299887e-04 9.99967366e-01 3.01571308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.00, Y:-2.40, Z:0.30 [[ 9.97220262e-01 7.40739250e-02 8.05004499e-03 3.82998524e+02] [-7.40708382e-02 9.97252750e-01 -6.81338076e-04 -2.39937395e+00] [-8.07839889e-03 8.31705545e-05 9.99967366e-01 3.01012846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:383.03, Y:-2.40, Z:0.31 [[ 9.96993712e-01 7.70631949e-02 8.04995725e-03 3.83028568e+02] [-7.70601971e-02 9.97026208e-01 -6.82373134e-04 -2.40393455e+00] [-8.07860421e-03 5.99904315e-05 9.99967366e-01 3.14061570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:383.06, Y:-2.41, Z:0.31 [[ 9.96438672e-01 8.39351839e-02 8.05341473e-03 3.83060202e+02] [-8.39327400e-02 9.96471216e-01 -6.41557669e-04 -2.40955214e+00] [-8.07884522e-03 -3.66722919e-05 9.99967365e-01 3.11389306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:383.09, Y:-2.41, Z:0.31 [[ 9.96220444e-01 8.64870290e-02 8.05109774e-03 3.83092608e+02] [-8.64844479e-02 9.96252976e-01 -6.68835974e-04 -2.41285992e+00] [-8.07877573e-03 -2.99866730e-05 9.99967366e-01 3.10473113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:383.12, Y:-2.42, Z:0.31 [[ 9.96024506e-01 8.87151729e-02 8.04995044e-03 3.83124693e+02] [-8.87125554e-02 9.96057035e-01 -6.82344098e-04 -2.41631772e+00] [-8.07874404e-03 -3.45002322e-05 9.99967366e-01 3.10162271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:383.16, Y:-2.42, Z:0.31 [[ 9.95836991e-01 9.07959020e-02 8.04934481e-03 3.83156805e+02] [-9.07932949e-02 9.95869521e-01 -6.89470969e-04 -2.42070524e+00] [-8.07869830e-03 -4.42258424e-05 9.99967366e-01 3.09238060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:383.19, Y:-2.42, Z:0.30 [[ 9.95877841e-01 9.03467896e-02 8.04885929e-03 3.83188016e+02] [-9.03441217e-02 9.95910366e-01 -6.95182778e-04 -2.42407013e+00] [-8.07874993e-03 -3.48499988e-05 9.99967366e-01 2.96417730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.22, Y:-2.43, Z:0.30 [[ 9.95809531e-01 9.10965253e-02 8.04987278e-03 3.83220098e+02] [-9.10939784e-02 9.95842066e-01 -6.83242013e-04 -2.42620910e+00] [-8.07864291e-03 -5.29160284e-05 9.99967366e-01 2.96832477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:383.25, Y:-2.43, Z:0.30 [[ 9.95849890e-01 9.06542737e-02 8.04978090e-03 3.83251707e+02] [-9.06517036e-02 9.95882423e-01 -6.84322752e-04 -2.42905337e+00] [-8.07867209e-03 -4.82436143e-05 9.99967366e-01 2.95946002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:383.28, Y:-2.43, Z:0.30 [[ 9.95774944e-01 9.14738359e-02 8.04968912e-03 3.83284027e+02] [-9.14712839e-02 9.95807479e-01 -6.85400716e-04 -2.43275730e+00] [-8.07863686e-03 -5.38105391e-05 9.99967366e-01 2.95741894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:383.32, Y:-2.44, Z:0.29 [[ 9.95780230e-01 9.14162838e-02 8.04959686e-03 3.83316228e+02] [-9.14137212e-02 9.95812764e-01 -6.86482511e-04 -2.43766532e+00] [-8.07864698e-03 -5.22578897e-05 9.99967366e-01 2.94675636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:383.35, Y:-2.44, Z:0.29 [[ 9.95718484e-01 9.20864024e-02 8.04950484e-03 3.83348052e+02] [-9.20838530e-02 9.95751019e-01 -6.87559841e-04 -2.44088539e+00] [-8.07861756e-03 -5.66133775e-05 9.99967366e-01 2.94815599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:383.38, Y:-2.44, Z:0.29 [[ 9.95834004e-01 9.08286538e-02 8.04941236e-03 3.83379786e+02] [-9.08260545e-02 9.95866534e-01 -6.88640765e-04 -2.44499682e+00] [-8.07868871e-03 -4.53244767e-05 9.99967366e-01 2.94288363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.41, Y:-2.45, Z:0.29 [[ 9.95827741e-01 9.08972996e-02 8.04931912e-03 3.83412118e+02] [-9.08946937e-02 9.95860271e-01 -6.89728961e-04 -2.44912046e+00] [-8.07869162e-03 -4.47891627e-05 9.99967366e-01 2.93344525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.44, Y:-2.46, Z:0.29 [[ 9.96053244e-01 8.83919972e-02 8.04922635e-03 3.83443796e+02] [-8.83893008e-02 9.96085767e-01 -6.90809860e-04 -2.45532390e+00] [-8.07878186e-03 -2.33820871e-05 9.99967366e-01 2.93094396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.48, Y:-2.46, Z:0.29 [[ 9.96113302e-01 8.77126101e-02 8.04913225e-03 3.83476139e+02] [-8.77098827e-02 9.96145822e-01 -6.91904546e-04 -2.45954294e+00] [-8.07879821e-03 -1.67731239e-05 9.99967366e-01 2.93081708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:383.51, Y:-2.46, Z:0.29 [[ 9.96152370e-01 8.72678006e-02 8.04903864e-03 3.83507672e+02] [-8.72650498e-02 9.96184888e-01 -6.92991848e-04 -2.46334233e+00] [-8.07880653e-03 -1.20742859e-05 9.99967366e-01 2.92425650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.54, Y:-2.47, Z:0.29 [[ 9.96188000e-01 8.68601306e-02 8.04894608e-03 3.83539889e+02] [-8.68573579e-02 9.96220517e-01 -6.94065291e-04 -2.47020148e+00] [-8.07881182e-03 -7.69067535e-06 9.99967366e-01 2.91863934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:383.57, Y:-2.48, Z:0.29 [[ 9.96165060e-01 8.71228454e-02 8.04882947e-03 3.83572028e+02] [-8.71200703e-02 9.96197576e-01 -6.95414961e-04 -2.47503676e+00] [-8.07881093e-03 -8.46650323e-06 9.99967366e-01 2.91599512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.60, Y:-2.48, Z:0.29 [[ 9.96217548e-01 8.65206030e-02 8.04873570e-03 3.83603599e+02] [-8.65177996e-02 9.96250062e-01 -6.96498573e-04 -2.48007934e+00] [-8.07881491e-03 -2.49480128e-06 9.99967366e-01 2.93114192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:383.64, Y:-2.48, Z:0.30 [[ 9.96085881e-01 8.80235017e-02 8.04864211e-03 3.83635312e+02] [-8.80207386e-02 9.96118398e-01 -6.97578315e-04 -2.48297099e+00] [-8.07880378e-03 -1.35995131e-05 9.99967366e-01 3.02755959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.66, Y:-2.49, Z:0.29 [[ 9.96124476e-01 8.75860815e-02 8.04404471e-03 3.83664566e+02] [-8.75828761e-02 9.96156954e-01 -7.50557720e-04 -2.48693244e+00] [-8.07886948e-03 4.31283451e-05 9.99967364e-01 2.92254237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:383.70, Y:-2.49, Z:0.29 [[ 9.96052747e-01 8.83976464e-02 8.04865717e-03 3.83696735e+02] [-8.83948976e-02 9.96085265e-01 -6.97319475e-04 -2.49002921e+00] [-8.07879021e-03 -1.68932471e-05 9.99967366e-01 2.91808304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:383.73, Y:-2.49, Z:0.30 [[ 9.95872194e-01 9.04090369e-02 8.04856339e-03 3.83729556e+02] [-9.04063451e-02 9.95904717e-01 -6.98400285e-04 -2.49319990e+00] [-8.07874394e-03 -3.21237743e-05 9.99967366e-01 3.03763019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:383.76, Y:-2.50, Z:0.30 [[ 9.95885979e-01 9.02575372e-02 8.04329900e-03 3.83761098e+02] [-9.02543505e-02 9.95918459e-01 -7.59030465e-04 -2.49597493e+00] [-8.07897816e-03 2.99650700e-05 9.99967364e-01 3.03508124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:383.79, Y:-2.50, Z:0.29 [[ 9.95737048e-01 9.18859937e-02 8.04337972e-03 3.83790656e+02] [-9.18828676e-02 9.95769534e-01 -7.58099719e-04 -2.49852011e+00] [-8.07901122e-03 1.58191822e-05 9.99967364e-01 2.92415606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:383.82, Y:-2.50, Z:0.29 [[ 9.95660755e-01 9.27085841e-02 8.04861929e-03 3.83822967e+02] [-9.27059734e-02 9.95693284e-01 -6.97652424e-04 -2.50138571e+00] [-8.07863454e-03 -5.15299464e-05 9.99967366e-01 2.93096727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55864 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:383.85, Y:-2.50, Z:0.30 [[ 9.95499336e-01 9.44261272e-02 8.04852596e-03 3.83854824e+02] [-9.44235639e-02 9.95531869e-01 -6.98727482e-04 -2.50180277e+00] [-8.07854222e-03 -6.43877613e-05 9.99967366e-01 3.04888875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:383.89, Y:-2.50, Z:0.29 [[ 9.95474567e-01 9.46871626e-02 8.04534275e-03 3.83885316e+02] [-9.46843115e-02 9.95507077e-01 -7.35391047e-04 -2.50294597e+00] [-8.07882774e-03 -2.97046550e-05 9.99967365e-01 2.92920609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61864 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:383.92, Y:-2.50, Z:0.30 [[ 9.95447574e-01 9.49702354e-02 8.04868487e-03 3.83917473e+02] [-9.49677056e-02 9.95480110e-01 -6.96785761e-04 -2.50481862e+00] [-8.07847961e-03 -7.07514398e-05 9.99967366e-01 3.03255523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64864 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:383.95, Y:-2.51, Z:0.30 [[ 9.95464780e-01 9.47900090e-02 8.04525210e-03 3.83949652e+02] [-9.47871525e-02 9.95497289e-01 -7.36480218e-04 -2.50691560e+00] [-8.07883762e-03 -2.94464192e-05 9.99967365e-01 3.02719916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:383.98, Y:-2.51, Z:0.29 [[ 9.95433835e-01 9.51143087e-02 8.04669540e-03 3.83980370e+02] [-9.51115978e-02 9.95466356e-01 -7.19769512e-04 -2.50889363e+00] [-8.07867493e-03 -4.88511309e-05 9.99967366e-01 2.90912925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70864 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:384.01, Y:-2.51, Z:0.30 [[ 9.95260891e-01 9.69070379e-02 8.04884620e-03 3.84012413e+02] [-9.69045871e-02 9.95293433e-01 -6.94855757e-04 -2.50894464e+00] [-8.07830018e-03 -8.84073575e-05 9.99967366e-01 3.02558249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:384.04, Y:-2.51, Z:0.29 [[ 9.95177814e-01 9.77567135e-02 8.04633979e-03 3.84042643e+02] [-9.77540560e-02 9.95210340e-01 -7.23849026e-04 -2.51050819e+00] [-8.07856165e-03 -6.62038583e-05 9.99967366e-01 2.91147797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:384.07, Y:-2.51, Z:0.29 [[ 9.95127218e-01 9.82702236e-02 8.04876899e-03 3.84074912e+02] [-9.82678101e-02 9.95159763e-01 -6.95746710e-04 -2.51265606e+00] [-8.07818222e-03 -9.85784146e-05 9.99967366e-01 2.90342353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:384.11, Y:-2.51, Z:0.29 [[ 9.95072883e-01 9.88189078e-02 8.04867549e-03 3.84106920e+02] [-9.88165035e-02 9.95105428e-01 -6.96826689e-04 -2.51408821e+00] [-8.07814032e-03 -1.01948628e-04 9.99967366e-01 2.90191166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:384.14, Y:-2.52, Z:0.29 [[ 9.95148905e-01 9.80503821e-02 8.04858208e-03 3.84138535e+02] [-9.80479440e-02 9.95181448e-01 -6.97903895e-04 -2.51627221e+00] [-8.07822931e-03 -9.46286288e-05 9.99967366e-01 2.90316757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:384.17, Y:-2.52, Z:0.29 [[ 9.95341403e-01 9.60765976e-02 8.04848846e-03 3.84170162e+02] [-9.60740863e-02 9.95373940e-01 -6.98981930e-04 -2.51845906e+00] [-8.07841148e-03 -7.75255196e-05 9.99967366e-01 2.89969857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:384.20, Y:-2.52, Z:0.29 [[ 9.95399519e-01 9.54726234e-02 8.04839406e-03 3.84201731e+02] [-9.54700835e-02 9.95432053e-01 -7.00067199e-04 -2.52096241e+00] [-8.07846668e-03 -7.15342996e-05 9.99967366e-01 2.89422518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:384.23, Y:-2.52, Z:0.29 [[ 9.95432111e-01 9.51322060e-02 8.04832281e-03 3.84233346e+02] [-9.51296484e-02 9.95464645e-01 -7.00885449e-04 -2.52305703e+00] [-8.07849758e-03 -6.79502362e-05 9.99967366e-01 2.88409934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:384.26, Y:-2.52, Z:0.30 [[ 9.95428572e-01 9.51692384e-02 8.04817688e-03 3.84264464e+02] [-9.51666684e-02 9.95461105e-01 -7.02557090e-04 -2.52420872e+00] [-8.07850887e-03 -6.65727795e-05 9.99967366e-01 2.98222838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:384.30, Y:-2.53, Z:0.29 [[ 9.95362736e-01 9.58554347e-02 8.04730428e-03 3.84295857e+02] [-9.58528063e-02 9.95395264e-01 -7.12564190e-04 -2.52626949e+00] [-8.07855172e-03 -6.20968568e-05 9.99967366e-01 2.88454758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:384.33, Y:-2.53, Z:0.29 [[ 9.95315974e-01 9.63396875e-02 8.04834901e-03 3.84327932e+02] [-9.63371720e-02 9.95348511e-01 -7.00561912e-04 -2.52773624e+00] [-8.07840412e-03 -7.80747209e-05 9.99967366e-01 2.88531451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:384.36, Y:-2.53, Z:0.29 [[ 9.95157286e-01 9.79653111e-02 8.04825487e-03 3.84360747e+02] [-9.79628399e-02 9.95189826e-01 -7.01641835e-04 -2.52691814e+00] [-8.07827792e-03 -9.01859193e-05 9.99967366e-01 2.88858936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:384.39, Y:-2.53, Z:0.29 [[ 9.95015810e-01 9.93919799e-02 8.04816033e-03 3.84393210e+02] [-9.93895466e-02 9.95048353e-01 -7.02724519e-04 -2.52768931e+00] [-8.07815386e-03 -1.00681000e-04 9.99967366e-01 2.88769317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:384.43, Y:-2.53, Z:0.29 [[ 9.94934000e-01 1.00207606e-01 8.04806616e-03 3.84425970e+02] [-1.00205190e-01 9.94966544e-01 -7.03801425e-04 -2.52674566e+00] [-8.07808283e-03 -1.06222034e-04 9.99967366e-01 2.87638139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:384.46, Y:-2.53, Z:0.29 [[ 9.94943796e-01 1.00110308e-01 8.04797126e-03 3.84458301e+02] [-1.00107881e-01 9.94976339e-01 -7.04884934e-04 -2.52726469e+00] [-8.07810723e-03 -1.04344458e-04 9.99967366e-01 2.87151758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15864 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:384.49, Y:-2.53, Z:0.30 [[ 9.94974127e-01 9.98084113e-02 8.04787744e-03 3.84489730e+02] [-9.98059656e-02 9.95006669e-01 -7.05954448e-04 -2.52797690e+00] [-8.07815191e-03 -1.00819768e-04 9.99967366e-01 2.98172990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:384.52, Y:-2.53, Z:0.29 [[ 9.95057364e-01 9.89751681e-02 8.04729460e-03 3.84521073e+02] [-9.89726413e-02 9.95089900e-01 -7.12599905e-04 -2.52846073e+00] [-8.07831127e-03 -8.73842189e-05 9.99967366e-01 2.86907381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:384.55, Y:-2.53, Z:0.29 [[ 9.95185453e-01 9.76787991e-02 8.04777132e-03 3.84552858e+02] [-9.76762738e-02 9.95217989e-01 -7.07174807e-04 -2.52988903e+00] [-8.07836277e-03 -8.23062339e-05 9.99967366e-01 2.85791677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:384.58, Y:-2.53, Z:0.29 [[ 9.95366073e-01 9.58207455e-02 8.04772414e-03 3.84583900e+02] [-9.58181552e-02 9.95398604e-01 -7.07711260e-04 -2.53156197e+00] [-8.07850679e-03 -6.66863026e-05 9.99967366e-01 2.85202195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:384.62, Y:-2.53, Z:0.28 [[ 9.95696128e-01 9.23279775e-02 8.04767712e-03 3.84615054e+02] [-9.23252687e-02 9.95728649e-01 -7.08245510e-04 -2.53438888e+00] [-8.07869355e-03 -3.78066407e-05 9.99967366e-01 2.84618115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:384.65, Y:-2.54, Z:0.28 [[ 9.95829794e-01 9.08749579e-02 8.04762996e-03 3.84645748e+02] [-9.08721974e-02 9.95862310e-01 -7.08781014e-04 -2.53789565e+00] [-8.07874181e-03 -2.54805676e-05 9.99967366e-01 2.84857529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:384.68, Y:-2.54, Z:0.28 [[ 9.95909372e-01 8.99986567e-02 8.04758304e-03 3.84676786e+02] [-8.99958632e-02 9.95941887e-01 -7.09313391e-04 -2.54121295e+00] [-8.07876228e-03 -1.78373283e-05 9.99967366e-01 2.84337197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:384.71, Y:-2.54, Z:0.28 [[ 9.95884342e-01 9.02752176e-02 8.04753595e-03 3.84707904e+02] [-9.02724289e-02 9.95916856e-01 -7.09847214e-04 -2.54350639e+00] [-8.07875832e-03 -1.95448913e-05 9.99967366e-01 2.84686060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39864 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:384.74, Y:-2.55, Z:0.30 [[ 9.95849816e-01 9.06552927e-02 8.04748896e-03 3.84738575e+02] [-9.06525120e-02 9.95882331e-01 -7.10379584e-04 -2.54594510e+00] [-8.07875173e-03 -2.20937111e-05 9.99967366e-01 2.95660510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:384.77, Y:-2.55, Z:0.28 [[ 9.95759606e-01 9.16406530e-02 8.04975340e-03 3.84770045e+02] [-9.16381115e-02 9.95792141e-01 -6.84773198e-04 -2.54868133e+00] [-8.07863423e-03 -5.57947097e-05 9.99967366e-01 2.83518323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:384.80, Y:-2.55, Z:0.28 [[ 9.95605956e-01 9.32953408e-02 8.04728418e-03 3.84801705e+02] [-9.32926280e-02 9.95638477e-01 -7.12655538e-04 -2.55006612e+00] [-8.07867321e-03 -4.12281908e-05 9.99967366e-01 2.84024985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:384.83, Y:-2.55, Z:0.30 [[ 9.95554003e-01 9.38481149e-02 8.04723712e-03 3.84833435e+02] [-9.38454159e-02 9.95586525e-01 -7.13186550e-04 -2.55202710e+00] [-8.07865205e-03 -4.51805888e-05 9.99967366e-01 2.95005218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51864 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:384.86, Y:-2.56, Z:0.30 [[ 9.95433996e-01 9.51127307e-02 8.04534896e-03 3.84864581e+02] [-9.51099011e-02 9.95466507e-01 -7.34457416e-04 -2.55657840e+00] [-8.07873168e-03 -3.40884634e-05 9.99967366e-01 2.95334179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:384.89, Y:-2.56, Z:0.28 [[ 9.95607974e-01 9.32741285e-02 8.04351831e-03 3.84894654e+02] [-9.32710724e-02 9.95640466e-01 -7.55052796e-04 -2.56096222e+00] [-8.07887921e-03 1.50900628e-06 9.99967365e-01 2.84075661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:384.93, Y:-2.56, Z:0.28 [[ 9.95681734e-01 9.24831188e-02 8.04719360e-03 3.84925775e+02] [-9.24803717e-02 9.95714252e-01 -7.13607485e-04 -2.56393738e+00] [-8.07870200e-03 -3.36815174e-05 9.99967366e-01 2.83760002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:384.96, Y:-2.57, Z:0.28 [[ 9.95740986e-01 9.18429745e-02 8.04714595e-03 3.84957383e+02] [-9.18402022e-02 9.95773502e-01 -7.14144423e-04 -2.56544012e+00] [-8.07872385e-03 -2.79486391e-05 9.99967366e-01 2.84056234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:384.99, Y:-2.57, Z:0.28 [[ 9.95687840e-01 9.24173621e-02 8.04709871e-03 3.84989048e+02] [-9.24146043e-02 9.95720357e-01 -7.14676353e-04 -2.56864589e+00] [-8.07870850e-03 -3.20748876e-05 9.99967366e-01 2.84093391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:385.02, Y:-2.57, Z:0.30 [[ 9.95592251e-01 9.34415023e-02 8.04705148e-03 3.85021019e+02] [-9.34387736e-02 9.95624771e-01 -7.15207766e-04 -2.57236323e+00] [-8.07867387e-03 -3.98513110e-05 9.99967366e-01 2.96044678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.05, Y:-2.58, Z:0.28 [[ 9.95611049e-01 9.32414277e-02 8.04211648e-03 3.85050880e+02] [-9.32382441e-02 9.95643529e-01 -7.70691880e-04 -2.57542949e+00] [-8.07894164e-03 1.74765316e-05 9.99967365e-01 2.82830104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:385.08, Y:-2.58, Z:0.28 [[ 9.95532895e-01 9.40717763e-02 8.04707503e-03 3.85082041e+02] [-9.40690709e-02 9.95565417e-01 -7.14875532e-04 -2.57730499e+00] [-8.07863922e-03 -4.52987643e-05 9.99967366e-01 2.82854015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:385.11, Y:-2.58, Z:0.28 [[ 9.95236926e-01 9.71530011e-02 8.04702681e-03 3.85113381e+02] [-9.71503920e-02 9.95269456e-01 -7.15417992e-04 -2.57803348e+00] [-8.07846499e-03 -6.97614046e-05 9.99967366e-01 2.83896482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.14, Y:-2.58, Z:0.28 [[ 9.95052845e-01 9.90206147e-02 8.04697887e-03 3.85144288e+02] [-9.90180623e-02 9.95085379e-01 -7.15956716e-04 -2.58009229e+00] [-8.07832549e-03 -8.43814887e-05 9.99967366e-01 2.83641361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.18, Y:-2.58, Z:0.28 [[ 9.94775303e-01 1.01771038e-01 8.04693115e-03 3.85175793e+02] [-1.01768572e-01 9.94807843e-01 -7.16492695e-04 -2.57988663e+00] [-8.07806843e-03 -1.06175451e-04 9.99967366e-01 2.83517593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.21, Y:-2.58, Z:0.28 [[ 9.94583022e-01 1.03633298e-01 8.04688387e-03 3.85206792e+02] [-1.03630888e-01 9.94615566e-01 -7.17023271e-04 -2.58075912e+00] [-8.07786345e-03 -1.20766549e-04 9.99967366e-01 2.82910997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:385.24, Y:-2.58, Z:0.29 [[ 9.94444468e-01 1.04954510e-01 8.04683641e-03 3.85238448e+02] [-1.04952139e-01 9.94477015e-01 -7.17555599e-04 -2.58167725e+00] [-8.07770455e-03 -1.30963497e-04 9.99967366e-01 2.92523557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.27, Y:-2.58, Z:0.28 [[ 9.94241358e-01 1.06861651e-01 8.04418817e-03 3.85268730e+02] [-1.06859102e-01 9.94273893e-01 -7.47239369e-04 -2.58247642e+00] [-8.07797752e-03 -1.16658436e-04 9.99967366e-01 2.82058688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93864 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:385.30, Y:-2.58, Z:0.29 [[ 9.94054762e-01 1.08583509e-01 8.04680355e-03 3.85299782e+02] [-1.08581253e-01 9.94087318e-01 -7.17925146e-04 -2.58074044e+00] [-8.07718019e-03 -1.60075103e-04 9.99967366e-01 2.92975137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:385.33, Y:-2.58, Z:0.28 [[ 9.93839530e-01 1.10536196e-01 8.04604940e-03 3.85330217e+02] [-1.10533936e-01 9.93872085e-01 -7.26392439e-04 -2.58080711e+00] [-8.07703655e-03 -1.67443991e-04 9.99967366e-01 2.81973533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:385.36, Y:-2.58, Z:0.29 [[ 9.93842961e-01 1.10505262e-01 8.04708456e-03 3.85360329e+02] [-1.10503096e-01 9.93875523e-01 -7.14737775e-04 -2.58039059e+00] [-8.07678266e-03 -1.78890648e-04 9.99967366e-01 2.91919442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:385.39, Y:-2.58, Z:0.28 [[ 9.93604597e-01 1.12628222e-01 8.04912850e-03 3.85391024e+02] [-1.12626311e-01 9.93637175e-01 -6.91720992e-04 -2.57836774e+00] [-8.07582061e-03 -2.19246495e-04 9.99967366e-01 2.81683098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:385.42, Y:-2.58, Z:0.28 [[ 9.93585729e-01 1.12794701e-01 8.04705326e-03 3.85420481e+02] [-1.12792607e-01 9.93618295e-01 -7.15074590e-04 -2.57876156e+00] [-8.07635596e-03 -1.97160206e-04 9.99967366e-01 2.81793351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.45, Y:-2.58, Z:0.28 [[ 9.93633473e-01 1.12373327e-01 8.04710064e-03 3.85449751e+02] [-1.12371223e-01 9.93666039e-01 -7.14540961e-04 -2.57614824e+00] [-8.07642597e-03 -1.94270724e-04 9.99967366e-01 2.82660556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:385.48, Y:-2.58, Z:0.28 [[ 9.93761127e-01 1.11238757e-01 8.04743246e-03 3.85478247e+02] [-1.11236647e-01 9.93793693e-01 -7.10784129e-04 -2.57595437e+00] [-8.07655436e-03 -1.88819763e-04 9.99967366e-01 2.82137685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:385.51, Y:-2.58, Z:0.28 [[ 9.93923019e-01 1.09782816e-01 8.04776004e-03 3.85507250e+02] [-1.09780687e-01 9.93955583e-01 -7.07055639e-04 -2.57603308e+00] [-8.07673858e-03 -1.80729754e-04 9.99967366e-01 2.81040984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:385.54, Y:-2.58, Z:0.28 [[ 9.94059658e-01 1.08538590e-01 8.04808836e-03 3.85536298e+02] [-1.08536451e-01 9.94092221e-01 -7.03298502e-04 -2.57697390e+00] [-8.07687706e-03 -1.74390282e-04 9.99967366e-01 2.80266561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:385.56, Y:-2.58, Z:0.28 [[ 9.94400028e-01 1.05374606e-01 8.04841466e-03 3.85564747e+02] [-1.05372394e-01 9.94432587e-01 -6.99544374e-04 -2.57695721e+00] [-8.07732002e-03 -1.52453777e-04 9.99967366e-01 2.80409649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.59, Y:-2.58, Z:0.28 [[ 9.94475793e-01 1.04657134e-01 8.04873703e-03 3.85593658e+02] [-1.04654929e-01 9.94508352e-01 -6.95815431e-04 -2.57717350e+00] [-8.07735824e-03 -1.50368402e-04 9.99967366e-01 2.80394459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:385.62, Y:-2.58, Z:0.29 [[ 9.94668937e-01 1.02805246e-01 8.04905647e-03 3.85622507e+02] [-1.02803010e-01 9.94701494e-01 -6.92100391e-04 -2.57689946e+00] [-8.07756004e-03 -1.39056474e-04 9.99967366e-01 2.90104060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.65, Y:-2.58, Z:0.28 [[ 9.94581247e-01 1.03649937e-01 8.05198788e-03 3.85653246e+02] [-1.03648005e-01 9.94613824e-01 -6.57928548e-04 -2.57546282e+00] [-8.07681271e-03 -1.80209086e-04 9.99967366e-01 2.79913193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.68, Y:-2.58, Z:0.28 [[ 9.94635951e-01 1.03123885e-01 8.04919162e-03 3.85681543e+02] [-1.03121673e-01 9.94668510e-01 -6.90523655e-04 -2.57815290e+00] [-8.07748691e-03 -1.43226452e-04 9.99967366e-01 2.79686948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.71, Y:-2.58, Z:0.28 [[ 9.94658855e-01 1.02902705e-01 8.04955478e-03 3.85709833e+02] [-1.02900520e-01 9.94691416e-01 -6.86263951e-04 -2.57933949e+00] [-8.07744146e-03 -1.45704854e-04 9.99967366e-01 2.78431692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38864 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:385.74, Y:-2.58, Z:0.29 [[ 9.94821797e-01 1.01315308e-01 8.04991536e-03 3.85740047e+02] [-1.01313105e-01 9.94854356e-01 -6.82007988e-04 -2.57796981e+00] [-8.07759121e-03 -1.37085508e-04 9.99967366e-01 2.90401687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:385.77, Y:-2.58, Z:0.28 [[ 9.94826348e-01 1.01270609e-01 8.04986398e-03 3.85769966e+02] [-1.01268400e-01 9.94858907e-01 -6.82614867e-04 -2.57861564e+00] [-8.07760770e-03 -1.36113589e-04 9.99967366e-01 2.78792845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:385.80, Y:-2.58, Z:0.28 [[ 9.94978934e-01 9.97603092e-02 8.04995998e-03 3.85798294e+02] [-9.97580598e-02 9.95011490e-01 -6.81480850e-04 -2.57984614e+00] [-8.07778741e-03 -1.24989299e-04 9.99967366e-01 2.78892930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:385.83, Y:-2.58, Z:0.28 [[ 9.95316447e-01 9.63346436e-02 8.05031950e-03 3.85826091e+02] [-9.63323168e-02 9.95348997e-01 -6.77207039e-04 -2.58021158e+00] [-8.07811594e-03 -1.01470624e-04 9.99967366e-01 2.78311273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.85, Y:-2.58, Z:0.28 [[ 9.95473262e-01 9.47004320e-02 8.05067906e-03 3.85853690e+02] [-9.46980864e-02 9.95505811e-01 -6.72905250e-04 -2.58072805e+00] [-8.07822220e-03 -9.25247170e-05 9.99967366e-01 2.77951439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:385.88, Y:-2.58, Z:0.28 [[ 9.95680204e-01 9.24992585e-02 8.05103168e-03 3.85881704e+02] [-9.24968753e-02 9.95712750e-01 -6.68659415e-04 -2.58111898e+00] [-8.07836540e-03 -7.89243318e-05 9.99967366e-01 2.78410583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.91, Y:-2.58, Z:0.28 [[ 9.96074725e-01 8.81494006e-02 8.05138152e-03 3.85910643e+02] [-8.81469096e-02 9.96107264e-01 -6.64420167e-04 -2.58127621e+00] [-8.07860785e-03 -4.78922633e-05 9.99967366e-01 2.77377993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:385.94, Y:-2.58, Z:0.28 [[ 9.96270336e-01 8.59103432e-02 8.05168608e-03 3.85938086e+02] [-8.59078090e-02 9.96302872e-01 -6.60708625e-04 -2.58252602e+00] [-8.07867967e-03 -3.34583060e-05 9.99967366e-01 2.76864675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.97, Y:-2.58, Z:0.28 [[ 9.96376839e-01 8.46661622e-02 8.05203578e-03 3.85966995e+02] [-8.46636221e-02 9.96409374e-01 -6.56419055e-04 -2.58293678e+00] [-8.07870041e-03 -2.76737706e-05 9.99967366e-01 2.76874414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:386.00, Y:-2.58, Z:0.28 [[ 9.96496911e-01 8.32410136e-02 8.05233703e-03 3.85995672e+02] [-8.32384570e-02 9.96529444e-01 -6.52702500e-04 -2.58084267e+00] [-8.07872256e-03 -1.98480844e-05 9.99967366e-01 2.76442540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.02, Y:-2.58, Z:0.28 [[ 9.96625104e-01 8.16918463e-02 8.05263520e-03 3.86023949e+02] [-8.16892690e-02 9.96657635e-01 -6.49002904e-04 -2.58302592e+00] [-8.07873860e-03 -1.10012970e-05 9.99967366e-01 2.77334592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.05, Y:-2.59, Z:0.28 [[ 9.96942766e-01 7.77191753e-02 8.05297576e-03 3.86051274e+02] [-7.77165028e-02 9.96975290e-01 -6.44749247e-04 -2.58603750e+00] [-8.07872723e-03 1.69289848e-05 9.99967366e-01 2.76153643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.08, Y:-2.59, Z:0.28 [[ 9.97155413e-01 7.49414837e-02 8.05331423e-03 3.86078656e+02] [-7.49387549e-02 9.97187933e-01 -6.40493450e-04 -2.58895102e+00] [-8.07866730e-03 3.51661693e-05 9.99967366e-01 2.75794112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:386.11, Y:-2.59, Z:0.28 [[ 9.97370440e-01 7.20232242e-02 8.05364840e-03 3.86107461e+02] [-7.20204344e-02 9.97402954e-01 -6.36263642e-04 -2.59199294e+00] [-8.07855846e-03 5.45632926e-05 9.99967366e-01 2.75239787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:386.14, Y:-2.60, Z:0.27 [[ 9.97537637e-01 6.96691924e-02 8.05393746e-03 3.86136304e+02] [-6.96663556e-02 9.97570147e-01 -6.32583426e-04 -2.59530840e+00] [-8.07843915e-03 6.99373048e-05 9.99967366e-01 2.74225355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.16, Y:-2.60, Z:0.27 [[ 9.97727871e-01 6.68896463e-02 8.05422448e-03 3.86164761e+02] [-6.68867486e-02 9.97760376e-01 -6.28907697e-04 -2.60018568e+00] [-8.07825345e-03 8.87578504e-05 9.99967366e-01 2.74052806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:386.19, Y:-2.60, Z:0.27 [[ 9.97770169e-01 6.62556851e-02 8.05450427e-03 3.86193923e+02] [-6.62527958e-02 9.97802674e-01 -6.25303645e-04 -2.60385189e+00] [-8.07823582e-03 9.02758961e-05 9.99967366e-01 2.74572183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:386.22, Y:-2.61, Z:0.27 [[ 9.97772105e-01 6.62265054e-02 8.05454396e-03 3.86223825e+02] [-6.62236193e-02 9.97804611e-01 -6.24791956e-04 -2.60786546e+00] [-8.07823890e-03 8.99989317e-05 9.99967366e-01 2.74809907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:386.25, Y:-2.61, Z:0.27 [[ 9.97633450e-01 6.82834059e-02 8.05458394e-03 3.86253200e+02] [-6.82805909e-02 9.97665962e-01 -6.24276123e-04 -2.61329949e+00] [-8.07841194e-03 7.28269908e-05 9.99967366e-01 2.73380995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:386.28, Y:-2.62, Z:0.27 [[ 9.97598458e-01 6.87927367e-02 8.05462425e-03 3.86282436e+02] [-6.87899425e-02 9.97630971e-01 -6.23755683e-04 -2.61719604e+00] [-8.07845247e-03 6.81805680e-05 9.99967366e-01 2.73809919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:386.31, Y:-2.62, Z:0.27 [[ 9.97375619e-01 7.19513553e-02 8.05466403e-03 3.86311272e+02] [-7.19486683e-02 9.97408141e-01 -6.23241585e-04 -2.62268357e+00] [-8.07863055e-03 4.20836112e-05 9.99967366e-01 2.74004780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:386.34, Y:-2.63, Z:0.27 [[ 9.97247493e-01 7.37059027e-02 8.05470413e-03 3.86341029e+02] [-7.37032771e-02 9.97280020e-01 -6.22722815e-04 -2.62581477e+00] [-8.07869385e-03 2.73506750e-05 9.99967366e-01 2.73309283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.37, Y:-2.63, Z:0.27 [[ 9.97134901e-01 7.52137652e-02 8.05474484e-03 3.86369696e+02] [-7.52111930e-02 9.97167433e-01 -6.22195864e-04 -2.62890784e+00] [-8.07872693e-03 1.46062421e-05 9.99967366e-01 2.73080554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:386.40, Y:-2.63, Z:0.27 [[ 9.96945817e-01 7.76798171e-02 8.05500745e-03 3.86397954e+02] [-7.76773531e-02 9.96978358e-01 -6.18777339e-04 -2.63146731e+00] [-8.07873461e-03 -8.80417739e-06 9.99967366e-01 2.72582472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:386.43, Y:-2.63, Z:0.27 [[ 9.96894358e-01 7.83374221e-02 8.05529251e-03 3.86427720e+02] [-7.83350097e-02 9.96926902e-01 -6.15043799e-04 -2.63380261e+00] [-8.07871875e-03 -1.78777241e-05 9.99967366e-01 2.72110831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.46, Y:-2.64, Z:0.27 [[ 9.96838152e-01 7.90494224e-02 8.05533282e-03 3.86456315e+02] [-7.90470375e-02 9.96870698e-01 -6.14515390e-04 -2.63599332e+00] [-8.07870234e-03 -2.41778097e-05 9.99967366e-01 2.70929787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.49, Y:-2.64, Z:0.27 [[ 9.96839744e-01 7.90293079e-02 8.05561333e-03 3.86485319e+02] [-7.90269522e-02 9.96872293e-01 -6.10815959e-04 -2.63768279e+00] [-8.07869009e-03 -2.77249459e-05 9.99967366e-01 2.70910540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.19864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:386.51, Y:-2.64, Z:0.27 [[ 9.97005949e-01 7.69040934e-02 8.05589260e-03 3.86514002e+02] [-7.69016983e-02 9.97038495e-01 -6.07110258e-04 -2.63990345e+00] [-8.07872430e-03 -1.42192833e-05 9.99967366e-01 2.69973086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:386.54, Y:-2.64, Z:0.27 [[ 9.97197446e-01 7.43797868e-02 8.05617296e-03 3.86543608e+02] [-7.43773396e-02 9.97229987e-01 -6.03366842e-04 -2.64213154e+00] [-8.07873556e-03 2.47916094e-06 9.99967366e-01 2.71119797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.25864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:386.57, Y:-2.64, Z:0.27 [[ 9.97291104e-01 7.31132716e-02 8.05621247e-03 3.86573534e+02] [-7.31107873e-02 9.97323643e-01 -6.02838882e-04 -2.64461530e+00] [-8.07872670e-03 1.22098178e-05 9.99967366e-01 2.70201585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28864 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:386.60, Y:-2.65, Z:0.28 [[ 9.97457944e-01 7.08007606e-02 8.05625221e-03 3.86602411e+02] [-7.07982051e-02 9.97490477e-01 -6.02307339e-04 -2.64737958e+00] [-8.07867868e-03 3.04080427e-05 9.99967366e-01 2.82160810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.31864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.63, Y:-2.65, Z:0.27 [[ 9.97501466e-01 7.01846776e-02 8.05833267e-03 3.86633153e+02] [-7.01823275e-02 9.97534015e-01 -5.74399440e-04 -2.65081618e+00] [-8.07877498e-03 7.41174086e-06 9.99967366e-01 2.70497866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.66, Y:-2.65, Z:0.27 [[ 9.97606662e-01 6.86734559e-02 8.05633313e-03 3.86662438e+02] [-6.86708401e-02 9.97639190e-01 -6.01194345e-04 -2.65483008e+00] [-8.07859976e-03 4.65203198e-05 9.99967366e-01 2.70313277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.37864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:386.69, Y:-2.66, Z:0.27 [[ 9.97707570e-01 6.71915208e-02 8.05637211e-03 3.86691552e+02] [-6.71888609e-02 9.97740094e-01 -6.00671513e-04 -2.65823576e+00] [-8.07852551e-03 5.79960505e-05 9.99967366e-01 2.71162744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.72, Y:-2.66, Z:0.27 [[ 9.97786301e-01 6.60120608e-02 8.05641093e-03 3.86722041e+02] [-6.60093667e-02 9.97818823e-01 -6.00150465e-04 -2.66290701e+00] [-8.07845564e-03 6.70233293e-05 9.99967366e-01 2.70321208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:386.75, Y:-2.67, Z:0.27 [[ 9.97852572e-01 6.50026126e-02 8.05641093e-03 3.86752745e+02] [-6.49998855e-02 9.97885091e-01 -6.00150465e-04 -2.66717143e+00] [-8.07838370e-03 7.51958968e-05 9.99967366e-01 2.68890879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:386.78, Y:-2.67, Z:0.27 [[ 9.97887807e-01 6.44594335e-02 8.05641093e-03 3.86782742e+02] [-6.44566887e-02 9.97920325e-01 -6.00150465e-04 -2.67138665e+00] [-8.07834157e-03 7.95932598e-05 9.99967366e-01 2.69757408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:386.81, Y:-2.68, Z:0.27 [[ 9.98052876e-01 6.18510431e-02 8.05641093e-03 3.86812476e+02] [-6.18482133e-02 9.98085386e-01 -6.00150465e-04 -2.67868020e+00] [-8.07810595e-03 1.00707276e-04 9.99967366e-01 2.71543945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:386.84, Y:-2.68, Z:0.27 [[ 9.98131613e-01 6.05671383e-02 8.05641093e-03 3.86842953e+02] [-6.05642667e-02 9.98164119e-01 -6.00150465e-04 -2.68361145e+00] [-8.07796972e-03 1.11098531e-04 9.99967366e-01 2.70491655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55864 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:386.88, Y:-2.69, Z:0.28 [[ 9.98118704e-01 6.07795019e-02 8.05641093e-03 3.86875138e+02] [-6.07766373e-02 9.98151211e-01 -6.00150465e-04 -2.68875195e+00] [-8.07799317e-03 1.09379839e-04 9.99967366e-01 2.81780688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:386.90, Y:-2.70, Z:0.27 [[ 9.98485688e-01 5.44204264e-02 8.04665731e-03 3.86903134e+02] [-5.44162941e-02 9.98518068e-01 -7.31757922e-04 -2.69747450e+00] [-8.07455529e-03 2.92780541e-04 9.99967357e-01 2.66935341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:386.93, Y:-2.70, Z:0.27 [[ 9.98526717e-01 5.36608107e-02 8.05686880e-03 3.86934536e+02] [-5.36577718e-02 9.98559208e-01 -5.93025269e-04 -2.70416270e+00] [-8.07708274e-03 1.59837947e-04 9.99967367e-01 2.66896036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:386.97, Y:-2.71, Z:0.27 [[ 9.98622453e-01 5.18486671e-02 8.05683172e-03 3.86965642e+02] [-5.18455651e-02 9.98654938e-01 -5.93528610e-04 -2.71471931e+00] [-8.07676845e-03 1.75000003e-04 9.99967367e-01 2.65936518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:387.00, Y:-2.72, Z:0.27 [[ 9.98639871e-01 5.15120979e-02 8.05675658e-03 3.86997100e+02] [-5.15089768e-02 9.98672355e-01 -5.94546831e-04 -2.72040139e+00] [-8.07668642e-03 1.78742883e-04 9.99967367e-01 2.66458150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:387.03, Y:-2.73, Z:0.27 [[ 9.98631893e-01 5.16665382e-02 8.05668214e-03 3.87029354e+02] [-5.16634140e-02 9.98664377e-01 -5.95553835e-04 -2.72640838e+00] [-8.07669165e-03 1.78503349e-04 9.99967367e-01 2.66668995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:387.06, Y:-2.74, Z:0.28 [[ 9.98580360e-01 5.26531582e-02 8.05660747e-03 3.87058894e+02] [-5.26500580e-02 9.98612846e-01 -5.96562301e-04 -2.73680911e+00] [-8.07684260e-03 1.71534547e-04 9.99967367e-01 2.76168625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:387.09, Y:-2.74, Z:0.27 [[ 9.98541607e-01 5.33829988e-02 8.05694845e-03 3.87089534e+02] [-5.33799594e-02 9.98574098e-01 -5.91963575e-04 -2.74262423e+00] [-8.07706082e-03 1.61020678e-04 9.99967367e-01 2.65835746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:387.12, Y:-2.75, Z:0.27 [[ 9.98472358e-01 5.46629947e-02 8.05654906e-03 3.87120984e+02] [-5.46599535e-02 9.98504849e-01 -5.97350212e-04 -2.74872379e+00] [-8.07715625e-03 1.56067078e-04 9.99967367e-01 2.67124573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:387.15, Y:-2.76, Z:0.27 [[ 9.98279283e-01 5.80824139e-02 8.05647338e-03 3.87152607e+02] [-5.80794758e-02 9.98311783e-01 -5.98369148e-04 -2.75733719e+00] [-8.07762703e-03 1.29423773e-04 9.99967367e-01 2.66458536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.18, Y:-2.76, Z:0.27 [[ 9.98182182e-01 5.97279329e-02 8.05639743e-03 3.87184777e+02] [-5.97250401e-02 9.98214686e-01 -5.99389993e-04 -2.76271086e+00] [-8.07781456e-03 1.17131752e-04 9.99967367e-01 2.65155428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.22, Y:-2.77, Z:0.26 [[ 9.97911884e-01 6.40856293e-02 8.05632092e-03 3.87216318e+02] [-6.40828702e-02 9.97944400e-01 -6.00416557e-04 -2.77004472e+00] [-8.07823842e-03 8.28906491e-05 9.99967367e-01 2.64566214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.25, Y:-2.77, Z:0.26 [[ 9.97822513e-01 6.54624272e-02 8.05624354e-03 3.87247883e+02] [-6.54597046e-02 9.97855032e-01 -6.01452987e-04 -2.77474174e+00] [-8.07833573e-03 7.27840084e-05 9.99967367e-01 2.64075692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:387.28, Y:-2.78, Z:0.26 [[ 9.97668292e-01 6.77722488e-02 8.05616513e-03 3.87280297e+02] [-6.77695931e-02 9.97700817e-01 -6.02501502e-04 -2.77924084e+00] [-8.07847541e-03 5.51336119e-05 9.99967367e-01 2.64410673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:387.31, Y:-2.78, Z:0.26 [[ 9.97565771e-01 6.92649461e-02 8.05608599e-03 3.87312551e+02] [-6.92623304e-02 9.97598299e-01 -6.03557884e-04 -2.78375654e+00] [-8.07854308e-03 4.41053964e-05 9.99967367e-01 2.64458951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:387.34, Y:-2.79, Z:0.27 [[ 9.97443479e-01 7.10042703e-02 8.05600629e-03 3.87344393e+02] [-7.10017028e-02 9.97476011e-01 -6.04619798e-04 -2.79004623e+00] [-8.07860360e-03 3.10839104e-05 9.99967367e-01 2.65809294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:387.37, Y:-2.79, Z:0.28 [[ 9.97465441e-01 7.06950990e-02 8.05590612e-03 3.87373835e+02] [-7.06925107e-02 9.97497971e-01 -6.05951506e-04 -2.79379730e+00] [-8.07858781e-03 3.49234562e-05 9.99967367e-01 2.77814787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:387.41, Y:-2.80, Z:0.28 [[ 9.97189990e-01 7.44793349e-02 8.05932762e-03 3.87405367e+02] [-7.44772375e-02 9.97222556e-01 -5.60467837e-04 -2.79851350e+00] [-8.07868657e-03 -4.13435415e-05 9.99967366e-01 2.75080386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09864 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:387.44, Y:-2.80, Z:0.28 [[ 9.97011092e-01 7.68372118e-02 8.05766823e-03 3.87437678e+02] [-7.68350139e-02 9.97043651e-01 -5.82433780e-04 -2.80152405e+00] [-8.07859954e-03 -3.84181124e-05 9.99967367e-01 2.75859458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:387.47, Y:-2.80, Z:0.28 [[ 9.96910745e-01 7.81284822e-02 8.05642907e-03 3.87469508e+02] [-7.81261940e-02 9.96943298e-01 -5.98834246e-04 -2.80463335e+00] [-8.07858897e-03 -3.24338456e-05 9.99967367e-01 2.75040196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15864 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:387.50, Y:-2.81, Z:0.28 [[ 9.96736120e-01 8.03256682e-02 8.05568932e-03 3.87501176e+02] [-8.03233726e-02 9.96768672e-01 -6.08623815e-04 -2.80837373e+00] [-8.07854686e-03 -4.04227953e-05 9.99967367e-01 2.75635936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18864 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:387.53, Y:-2.81, Z:0.27 [[ 9.96753519e-01 8.01094392e-02 8.05603890e-03 3.87531651e+02] [-8.01071738e-02 9.96786073e-01 -6.04011052e-04 -2.81193839e+00] [-8.07853437e-03 -4.32963665e-05 9.99967367e-01 2.74090254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:387.56, Y:-2.82, Z:0.26 [[ 9.96804528e-01 7.94720851e-02 8.05738043e-03 3.87563395e+02] [-7.94699418e-02 9.96837090e-01 -5.86323801e-04 -2.81710703e+00] [-8.07849203e-03 -5.58693344e-05 9.99967367e-01 2.64885196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:387.60, Y:-2.82, Z:0.26 [[ 9.96915418e-01 7.80689378e-02 8.05540233e-03 3.87595086e+02] [-7.80665384e-02 9.96947963e-01 -6.12345682e-04 -2.82112744e+00] [-8.07862212e-03 -1.84005231e-05 9.99967367e-01 2.64017743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:387.63, Y:-2.82, Z:0.26 [[ 9.96904826e-01 7.82040939e-02 8.05531982e-03 3.87627658e+02] [-7.82016901e-02 9.96937370e-01 -6.13429096e-04 -2.82357411e+00] [-8.07862203e-03 -1.84091991e-05 9.99967367e-01 2.63753875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30864 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:387.66, Y:-2.83, Z:0.28 [[ 9.97015630e-01 7.67785511e-02 8.05523651e-03 3.87658354e+02] [-7.67760920e-02 9.97048170e-01 -6.14521149e-04 -2.82780018e+00] [-8.07864087e-03 -5.76238885e-06 9.99967367e-01 2.76581182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:387.69, Y:-2.83, Z:0.26 [[ 9.97216157e-01 7.41285565e-02 8.05559524e-03 3.87689189e+02] [-7.41260489e-02 9.97248694e-01 -6.09827380e-04 -2.83476742e+00] [-8.07863745e-03 1.10002703e-05 9.99967367e-01 2.61804632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:387.72, Y:-2.84, Z:0.26 [[ 9.97276375e-01 7.33140286e-02 8.05513615e-03 3.87720791e+02] [-7.33114459e-02 9.97308905e-01 -6.15832288e-04 -2.83932355e+00] [-8.07860816e-03 2.36213135e-05 9.99967367e-01 2.61191472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:387.75, Y:-2.85, Z:0.27 [[ 9.97251407e-01 7.36528872e-02 8.05505442e-03 3.87750836e+02] [-7.36503069e-02 9.97283937e-01 -6.16899449e-04 -2.84535085e+00] [-8.07861281e-03 2.19466125e-05 9.99967367e-01 2.71084271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:387.78, Y:-2.85, Z:0.27 [[ 9.97179220e-01 7.46238273e-02 8.05533043e-03 3.87782438e+02] [-7.46213078e-02 9.97211755e-01 -6.13298877e-04 -2.84925338e+00] [-8.07863690e-03 1.04696041e-05 9.99967367e-01 2.73705852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:387.81, Y:-2.85, Z:0.27 [[ 9.97172344e-01 7.47157611e-02 8.05425322e-03 3.87813020e+02] [-7.47131309e-02 9.97204871e-01 -6.27371186e-04 -2.85263780e+00] [-8.07861506e-03 2.38387209e-05 9.99967367e-01 2.70546748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:387.84, Y:-2.86, Z:0.27 [[ 9.97116145e-01 7.54617976e-02 8.05666328e-03 3.87844671e+02] [-7.54594455e-02 9.97148693e-01 -5.95964298e-04 -2.85600667e+00] [-8.07866380e-03 -1.37057198e-05 9.99967367e-01 2.70557367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51864 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:387.88, Y:-2.86, Z:0.27 [[ 9.96896735e-01 7.83069399e-02 8.05744703e-03 3.87877592e+02] [-7.83047632e-02 9.96929296e-01 -5.85751281e-04 -2.86088892e+00] [-8.07857339e-03 -4.70029422e-05 9.99967367e-01 2.73499838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:387.91, Y:-2.87, Z:0.27 [[ 9.96975215e-01 7.73018077e-02 8.05302763e-03 3.87909054e+02] [-7.72991343e-02 9.97007738e-01 -6.43159556e-04 -2.86740726e+00] [-8.07864826e-03 1.87220723e-05 9.99967367e-01 2.71355872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:387.94, Y:-2.87, Z:0.26 [[ 9.97006611e-01 7.68955980e-02 8.05509189e-03 3.87939950e+02] [-7.68931276e-02 9.97039150e-01 -6.16389659e-04 -2.87249672e+00] [-8.07863962e-03 -4.83664367e-06 9.99967367e-01 2.58333878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:387.97, Y:-2.88, Z:0.27 [[ 9.97051233e-01 7.63148833e-02 8.05470161e-03 3.87970221e+02] [-7.63123531e-02 9.97083767e-01 -6.21448074e-04 -2.87824025e+00] [-8.07863797e-03 4.94233467e-06 9.99967367e-01 2.66930067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:388.00, Y:-2.88, Z:0.27 [[ 9.96958350e-01 7.75186333e-02 8.05670221e-03 3.88002539e+02] [-7.75163517e-02 9.96990903e-01 -5.95545331e-04 -2.88420398e+00] [-8.07862468e-03 -3.07922714e-05 9.99967367e-01 2.66202351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:388.03, Y:-2.89, Z:0.27 [[ 9.96883809e-01 7.84715790e-02 8.05501457e-03 3.88034687e+02] [-7.84691528e-02 9.96916351e-01 -6.17292206e-04 -2.89226334e+00] [-8.07861563e-03 -1.67015643e-05 9.99967367e-01 2.69167136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69864 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:388.07, Y:-2.90, Z:0.27 [[ 9.96779734e-01 7.97828660e-02 8.05338897e-03 3.88065681e+02] [-7.97803139e-02 9.96812266e-01 -6.38170788e-04 -2.89676808e+00] [-8.07863200e-03 -6.38619125e-06 9.99967367e-01 2.69643350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72864 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:388.10, Y:-2.91, Z:0.27 [[ 9.96603222e-01 8.19582321e-02 8.05400797e-03 3.88097616e+02] [-8.19558152e-02 9.96635765e-01 -6.30234662e-04 -2.90636898e+00] [-8.07856531e-03 -3.19788941e-05 9.99967367e-01 2.67759379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75864 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:388.13, Y:-2.91, Z:0.27 [[ 9.96637995e-01 8.15345442e-02 8.05139511e-03 3.88129724e+02] [-8.15318429e-02 9.96670516e-01 -6.63717483e-04 -2.91306839e+00] [-8.07870402e-03 5.04098096e-06 9.99967367e-01 2.67641162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78864 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:388.16, Y:-2.92, Z:0.27 [[ 9.96518587e-01 8.29810540e-02 8.05297919e-03 3.88161877e+02] [-8.29785640e-02 9.96551125e-01 -6.43404389e-04 -2.91886132e+00] [-8.07859584e-03 -2.70602155e-05 9.99967367e-01 2.67826242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:388.19, Y:-2.93, Z:0.26 [[ 9.96291185e-01 8.56681435e-02 8.05255402e-03 3.88192147e+02] [-8.56656972e-02 9.96323726e-01 -6.48856038e-04 -2.92649924e+00] [-8.07853692e-03 -4.33781030e-05 9.99967367e-01 2.56428319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84864 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:388.22, Y:-2.93, Z:0.27 [[ 9.96142895e-01 8.73754076e-02 8.05422168e-03 3.88223633e+02] [-8.73731902e-02 9.96175452e-01 -6.27449186e-04 -2.93202984e+00] [-8.07824156e-03 -7.86939941e-05 9.99967367e-01 2.68385176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87864 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:388.25, Y:-2.94, Z:0.27 [[ 9.95908752e-01 9.00051793e-02 8.05147609e-03 3.88254856e+02] [-9.00027630e-02 9.95941295e-01 -6.62678038e-04 -2.93923265e+00] [-8.07844198e-03 -6.46882362e-05 9.99967367e-01 2.69087349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:388.29, Y:-2.94, Z:0.26 [[ 9.95867197e-01 9.04638705e-02 8.05076316e-03 3.88285466e+02] [-9.04613953e-02 9.95899736e-01 -6.71815596e-04 -2.94254745e+00] [-8.07852794e-03 -5.92441540e-05 9.99967366e-01 2.56579864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93864 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:388.32, Y:-2.95, Z:0.27 [[ 9.95512000e-01 9.42920496e-02 8.05404750e-03 3.88317826e+02] [-9.42900391e-02 9.95544571e-01 -6.29815663e-04 -2.94592766e+00] [-8.07754987e-03 -1.32427404e-04 9.99967367e-01 2.66832051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:388.35, Y:-2.95, Z:0.25 [[ 9.95479700e-01 9.46328032e-02 8.04983167e-03 3.88348109e+02] [-9.46303681e-02 9.95512243e-01 -6.83715455e-04 -2.94957519e+00] [-8.07840790e-03 -8.11336779e-05 9.99967366e-01 2.54413559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:388.38, Y:-2.95, Z:0.25 [[ 9.95397805e-01 9.54900089e-02 8.05405744e-03 3.88380508e+02] [-9.54880389e-02 9.95430378e-01 -6.29663705e-04 -2.95223712e+00] [-8.07738003e-03 -1.42300281e-04 9.99967367e-01 2.54670776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:388.41, Y:-2.95, Z:0.25 [[ 9.95228540e-01 9.72383018e-02 8.05393334e-03 3.88413051e+02] [-9.72363763e-02 9.95261116e-01 -6.31247072e-04 -2.95329732e+00] [-8.07714807e-03 -1.54900191e-04 9.99967367e-01 2.54861962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:388.45, Y:-2.95, Z:0.26 [[ 9.94859386e-01 1.00945218e-01 8.05385040e-03 3.88446526e+02] [-1.00943406e-01 9.94891969e-01 -6.32303382e-04 -2.95124013e+00] [-8.07653909e-03 -1.83930133e-04 9.99967367e-01 2.55793628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:388.48, Y:-2.95, Z:0.25 [[ 9.94556636e-01 1.03885685e-01 8.05372579e-03 3.88478945e+02] [-1.03883956e-01 9.94589223e-01 -6.33886708e-04 -2.94800132e+00] [-8.07600062e-03 -2.06216664e-04 9.99967367e-01 2.54731188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11863999999997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:388.51, Y:-2.95, Z:0.26 [[ 9.94507449e-01 1.04355510e-01 8.05364313e-03 3.88511019e+02] [-1.04353788e-01 9.94540036e-01 -6.34935113e-04 -2.94803586e+00] [-8.07592951e-03 -2.08980466e-04 9.99967367e-01 2.55239282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:388.54, Y:-2.95, Z:0.25 [[ 9.94535906e-01 1.04083967e-01 8.05356063e-03 3.88544227e+02] [-1.04082227e-01 9.94568492e-01 -6.35979899e-04 -2.94798197e+00] [-8.07601296e-03 -2.05727683e-04 9.99967367e-01 2.54488604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:388.58, Y:-2.95, Z:0.26 [[ 9.94788808e-01 1.01638422e-01 8.05343500e-03 3.88576186e+02] [-1.01636590e-01 9.94821390e-01 -6.37566770e-04 -2.94599484e+00] [-8.07653068e-03 -1.84279381e-04 9.99967367e-01 2.55119014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:388.61, Y:-2.95, Z:0.25 [[ 9.95011616e-01 9.94335290e-02 8.05337303e-03 3.88608740e+02] [-9.94316178e-02 9.95044193e-01 -6.38348491e-04 -2.94708666e+00] [-8.07693531e-03 -1.65595745e-04 9.99967367e-01 2.53981240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:388.64, Y:-2.95, Z:0.25 [[ 9.95243396e-01 9.70861869e-02 8.05328955e-03 3.88641968e+02] [-9.70841903e-02 9.95275967e-01 -6.39400043e-04 -2.94863862e+00] [-8.07732245e-03 -1.45488425e-04 9.99967367e-01 2.53378692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:388.67, Y:-2.95, Z:0.25 [[ 9.95666077e-01 9.26510065e-02 8.05316128e-03 3.88673951e+02] [-9.26488518e-02 9.95698639e-01 -6.41011490e-04 -2.94857067e+00] [-8.07791208e-03 -1.07882750e-04 9.99967367e-01 2.53751326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:388.71, Y:-2.95, Z:0.25 [[ 9.95842700e-01 9.07329273e-02 8.05307595e-03 3.88706167e+02] [-9.07307013e-02 9.95875257e-01 -6.42081696e-04 -2.95019424e+00] [-8.07811703e-03 -9.12488586e-05 9.99967367e-01 2.53692552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32864 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:388.74, Y:-2.95, Z:0.27 [[ 9.96005176e-01 8.89316525e-02 8.05298960e-03 3.88736914e+02] [-8.89293589e-02 9.96037728e-01 -6.43162866e-04 -2.95225069e+00] [-8.07827900e-03 -7.55536590e-05 9.99967367e-01 2.65813366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:388.77, Y:-2.95, Z:0.25 [[ 9.96178314e-01 8.69707679e-02 8.05314968e-03 3.88767409e+02] [-8.69684264e-02 9.96210862e-01 -6.41159037e-04 -2.95491876e+00] [-8.07839728e-03 -6.16610273e-05 9.99967367e-01 2.53559935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:388.80, Y:-2.96, Z:0.25 [[ 9.96245301e-01 8.62000587e-02 8.05297130e-03 3.88799643e+02] [-8.61976739e-02 9.96277846e-01 -6.43391775e-04 -2.95735258e+00] [-8.07845731e-03 -5.31713614e-05 9.99967367e-01 2.52761036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:388.83, Y:-2.96, Z:0.25 [[ 9.96313135e-01 8.54124606e-02 8.05288324e-03 3.88831455e+02] [-8.54100412e-02 9.96345678e-01 -6.44492056e-04 -2.95957735e+00] [-8.07850306e-03 -4.56811884e-05 9.99967367e-01 2.52332795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44864 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:388.86, Y:-2.96, Z:0.26 [[ 9.96350544e-01 8.49749725e-02 8.05279428e-03 3.88862912e+02] [-8.49725299e-02 9.96383085e-01 -6.45601650e-04 -2.96171001e+00] [-8.07852799e-03 -4.10207472e-05 9.99967367e-01 2.64364066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:388.89, Y:-2.96, Z:0.25 [[ 9.96461232e-01 8.36672364e-02 8.05028197e-03 3.88892763e+02] [-8.36644979e-02 9.96493750e-01 -6.76927025e-04 -2.96410555e+00] [-8.07869229e-03 1.00873720e-06 9.99967367e-01 2.53609495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:388.92, Y:-2.97, Z:0.25 [[ 9.96470039e-01 8.35620422e-02 8.05278401e-03 3.88924787e+02] [-8.35595524e-02 9.96502576e-01 -6.45724343e-04 -2.96634041e+00] [-8.07857806e-03 -2.94420671e-05 9.99967367e-01 2.52917980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53864 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:388.96, Y:-2.97, Z:0.26 [[ 9.96494090e-01 8.32747447e-02 8.05269533e-03 3.88955289e+02] [-8.32722367e-02 9.96526626e-01 -6.46828359e-04 -2.96937817e+00] [-8.07858978e-03 -2.60053151e-05 9.99967367e-01 2.62352491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:388.99, Y:-2.97, Z:0.25 [[ 9.96520093e-01 8.29628756e-02 8.05385297e-03 3.88986544e+02] [-8.29604740e-02 9.96552638e-01 -6.32396614e-04 -2.97187789e+00] [-8.07855386e-03 -3.79555272e-05 9.99967367e-01 2.50917229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59864 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:389.02, Y:-2.97, Z:0.26 [[ 9.96541434e-01 8.27062591e-02 8.05258362e-03 3.89018129e+02] [-8.27037216e-02 9.96573968e-01 -6.48166512e-04 -2.97194589e+00] [-8.07860264e-03 -2.00538485e-05 9.99967367e-01 2.61583754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:-2.97, Z:0.25 [[ 9.96577104e-01 8.22755308e-02 8.05058102e-03 3.89048490e+02] [-8.22727785e-02 9.96609621e-01 -6.73022025e-04 -2.97363743e+00] [-8.07865975e-03 8.37467149e-06 9.99967367e-01 2.50120074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:389.08, Y:-2.98, Z:0.26 [[ 9.96614470e-01 8.18214814e-02 8.05257255e-03 3.89079468e+02] [-8.18189141e-02 9.96647001e-01 -6.48284626e-04 -2.97600011e+00] [-8.07861589e-03 -1.27629036e-05 9.99967367e-01 2.60792202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:389.11, Y:-2.98, Z:0.25 [[ 9.96646100e-01 8.14353309e-02 8.05222294e-03 3.89110016e+02] [-8.14327159e-02 9.96678628e-01 -6.52630031e-04 -2.97734808e+00] [-8.07862565e-03 -5.27320767e-06 9.99967367e-01 2.50380322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71864 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:389.14, Y:-2.98, Z:0.26 [[ 9.96629817e-01 8.16343337e-02 8.05257492e-03 3.89141595e+02] [-8.16317605e-02 9.96662348e-01 -6.48257782e-04 -2.97877448e+00] [-8.07861832e-03 -1.12728327e-05 9.99967367e-01 2.61956027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.17, Y:-2.98, Z:0.25 [[ 9.96629460e-01 8.16387971e-02 8.05147746e-03 3.89172705e+02] [-8.16361141e-02 9.96661982e-01 -6.61869713e-04 -2.98102509e+00] [-8.07863573e-03 2.34752163e-06 9.99967367e-01 2.48589330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:389.21, Y:-2.98, Z:0.25 [[ 9.96610801e-01 8.18661778e-02 8.05237126e-03 3.89205723e+02] [-8.18635916e-02 9.96643331e-01 -6.50810865e-04 -2.98434111e+00] [-8.07862151e-03 -1.05908957e-05 9.99967367e-01 2.48051581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.24, Y:-2.99, Z:0.25 [[ 9.96457579e-01 8.37105398e-02 8.05223565e-03 3.89238594e+02] [-8.37080003e-02 9.96490113e-01 -6.52484383e-04 -2.98768592e+00] [-8.07859304e-03 -2.38635351e-05 9.99967367e-01 2.48308852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.27, Y:-2.99, Z:0.25 [[ 9.96218913e-01 8.65045694e-02 8.05210207e-03 3.89270075e+02] [-8.65021078e-02 9.96251453e-01 -6.54128735e-04 -2.99129530e+00] [-8.07850351e-03 -4.48683836e-05 9.99967367e-01 2.48242612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:389.30, Y:-2.99, Z:0.26 [[ 9.96077763e-01 8.81150123e-02 8.05203461e-03 3.89301614e+02] [-8.81125966e-02 9.96110306e-01 -6.54958097e-04 -2.99365299e+00] [-8.07842630e-03 -5.70964814e-05 9.99967367e-01 2.59778732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:389.33, Y:-3.00, Z:0.25 [[ 9.96024349e-01 8.87169441e-02 8.04990875e-03 3.89332211e+02] [-8.87143369e-02 9.96056877e-01 -6.81077826e-04 -2.99749441e+00] [-8.07859012e-03 -3.57722200e-05 9.99967367e-01 2.47551340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.37, Y:-3.00, Z:0.25 [[ 9.95916784e-01 8.99162087e-02 8.05199222e-03 3.89365391e+02] [-8.99138476e-02 9.95949331e-01 -6.55484429e-04 -3.00136680e+00] [-8.07831495e-03 -7.11776572e-05 9.99967367e-01 2.46550426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.40, Y:-3.00, Z:0.25 [[ 9.95810876e-01 9.10816526e-02 8.05185622e-03 3.89397929e+02] [-9.10793161e-02 9.95843425e-01 -6.57150797e-04 -3.00497164e+00] [-8.07824246e-03 -7.89596476e-05 9.99967367e-01 2.46925610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.43, Y:-3.01, Z:0.25 [[ 9.95718712e-01 9.20837444e-02 8.05171890e-03 3.89429586e+02] [-9.20814271e-02 9.95751262e-01 -6.58829067e-04 -3.00860675e+00] [-8.07817671e-03 -8.54053374e-05 9.99967367e-01 2.46460747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:389.46, Y:-3.01, Z:0.25 [[ 9.95680637e-01 9.24945425e-02 8.05162938e-03 3.89461779e+02] [-9.24922298e-02 9.95713188e-01 -6.59921256e-04 -3.01111725e+00] [-8.07815267e-03 -8.76423392e-05 9.99967367e-01 2.46732307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.49, Y:-3.01, Z:0.25 [[ 9.95593523e-01 9.34275661e-02 8.05153986e-03 3.89494252e+02] [-9.34252751e-02 9.95626075e-01 -6.61011709e-04 -3.01327122e+00] [-8.07807974e-03 -9.41183505e-05 9.99967367e-01 2.45266458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:389.53, Y:-3.01, Z:0.25 [[ 9.95369692e-01 9.57828299e-02 8.05145012e-03 3.89526318e+02] [-9.57806071e-02 9.95402249e-01 -6.62103011e-04 -3.01419543e+00] [-8.07784965e-03 -1.12135510e-04 9.99967367e-01 2.45798573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:389.56, Y:-3.01, Z:0.25 [[ 9.95306693e-01 9.64352739e-02 8.05136062e-03 3.89559012e+02] [-9.64330636e-02 9.95339251e-01 -6.63189534e-04 -3.01497457e+00] [-8.07779011e-03 -1.16340389e-04 9.99967367e-01 2.45209576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:389.59, Y:-3.02, Z:0.24 [[ 9.95287046e-01 9.66378440e-02 8.05127075e-03 3.89592396e+02] [-9.66356315e-02 9.95319604e-01 -6.64278853e-04 -3.01768251e+00] [-8.07778208e-03 -1.16891496e-04 9.99967367e-01 2.44938953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:389.62, Y:-3.02, Z:0.26 [[ 9.94944397e-01 1.00104078e-01 8.05113521e-03 3.89624553e+02] [-1.00101966e-01 9.94976961e-01 -6.65917461e-04 -3.01520782e+00] [-8.07735510e-03 -1.43383615e-04 9.99967367e-01 2.56185109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.65, Y:-3.02, Z:0.24 [[ 9.94746946e-01 1.02047734e-01 8.04819937e-03 3.89654406e+02] [-1.02045399e-01 9.94779495e-01 -7.01418488e-04 -3.01588043e+00] [-8.07776188e-03 -1.23547813e-04 9.99967367e-01 2.44034138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.69, Y:-3.02, Z:0.24 [[ 9.94556483e-01 1.03887354e-01 8.05111730e-03 3.89687114e+02] [-1.03885363e-01 9.94589055e-01 -6.66152433e-04 -3.01663292e+00] [-8.07675796e-03 -1.73867025e-04 9.99967367e-01 2.42611912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.25864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:389.72, Y:-3.02, Z:0.24 [[ 9.94395923e-01 1.05413135e-01 8.05100642e-03 3.89720396e+02] [-1.05411184e-01 9.94428498e-01 -6.67489810e-04 -3.01726541e+00] [-8.07651242e-03 -1.84916973e-04 9.99967367e-01 2.43362651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:389.75, Y:-3.01, Z:0.25 [[ 9.94310685e-01 1.06214147e-01 8.05087355e-03 3.89752673e+02] [-1.06212209e-01 9.94343260e-01 -6.69088581e-04 -3.01463351e+00] [-8.07639853e-03 -1.89819140e-04 9.99967367e-01 2.45062832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:389.78, Y:-3.02, Z:0.24 [[ 9.94258651e-01 1.06700139e-01 8.05078610e-03 3.89784898e+02] [-1.06698208e-01 9.94291227e-01 -6.70139226e-04 -3.01534494e+00] [-8.07632993e-03 -1.92712730e-04 9.99967367e-01 2.44014002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:389.82, Y:-3.02, Z:0.26 [[ 9.94268795e-01 1.06605582e-01 8.05069756e-03 3.89817813e+02] [-1.06603640e-01 9.94301370e-01 -6.71201256e-04 -3.01618823e+00] [-8.07637341e-03 -1.90879198e-04 9.99967367e-01 2.56175167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.85, Y:-3.02, Z:0.24 [[ 9.94665493e-01 1.02838958e-01 8.04399948e-03 3.89846533e+02] [-1.02836244e-01 9.94698016e-01 -7.51427321e-04 -3.01532260e+00] [-8.07862633e-03 -7.97958631e-05 9.99967364e-01 2.44645146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.88, Y:-3.02, Z:0.24 [[ 9.94808145e-01 1.01449199e-01 8.05079916e-03 3.89878869e+02] [-1.01447100e-01 9.94840710e-01 -6.69683333e-04 -3.01612883e+00] [-8.07720158e-03 -1.50523794e-04 9.99967368e-01 2.44246825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:389.91, Y:-3.02, Z:0.24 [[ 9.94991089e-01 9.96389397e-02 8.05070915e-03 3.89911399e+02] [-9.96367731e-02 9.95023650e-01 -6.70763585e-04 -3.01578468e+00] [-8.07748018e-03 -1.34742891e-04 9.99967368e-01 2.43412815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:389.95, Y:-3.02, Z:0.25 [[ 9.94935926e-01 1.00188272e-01 8.05061939e-03 3.89945584e+02] [-1.00186114e-01 9.94968488e-01 -6.71839154e-04 -3.01760440e+00] [-8.07742301e-03 -1.38123364e-04 9.99967368e-01 2.54163957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:389.98, Y:-3.02, Z:0.25 [[ 9.95187620e-01 9.76572475e-02 8.04132255e-03 3.89977115e+02] [-9.76541068e-02 9.95220107e-01 -7.83230985e-04 -3.01966598e+00] [-8.07937408e-03 -5.80639214e-06 9.99967361e-01 2.53512844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.01, Y:-3.02, Z:0.24 [[ 9.95610872e-01 9.32432793e-02 8.04257213e-03 3.90005639e+02] [-9.32401157e-02 9.95643355e-01 -7.68236449e-04 -3.02243972e+00] [-8.07916638e-03 1.49742043e-05 9.99967363e-01 2.41797202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.04, Y:-3.03, Z:0.24 [[ 9.95724123e-01 9.20252840e-02 8.05090388e-03 3.90037791e+02] [-9.20228924e-02 9.95756668e-01 -6.67788903e-04 -3.02532204e+00] [-8.07819468e-03 -7.59339409e-05 9.99967368e-01 2.42189426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:390.07, Y:-3.03, Z:0.25 [[ 9.95697192e-01 9.23162340e-02 8.05081202e-03 3.90070803e+02] [-9.23138429e-02 9.95729736e-01 -6.68894427e-04 -3.02872538e+00] [-8.07818275e-03 -7.71850938e-05 9.99967368e-01 2.54054000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61863999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.10, Y:-3.03, Z:0.24 [[ 9.96125891e-01 8.75700639e-02 8.04325740e-03 3.90099308e+02] [-8.75667819e-02 9.96158361e-01 -7.59976999e-04 -3.03253240e+00] [-8.07890934e-03 5.27105986e-05 9.99967364e-01 2.41478686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.13, Y:-3.04, Z:0.24 [[ 9.96187713e-01 8.68632228e-02 8.05118650e-03 3.90131069e+02] [-8.68606947e-02 9.96220246e-01 -6.63806877e-04 -3.03590996e+00] [-8.07841540e-03 -3.80553979e-05 9.99967368e-01 2.40419341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.16, Y:-3.04, Z:0.24 [[ 9.96157462e-01 8.72094667e-02 8.05109486e-03 3.90162754e+02] [-8.72069410e-02 9.96189996e-01 -6.64916484e-04 -3.03924991e+00] [-8.07840717e-03 -3.97498369e-05 9.99967368e-01 2.40920978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.20, Y:-3.04, Z:0.24 [[ 9.96120400e-01 8.76317919e-02 8.05100443e-03 3.90195055e+02] [-8.76292711e-02 9.96152934e-01 -6.66009693e-04 -3.04207663e+00] [-8.07839530e-03 -4.20778081e-05 9.99967368e-01 2.39908443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:390.23, Y:-3.04, Z:0.25 [[ 9.95840014e-01 9.07626040e-02 8.05091258e-03 3.90228990e+02] [-9.07601765e-02 9.95872555e-01 -6.67118138e-04 -3.04485495e+00] [-8.07823226e-03 -6.63593113e-05 9.99967368e-01 2.52201750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:390.26, Y:-3.05, Z:0.24 [[ 9.95915577e-01 8.99305946e-02 8.04064235e-03 3.90256711e+02] [-8.99271424e-02 9.95948033e-01 -7.90600526e-04 -3.04596033e+00] [-8.07916111e-03 6.42993900e-05 9.99967361e-01 2.40113973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.29, Y:-3.05, Z:0.24 [[ 9.95717241e-01 9.20997205e-02 8.05093241e-03 3.90288847e+02] [-9.20973437e-02 9.95749786e-01 -6.66258245e-04 -3.04743360e+00] [-8.07807642e-03 -7.80646672e-05 9.99967369e-01 2.40647516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.32, Y:-3.05, Z:0.24 [[ 9.95436794e-01 9.50829784e-02 8.05084149e-03 3.90320676e+02] [-9.50806902e-02 9.95469345e-01 -6.67355144e-04 -3.04849432e+00] [-8.07782002e-03 -1.01169700e-04 9.99967369e-01 2.39930377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.35, Y:-3.05, Z:0.25 [[ 9.94903942e-01 1.00505385e-01 8.05075010e-03 3.90354377e+02] [-1.00503266e-01 9.94936504e-01 -6.68455768e-04 -3.04928984e+00] [-8.07716856e-03 -1.44077398e-04 9.99967369e-01 2.50649097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.38, Y:-3.05, Z:0.24 [[ 9.94831446e-01 1.01221326e-01 8.03967076e-03 3.90382743e+02] [-1.01218151e-01 9.94863932e-01 -8.01871332e-04 -3.04648468e+00] [-8.07954494e-03 -1.60337910e-05 9.99967360e-01 2.39656859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.41, Y:-3.05, Z:0.24 [[ 9.94663394e-01 1.02858714e-01 8.05094001e-03 3.90414510e+02] [-1.02856695e-01 9.94695962e-01 -6.65552308e-04 -3.04664084e+00] [-8.07669537e-03 -1.66092561e-04 9.99967369e-01 2.39219985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.45, Y:-3.04, Z:0.24 [[ 9.94496370e-01 1.04461253e-01 8.05085072e-03 3.90447263e+02] [-1.04459278e-01 9.94528941e-01 -6.66630659e-04 -3.04477720e+00] [-8.07644112e-03 -1.78024282e-04 9.99967369e-01 2.39249834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:-3.05, Z:0.24 [[ 9.94569415e-01 1.03763496e-01 8.05076228e-03 3.90479332e+02] [-1.03761489e-01 9.94601984e-01 -6.67697025e-04 -3.04543848e+00] [-8.07658672e-03 -1.71288044e-04 9.99967369e-01 2.38043115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:390.51, Y:-3.05, Z:0.25 [[ 9.94539594e-01 1.04048947e-01 8.05067384e-03 3.90512483e+02] [-1.04046941e-01 9.94572163e-01 -6.68761735e-04 -3.04599436e+00] [-8.07656004e-03 -1.72537963e-04 9.99967369e-01 2.48645048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:390.54, Y:-3.04, Z:0.25 [[ 9.94599574e-01 1.03474526e-01 8.04422827e-03 3.90543649e+02] [-1.03471876e-01 9.94632100e-01 -7.46125889e-04 -3.04361029e+00] [-8.07825268e-03 -9.02548968e-05 9.99967366e-01 2.50619991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:390.58, Y:-3.04, Z:0.25 [[ 9.94589845e-01 1.03567972e-01 8.04457491e-03 3.90575276e+02] [-1.03565358e-01 9.94622374e-01 -7.41961841e-04 -3.04447537e+00] [-8.07815767e-03 -9.51915660e-05 9.99967367e-01 2.49386912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:390.60, Y:-3.04, Z:0.24 [[ 9.94938455e-01 1.00163646e-01 8.04451415e-03 3.90603822e+02] [-1.00160915e-01 9.94970974e-01 -7.42693345e-04 -3.04410262e+00] [-8.07844895e-03 -6.68117294e-05 9.99967367e-01 2.38490307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.64, Y:-3.04, Z:0.24 [[ 9.95085427e-01 9.86923351e-02 8.05085943e-03 3.90635787e+02] [-9.86901760e-02 9.95117986e-01 -6.65988089e-04 -3.04468361e+00] [-8.07728294e-03 -1.31825692e-04 9.99967370e-01 2.37556312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.67, Y:-3.05, Z:0.24 [[ 9.95270442e-01 9.68087457e-02 8.05076939e-03 3.90667714e+02] [-9.68065162e-02 9.95302996e-01 -6.67074769e-04 -3.04566337e+00] [-8.07753356e-03 -1.15447138e-04 9.99967370e-01 2.36629975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:390.70, Y:-3.05, Z:0.25 [[ 9.95496941e-01 9.44511931e-02 8.05067920e-03 3.90700444e+02] [-9.44488777e-02 9.95529489e-01 -6.68161437e-04 -3.04609587e+00] [-8.07779719e-03 -9.52249491e-05 9.99967370e-01 2.46417506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.73, Y:-3.05, Z:0.23 [[ 9.95872317e-01 9.04080127e-02 8.04489825e-03 3.90729892e+02] [-9.04050024e-02 9.95904810e-01 -7.37802642e-04 -3.04935340e+00] [-8.07865614e-03 7.45817990e-06 9.99967367e-01 2.34849808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.76, Y:-3.05, Z:0.23 [[ 9.96260948e-01 8.60192230e-02 8.05084513e-03 3.90761795e+02] [-8.60166504e-02 9.96293477e-01 -6.65904677e-04 -3.05246904e+00] [-8.07828509e-03 -2.90919057e-05 9.99967370e-01 2.34763862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.79, Y:-3.05, Z:0.23 [[ 9.96452001e-01 8.37770577e-02 8.05075441e-03 3.90793973e+02] [-8.37744030e-02 9.96484523e-01 -6.66999584e-04 -3.05474184e+00] [-8.07833143e-03 -9.81407535e-06 9.99967370e-01 2.34941486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.83, Y:-3.06, Z:0.24 [[ 9.96558679e-01 8.24983991e-02 8.05066417e-03 3.90826455e+02] [-8.24956939e-02 9.96591197e-01 -6.68087105e-04 -3.05699152e+00] [-8.07833715e-03 1.64287654e-06 9.99967370e-01 2.35120215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:390.86, Y:-3.06, Z:0.25 [[ 9.96604213e-01 8.19465105e-02 8.05057384e-03 3.90858504e+02] [-8.19437785e-02 9.96636729e-01 -6.69173759e-04 -3.05930354e+00] [-8.07833403e-03 7.20694759e-06 9.99967370e-01 2.46470183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.89, Y:-3.06, Z:0.23 [[ 9.96790580e-01 7.96478337e-02 8.04746413e-03 3.90888722e+02] [-7.96447252e-02 9.96823063e-01 -7.06515450e-04 -3.06214407e+00] [-8.07817027e-03 6.33098756e-05 9.99967369e-01 2.34990839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.92, Y:-3.07, Z:0.23 [[ 9.96864103e-01 7.87219606e-02 8.05063042e-03 3.90920862e+02] [-7.87191299e-02 9.96896610e-01 -6.68377466e-04 -3.06560441e+00] [-8.07826216e-03 3.25428815e-05 9.99967370e-01 2.33499840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:390.95, Y:-3.07, Z:0.23 [[ 9.96885618e-01 7.84490551e-02 8.05054059e-03 3.90952986e+02] [-7.84462068e-02 9.96918123e-01 -6.69457695e-04 -3.06921387e+00] [-8.07824814e-03 3.58383761e-05 9.99967370e-01 2.33485987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.99, Y:-3.07, Z:0.23 [[ 9.96870766e-01 7.86375671e-02 8.05045153e-03 3.90985198e+02] [-7.86347163e-02 9.96903271e-01 -6.70526952e-04 -3.07302152e+00] [-8.07825007e-03 3.53837437e-05 9.99967370e-01 2.34102199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:391.02, Y:-3.08, Z:0.25 [[ 9.96737244e-01 8.03122593e-02 8.05036258e-03 3.91016194e+02] [-8.03094545e-02 9.96769753e-01 -6.71593265e-04 -3.07568294e+00] [-8.07829509e-03 2.28817924e-05 9.99967370e-01 2.45107247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:391.05, Y:-3.08, Z:0.24 [[ 9.96756244e-01 8.00761922e-02 8.04946968e-03 3.91047493e+02] [-8.00732934e-02 9.96788745e-01 -6.82281178e-04 -3.07818611e+00] [-8.07825526e-03 3.55204772e-05 9.99967370e-01 2.44658114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:391.08, Y:-3.08, Z:0.25 [[ 9.96713316e-01 8.06086229e-02 8.05076763e-03 3.91079124e+02] [-8.06058670e-02 9.96745830e-01 -6.66729809e-04 -3.08229048e+00] [-8.07831324e-03 1.55993741e-05 9.99967370e-01 2.45179693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:391.11, Y:-3.09, Z:0.24 [[ 9.96741923e-01 8.02542495e-02 8.04953984e-03 3.91111506e+02] [-8.02513631e-02 9.96774425e-01 -6.81455009e-04 -3.08622525e+00] [-8.07826511e-03 3.32482307e-05 9.99967370e-01 2.43972979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:391.14, Y:-3.09, Z:0.23 [[ 9.96843850e-01 7.89781463e-02 8.04931889e-03 3.91142147e+02] [-7.89751970e-02 9.96876347e-01 -6.84103279e-04 -3.08998500e+00] [-8.07820481e-03 4.62476013e-05 9.99967370e-01 2.31331831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:391.17, Y:-3.09, Z:0.24 [[ 9.96830215e-01 7.91499359e-02 8.05045898e-03 3.91172579e+02] [-7.91471027e-02 9.96862722e-01 -6.70412858e-04 -3.09308854e+00] [-8.07826558e-03 3.11172908e-05 9.99967370e-01 2.44271143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.20, Y:-3.10, Z:0.23 [[ 9.96736816e-01 8.03175344e-02 8.05070914e-03 3.91203416e+02] [-8.03147635e-02 9.96769328e-01 -6.67411965e-04 -3.09775773e+00] [-8.07830483e-03 1.86432757e-05 9.99967370e-01 2.31045130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.24, Y:-3.10, Z:0.23 [[ 9.96628683e-01 8.16483901e-02 8.05035378e-03 3.91235176e+02] [-8.16456282e-02 9.96661196e-01 -6.71671211e-04 -3.10215482e+00] [-8.07831610e-03 1.21306028e-05 9.99967370e-01 2.31678668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:391.27, Y:-3.11, Z:0.23 [[ 9.96419922e-01 8.41577802e-02 8.05026367e-03 3.91267506e+02] [-8.41550915e-02 9.96452441e-01 -6.72749484e-04 -3.10710567e+00] [-8.07832199e-03 -7.12968791e-06 9.99967370e-01 2.31518625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.75864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:391.30, Y:-3.11, Z:0.24 [[ 9.96235449e-01 8.63141028e-02 8.05017304e-03 3.91299727e+02] [-8.63114757e-02 9.96267974e-01 -6.73832205e-04 -3.10960103e+00] [-8.07829080e-03 -2.35267858e-05 9.99967370e-01 2.43236161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.33, Y:-3.11, Z:0.23 [[ 9.96168259e-01 8.70864338e-02 8.04687433e-03 3.91330013e+02] [-8.70835141e-02 9.96200759e-01 -7.13166160e-04 -3.11273334e+00] [-8.07840941e-03 9.68339820e-06 9.99967369e-01 2.32167396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.81864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.36, Y:-3.12, Z:0.23 [[ 9.95962049e-01 8.94135897e-02 8.05021868e-03 3.91361919e+02] [-8.94110692e-02 9.95994582e-01 -6.73172361e-04 -3.11712148e+00] [-8.07816495e-03 -4.93245356e-05 9.99967370e-01 2.31690767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.39, Y:-3.12, Z:0.23 [[ 9.95914444e-01 8.99422861e-02 8.05012830e-03 3.91393513e+02] [-8.99397741e-02 9.95946978e-01 -6.74251458e-04 -3.12058679e+00] [-8.07814467e-03 -5.25299545e-05 9.99967370e-01 2.32056938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.87864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:391.43, Y:-3.12, Z:0.24 [[ 9.95820315e-01 9.09785529e-02 8.05003786e-03 3.91425270e+02] [-9.09760661e-02 9.95852850e-01 -6.75329468e-04 -3.12385934e+00] [-8.07809365e-03 -5.98539730e-05 9.99967370e-01 2.43954397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:391.46, Y:-3.13, Z:0.23 [[ 9.96057587e-01 8.83433431e-02 8.04591995e-03 3.91455237e+02] [-8.83403744e-02 9.96090083e-01 -7.24318775e-04 -3.12861009e+00] [-8.07844982e-03 1.06836301e-05 9.99967369e-01 2.31793258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.49, Y:-3.13, Z:0.23 [[ 9.96119974e-01 8.76367137e-02 8.05003751e-03 3.91487076e+02] [-8.76341186e-02 9.96152501e-01 -6.75229659e-04 -3.13268497e+00] [-8.07823991e-03 -3.28481912e-05 9.99967370e-01 2.31291018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.52, Y:-3.14, Z:0.23 [[ 9.96196907e-01 8.67578339e-02 8.04994662e-03 3.91518889e+02] [-8.67552013e-02 9.96229430e-01 -6.76311502e-04 -3.13842970e+00] [-8.07826906e-03 -2.46353142e-05 9.99967370e-01 2.31171403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:391.55, Y:-3.14, Z:0.23 [[ 9.96197098e-01 8.67556458e-02 8.04982553e-03 3.91551119e+02] [-8.67530015e-02 9.96229621e-01 -6.77749726e-04 -3.14273295e+00] [-8.07827325e-03 -2.31742170e-05 9.99967370e-01 2.30151454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:391.58, Y:-3.15, Z:0.24 [[ 9.96084631e-01 8.80375504e-02 8.04973246e-03 3.91583002e+02] [-8.80349390e-02 9.96117156e-01 -6.78853335e-04 -3.14646434e+00] [-8.07824119e-03 -3.24623325e-05 9.99967370e-01 2.40053145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:391.62, Y:-3.15, Z:0.24 [[ 9.95924959e-01 8.98262029e-02 8.04544458e-03 3.91615037e+02] [-8.98232401e-02 9.95957456e-01 -7.29576351e-04 -3.15147919e+00] [-8.07845559e-03 3.93539665e-06 9.99967369e-01 2.40998114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:391.65, Y:-3.15, Z:0.24 [[ 9.95922735e-01 8.98508084e-02 8.04598561e-03 3.91646595e+02] [-8.98478981e-02 9.95955236e-01 -7.23173238e-04 -3.15413084e+00] [-8.07841920e-03 -2.69022621e-06 9.99967369e-01 2.40742212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11863999999997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:391.68, Y:-3.16, Z:0.24 [[ 9.95834332e-01 9.08253589e-02 8.04596554e-03 3.91678330e+02] [-9.08224785e-02 9.95866836e-01 -7.23410653e-04 -3.15846624e+00] [-8.07841428e-03 -1.03573679e-05 9.99967369e-01 2.40577458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.71, Y:-3.16, Z:0.23 [[ 9.95733523e-01 9.19240119e-02 8.04534252e-03 3.91707503e+02] [-9.19211078e-02 9.95766025e-01 -7.30788992e-04 -3.16333547e+00] [-8.07845579e-03 -1.18656989e-05 9.99967369e-01 2.29352246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:391.74, Y:-3.17, Z:0.24 [[ 9.95345139e-01 9.60377863e-02 8.04976396e-03 3.91739537e+02] [-9.60354407e-02 9.95377684e-01 -6.78318825e-04 -3.16962061e+00] [-8.07769965e-03 -9.79012850e-05 9.99967370e-01 2.39222208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:391.77, Y:-3.17, Z:0.23 [[ 9.95342743e-01 9.60631277e-02 8.04356551e-03 3.91768155e+02] [-9.60601904e-02 9.95375243e-01 -7.51615886e-04 -3.17316455e+00] [-8.07856855e-03 -2.45510162e-05 9.99967368e-01 2.29212502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:391.80, Y:-3.18, Z:0.23 [[ 9.95069772e-01 9.88501435e-02 8.04977191e-03 3.91799723e+02] [-9.88478930e-02 9.95102324e-01 -6.77919964e-04 -3.17670891e+00] [-8.07735922e-03 -1.21125329e-04 9.99967370e-01 2.27630705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:391.83, Y:-3.18, Z:0.23 [[ 9.94943647e-01 1.00111650e-01 8.04968075e-03 3.91831273e+02] [-1.00109432e-01 9.94976201e-01 -6.79000690e-04 -3.18030191e+00] [-8.07721665e-03 -1.30281546e-04 9.99967370e-01 2.28783387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:391.86, Y:-3.18, Z:0.23 [[ 9.94787681e-01 1.01649759e-01 8.04958966e-03 3.91862863e+02] [-1.01647583e-01 9.94820238e-01 -6.80078872e-04 -3.18408452e+00] [-8.07702455e-03 -1.41687247e-04 9.99967370e-01 2.28140753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:391.89, Y:-3.19, Z:0.23 [[ 9.94626701e-01 1.03213033e-01 8.04949851e-03 3.91894917e+02] [-1.03210900e-01 9.94659261e-01 -6.81155969e-04 -3.18804570e+00] [-8.07681242e-03 -1.53300068e-04 9.99967370e-01 2.28964299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:391.93, Y:-3.19, Z:0.24 [[ 9.94450182e-01 1.04900154e-01 8.04940729e-03 3.91928140e+02] [-1.04898066e-01 9.94482745e-01 -6.82232215e-04 -3.19144256e+00] [-8.07656293e-03 -1.65921310e-04 9.99967370e-01 2.43350809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:391.96, Y:-3.20, Z:0.24 [[ 9.94505845e-01 1.04371687e-01 8.04205143e-03 3.91958675e+02] [-1.04368879e-01 9.94538358e-01 -7.69164899e-04 -3.19628096e+00] [-8.07840767e-03 -7.44009087e-05 9.99967366e-01 2.40367502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:391.99, Y:-3.20, Z:0.24 [[ 9.94482767e-01 1.04591344e-01 8.04225205e-03 3.91990823e+02] [-1.04588563e-01 9.94515281e-01 -7.66787137e-04 -3.19955232e+00] [-8.07834186e-03 -7.85709883e-05 9.99967367e-01 2.39769421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.02, Y:-3.20, Z:0.23 [[ 9.94675933e-01 1.02737989e-01 8.04328434e-03 3.92019156e+02] [-1.02735247e-01 9.94708450e-01 -7.54537475e-04 -3.20333235e+00] [-8.07824256e-03 -7.58085331e-05 9.99967368e-01 2.27322982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.05, Y:-3.21, Z:0.23 [[ 9.94714134e-01 1.02366949e-01 8.04985247e-03 3.92051823e+02] [-1.02364826e-01 9.94746694e-01 -6.76366487e-04 -3.20850551e+00] [-8.07680170e-03 -1.51230446e-04 9.99967371e-01 2.27975770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:392.08, Y:-3.21, Z:0.23 [[ 9.94643167e-01 1.03054223e-01 8.04971600e-03 3.92084103e+02] [-1.03052109e-01 9.94675728e-01 -6.77986746e-04 -3.21199017e+00] [-8.07672652e-03 -1.55185329e-04 9.99967371e-01 2.28075453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.12, Y:-3.22, Z:0.23 [[ 9.94586257e-01 1.03602032e-01 8.04962497e-03 3.92115883e+02] [-1.03599928e-01 9.94618818e-01 -6.79065776e-04 -3.21517994e+00] [-8.07666107e-03 -1.58551081e-04 9.99967371e-01 2.27222554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.15, Y:-3.22, Z:0.23 [[ 9.94560703e-01 1.03847065e-01 8.04953394e-03 3.92148258e+02] [-1.03844960e-01 9.94593264e-01 -6.80143110e-04 -3.21917885e+00] [-8.07664311e-03 -1.59459924e-04 9.99967371e-01 2.27276768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.18, Y:-3.22, Z:0.23 [[ 9.94604494e-01 1.03426829e-01 8.04937457e-03 3.92180365e+02] [-1.03424695e-01 9.94637053e-01 -6.82024104e-04 -3.22350987e+00] [-8.07674579e-03 -1.54159872e-04 9.99967371e-01 2.26759185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:392.21, Y:-3.23, Z:0.23 [[ 9.94853415e-01 1.01004416e-01 8.04928222e-03 3.92211919e+02] [-1.01002194e-01 9.94885968e-01 -6.83112296e-04 -3.22943765e+00] [-8.07711529e-03 -1.33398565e-04 9.99967371e-01 2.26913763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:392.24, Y:-3.23, Z:0.23 [[ 9.95017251e-01 9.93774632e-02 8.04919020e-03 3.92244956e+02] [-9.93751792e-02 9.95049801e-01 -6.84194885e-04 -3.23336563e+00] [-8.07733865e-03 -1.19104005e-04 9.99967371e-01 2.27430285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:392.28, Y:-3.24, Z:0.24 [[ 9.95333423e-01 9.61591945e-02 8.04905144e-03 3.92275791e+02] [-9.61567921e-02 9.95365963e-01 -6.85823356e-04 -3.23922901e+00] [-8.07770006e-03 -9.13480583e-05 9.99967371e-01 2.39306449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.31, Y:-3.24, Z:0.23 [[ 9.95531674e-01 9.40847714e-02 8.04621040e-03 3.92305827e+02] [-9.40820322e-02 9.95564189e-01 -7.19111216e-04 -3.24407934e+00] [-8.07817635e-03 -4.11058335e-05 9.99967370e-01 2.27716384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:392.34, Y:-3.25, Z:0.23 [[ 9.95608127e-01 9.32720347e-02 8.04895309e-03 3.92337832e+02] [-9.32695286e-02 9.95640660e-01 -6.86976549e-04 -3.24856415e+00] [-8.07794067e-03 -6.67626256e-05 9.99967371e-01 2.28389499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:392.37, Y:-3.25, Z:0.23 [[ 9.95721382e-01 9.20551253e-02 8.04885925e-03 3.92370193e+02] [-9.20525707e-02 9.95753911e-01 -6.88074291e-04 -3.25345157e+00] [-8.07802384e-03 -5.57879013e-05 9.99967371e-01 2.27719259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:392.40, Y:-3.26, Z:0.24 [[ 9.95553045e-01 9.38581457e-02 8.04874174e-03 3.92402820e+02] [-9.38556389e-02 9.95585578e-01 -6.89446109e-04 -3.25698489e+00] [-8.07792134e-03 -6.90396253e-05 9.99967371e-01 2.38394845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:-3.26, Z:0.23 [[ 9.95661046e-01 9.27059770e-02 8.04258108e-03 3.92432135e+02] [-9.27028522e-02 9.95693528e-01 -7.61259784e-04 -3.26056445e+00] [-8.07851926e-03 1.23865079e-05 9.99967368e-01 2.27844029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.46, Y:-3.26, Z:0.23 [[ 9.95395439e-01 9.55151130e-02 8.04885986e-03 3.92464951e+02] [-9.55126737e-02 9.95427976e-01 -6.87781698e-04 -3.26435624e+00] [-8.07775383e-03 -8.41533608e-05 9.99967371e-01 2.27893595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.50, Y:-3.27, Z:0.23 [[ 9.95252045e-01 9.69978651e-02 8.04871804e-03 3.92498304e+02] [-9.69954609e-02 9.95284585e-01 -6.89437375e-04 -3.26579404e+00] [-8.07763895e-03 -9.45251589e-05 9.99967371e-01 2.27673219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.53, Y:-3.27, Z:0.24 [[ 9.94744268e-01 1.02073803e-01 8.04857750e-03 3.92531275e+02] [-1.02071551e-01 9.94776820e-01 -6.91074182e-04 -3.26546892e+00] [-8.07707890e-03 -1.34088710e-04 9.99967371e-01 2.36432588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.56, Y:-3.27, Z:0.23 [[ 9.94928228e-01 1.00265514e-01 8.04042974e-03 3.92560120e+02] [-1.00262437e-01 9.94960716e-01 -7.85837593e-04 -3.26842944e+00] [-8.07870414e-03 -2.43010788e-05 9.99967366e-01 2.26601675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.59, Y:-3.27, Z:0.23 [[ 9.94866538e-01 1.00875136e-01 8.04852338e-03 3.92591837e+02] [-1.00872841e-01 9.94899086e-01 -6.91655413e-04 -3.27169381e+00] [-8.07723939e-03 -1.23772595e-04 9.99967371e-01 2.26415579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.62, Y:-3.27, Z:0.23 [[ 9.94871453e-01 1.00826660e-01 8.04842971e-03 3.92624218e+02] [-1.00824355e-01 9.94904000e-01 -6.92743726e-04 -3.27204928e+00] [-8.07726195e-03 -1.22286774e-04 9.99967371e-01 2.26659251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.66, Y:-3.27, Z:0.23 [[ 9.94783696e-01 1.01688849e-01 8.04833656e-03 3.92656949e+02] [-1.01686563e-01 9.94816245e-01 -6.93824271e-04 -3.27241848e+00] [-8.07717015e-03 -1.28202611e-04 9.99967371e-01 2.26282447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.69, Y:-3.27, Z:0.23 [[ 9.94656332e-01 1.02927195e-01 8.04824278e-03 3.92690527e+02] [-1.02924941e-01 9.94688883e-01 -6.94910374e-04 -3.27177655e+00] [-8.07702280e-03 -1.37167909e-04 9.99967371e-01 2.25200934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:-3.27, Z:0.23 [[ 9.94539850e-01 1.04046699e-01 8.04810135e-03 3.92723059e+02] [-1.04044468e-01 9.94572402e-01 -6.96544526e-04 -3.27298831e+00] [-8.07689265e-03 -1.44619132e-04 9.99967371e-01 2.25578813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.76, Y:-3.27, Z:0.23 [[ 9.94450780e-01 1.04894591e-01 8.04800831e-03 3.92755698e+02] [-1.04892379e-01 9.94483334e-01 -6.97617844e-04 -3.27448692e+00] [-8.07678648e-03 -1.50428129e-04 9.99967371e-01 2.25361648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.79, Y:-3.27, Z:0.22 [[ 9.94197256e-01 1.07270902e-01 8.04791551e-03 3.92788228e+02] [-1.07268760e-01 9.94229815e-01 -6.98686764e-04 -3.27338093e+00] [-8.07642631e-03 -1.68657451e-04 9.99967371e-01 2.24087874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.82, Y:-3.27, Z:0.22 [[ 9.94097948e-01 1.08187347e-01 8.04782243e-03 3.92820884e+02] [-1.08185225e-01 9.94130508e-01 -6.99757330e-04 -3.27416413e+00] [-8.07629069e-03 -1.75028155e-04 9.99967371e-01 2.23243275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.85, Y:-3.27, Z:0.22 [[ 9.93965682e-01 1.09395880e-01 8.04768329e-03 3.92854225e+02] [-1.09393785e-01 9.93998243e-01 -7.01353871e-04 -3.27459581e+00] [-8.07610828e-03 -1.83244855e-04 9.99967371e-01 2.22577454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.89, Y:-3.27, Z:0.24 [[ 9.93583574e-01 1.12813649e-01 8.04754370e-03 3.92887533e+02] [-1.12811654e-01 9.93616142e-01 -7.02951981e-04 -3.27301715e+00] [-8.07547189e-03 -2.09415171e-04 9.99967371e-01 2.36040199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:392.92, Y:-3.27, Z:0.22 [[ 9.93762305e-01 1.11228803e-01 8.03953190e-03 3.92916458e+02] [-1.11226014e-01 9.93794819e-01 -7.94538003e-04 -3.27332821e+00] [-8.07802066e-03 -1.04623173e-04 9.99967367e-01 2.24190111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.95, Y:-3.27, Z:0.22 [[ 9.93771975e-01 1.11141781e-01 8.04770997e-03 3.92948683e+02] [-1.11139750e-01 9.93804541e-01 -7.00597512e-04 -3.26931680e+00] [-8.07571637e-03 -1.98186299e-04 9.99967371e-01 2.23380013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:392.98, Y:-3.27, Z:0.22 [[ 9.93719333e-01 1.11611486e-01 8.04761827e-03 3.92980510e+02] [-1.11609461e-01 9.93751899e-01 -7.01649345e-04 -3.26999524e+00] [-8.07564806e-03 -2.00947821e-04 9.99967371e-01 2.23431310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.37864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.01, Y:-3.27, Z:0.22 [[ 9.93786867e-01 1.11008558e-01 8.04752603e-03 3.93012269e+02] [-1.11006505e-01 9.93819431e-01 -7.02705635e-04 -3.27161020e+00] [-8.07579408e-03 -1.94988110e-04 9.99967371e-01 2.21606578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:393.04, Y:-3.27, Z:0.22 [[ 9.93963711e-01 1.09413804e-01 8.04743298e-03 3.93044098e+02] [-1.09411690e-01 9.93996271e-01 -7.03769689e-04 -3.27234269e+00] [-8.07612049e-03 -1.80961709e-04 9.99967371e-01 2.20727903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.08, Y:-3.27, Z:0.22 [[ 9.94110209e-01 1.08074664e-01 8.04734016e-03 3.93076031e+02] [-1.08072497e-01 9.94142766e-01 -7.04829422e-04 -3.27358351e+00] [-8.07637921e-03 -1.69018025e-04 9.99967371e-01 2.20936013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.11, Y:-3.27, Z:0.22 [[ 9.94306821e-01 1.06250584e-01 8.04724690e-03 3.93108237e+02] [-1.06248350e-01 9.94339374e-01 -7.05892633e-04 -3.27415575e+00] [-8.07669594e-03 -1.53132844e-04 9.99967371e-01 2.20376678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.14, Y:-3.28, Z:0.22 [[ 9.94500385e-01 1.04423313e-01 8.04715324e-03 3.93140334e+02] [-1.04421010e-01 9.94532932e-01 -7.06958747e-04 -3.27668463e+00] [-8.07698188e-03 -1.37221122e-04 9.99967371e-01 2.21102538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:393.17, Y:-3.28, Z:0.22 [[ 9.94583828e-01 1.03625548e-01 8.04705801e-03 3.93172156e+02] [-1.03623211e-01 9.94616373e-01 -7.08041049e-04 -3.27828061e+00] [-8.07710679e-03 -1.29655810e-04 9.99967371e-01 2.20386781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:393.20, Y:-3.28, Z:0.22 [[ 9.94660332e-01 1.02888627e-01 8.04696286e-03 3.93204546e+02] [-1.02886256e-01 9.94692875e-01 -7.09120799e-04 -3.28001637e+00] [-8.07721708e-03 -1.22587554e-04 9.99967371e-01 2.20147027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:393.24, Y:-3.28, Z:0.22 [[ 9.94675563e-01 1.02741287e-01 8.04686741e-03 3.93236253e+02] [-1.02738903e-01 9.94708105e-01 -7.10202227e-04 -3.28301017e+00] [-8.07725132e-03 -1.20305531e-04 9.99967371e-01 2.19175414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61863999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.27, Y:-3.29, Z:0.22 [[ 9.94650779e-01 1.02980953e-01 8.04677158e-03 3.93268138e+02] [-1.02978568e-01 9.94683321e-01 -7.11286426e-04 -3.28553336e+00] [-8.07723843e-03 -1.21163415e-04 9.99967371e-01 2.19213485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.30, Y:-3.29, Z:0.22 [[ 9.94664065e-01 1.02852561e-01 8.04667552e-03 3.93299820e+02] [-1.02850162e-01 9.94696605e-01 -7.12371464e-04 -3.28797942e+00] [-8.07727005e-03 -1.19031589e-04 9.99967371e-01 2.19675984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:393.33, Y:-3.29, Z:0.22 [[ 9.94677902e-01 1.02718664e-01 8.04657954e-03 3.93332304e+02] [-1.02716253e-01 9.94710441e-01 -7.13453936e-04 -3.29086162e+00] [-8.07730172e-03 -1.16857634e-04 9.99967371e-01 2.19410208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.36, Y:-3.30, Z:0.22 [[ 9.94833392e-01 1.01201662e-01 8.04648309e-03 3.93364227e+02] [-1.01199192e-01 9.94865927e-01 -7.14540037e-04 -3.29594680e+00] [-8.07748450e-03 -1.03449301e-04 9.99967371e-01 2.18934287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:393.40, Y:-3.30, Z:0.22 [[ 9.94949147e-01 1.00057239e-01 8.04638625e-03 3.93395884e+02] [-1.00054724e-01 9.94981678e-01 -7.15628933e-04 -3.30029129e+00] [-8.07761075e-03 -9.30645560e-05 9.99967371e-01 2.17840598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:393.43, Y:-3.31, Z:0.23 [[ 9.95081325e-01 9.87340610e-02 8.04628908e-03 3.93428332e+02] [-9.87314930e-02 9.95113852e-01 -7.16719773e-04 -3.30571061e+00] [-8.07773838e-03 -8.12276730e-05 9.99967371e-01 2.30787681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:393.46, Y:-3.31, Z:0.23 [[ 9.95189263e-01 9.76405521e-02 8.04074983e-03 3.93460495e+02] [-9.76374455e-02 9.95221745e-01 -7.78941956e-04 -3.30989222e+00] [-8.07838540e-03 -9.88360282e-06 9.99967369e-01 2.31030324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:393.49, Y:-3.31, Z:0.22 [[ 9.95493115e-01 9.44924699e-02 8.03936841e-03 3.93490260e+02] [-9.44891351e-02 9.95525576e-01 -7.94476284e-04 -3.31493161e+00] [-8.07846889e-03 3.12627034e-05 9.99967368e-01 2.18417590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:393.52, Y:-3.32, Z:0.23 [[ 9.95648055e-01 9.28450579e-02 8.04650184e-03 3.93522496e+02] [-9.28423187e-02 9.95680568e-01 -7.14096495e-04 -3.32200428e+00] [-8.07804585e-03 -3.60671023e-05 9.99967371e-01 2.30264949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:393.55, Y:-3.33, Z:0.22 [[ 9.95787234e-01 9.13406103e-02 8.04217422e-03 3.93552654e+02] [-9.13374294e-02 9.95819709e-01 -7.62696458e-04 -3.32601126e+00] [-8.07822074e-03 2.49318767e-05 9.99967370e-01 2.17982252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:393.58, Y:-3.33, Z:0.23 [[ 9.95706149e-01 9.22199601e-02 8.04639271e-03 3.93584954e+02] [-9.22171912e-02 9.95738660e-01 -7.15238792e-04 -3.32904888e+00] [-8.07806358e-03 -2.98480717e-05 9.99967371e-01 2.30464077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:393.62, Y:-3.33, Z:0.23 [[ 9.95559056e-01 9.37948592e-02 8.04309177e-03 3.93616728e+02] [-9.37918414e-02 9.95591545e-01 -7.52406514e-04 -3.33293949e+00] [-8.07820603e-03 -5.31126959e-06 9.99967371e-01 2.29419506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:393.65, Y:-3.34, Z:0.23 [[ 9.95570556e-01 9.36728287e-02 8.04166500e-03 3.93648266e+02] [-9.36696774e-02 9.95603034e-01 -7.68447686e-04 -3.33580340e+00] [-8.07828874e-03 1.17837251e-05 9.99967370e-01 2.29163680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:393.68, Y:-3.34, Z:0.22 [[ 9.95645288e-01 9.28751417e-02 8.04171685e-03 3.93677254e+02] [-9.28719690e-02 9.95677763e-01 -7.67864090e-04 -3.34029569e+00] [-8.07827414e-03 1.76701840e-05 9.99967370e-01 2.17288787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:393.71, Y:-3.35, Z:0.23 [[ 9.95427544e-01 9.51801352e-02 8.04652152e-03 3.93708662e+02] [-9.51774755e-02 9.95460064e-01 -7.13694160e-04 -3.34611883e+00] [-8.07792034e-03 -5.54167803e-05 9.99967372e-01 2.29094403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:393.74, Y:-3.35, Z:0.22 [[ 9.95483856e-01 9.45896957e-02 8.04254134e-03 3.93739432e+02] [-9.45866550e-02 9.95516343e-01 -7.58470985e-04 -3.34982819e+00] [-8.07822488e-03 -5.67146222e-06 9.99967371e-01 2.17182099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09864 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:393.77, Y:-3.35, Z:0.23 [[ 9.95301744e-01 9.64867423e-02 8.04650192e-03 3.93770594e+02] [-9.64841243e-02 9.95334268e-01 -7.13826018e-04 -3.35353435e+00] [-8.07783384e-03 -6.58874096e-05 9.99967372e-01 2.29574038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:393.80, Y:-3.36, Z:0.22 [[ 9.95338317e-01 9.61089428e-02 8.04393394e-03 3.93800772e+02] [-9.61060787e-02 9.95370820e-01 -7.42745271e-04 -3.35695360e+00] [-8.07808158e-03 -3.37881187e-05 9.99967371e-01 2.17179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:393.83, Y:-3.36, Z:0.23 [[ 9.95246459e-01 9.70553465e-02 8.04643662e-03 3.93832082e+02] [-9.70527411e-02 9.95278983e-01 -7.14563445e-04 -3.36020135e+00] [-8.07780147e-03 -6.97619921e-05 9.99967372e-01 2.29889063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:393.86, Y:-3.36, Z:0.23 [[ 9.95258252e-01 9.69346293e-02 8.04299880e-03 3.93863836e+02] [-9.69317067e-02 9.95290750e-01 -7.53315714e-04 -3.36360238e+00] [-8.07814469e-03 -2.98779206e-05 9.99967371e-01 2.29852087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:393.89, Y:-3.37, Z:0.22 [[ 9.95223973e-01 9.72859126e-02 8.04334597e-03 3.93893781e+02] [-9.72830331e-02 9.95256474e-01 -7.49406665e-04 -3.36643873e+00] [-8.07809886e-03 -3.66536135e-05 9.99967371e-01 2.16704594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:393.93, Y:-3.37, Z:0.22 [[ 9.95205466e-01 9.74747947e-02 8.04641297e-03 3.93926932e+02] [-9.74722004e-02 9.95237991e-01 -7.14885999e-04 -3.36928159e+00] [-8.07777925e-03 -7.28431238e-05 9.99967372e-01 2.15882137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:393.96, Y:-3.37, Z:0.22 [[ 9.95131804e-01 9.82239773e-02 8.04626549e-03 3.93959444e+02] [-9.82213940e-02 9.95164330e-01 -7.16542074e-04 -3.37190310e+00] [-8.07773802e-03 -7.72616064e-05 9.99967372e-01 2.15830113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:393.99, Y:-3.37, Z:0.22 [[ 9.95013175e-01 9.94185219e-02 8.04611764e-03 3.93992494e+02] [-9.94159643e-02 9.95045703e-01 -7.18198527e-04 -3.37359014e+00] [-8.07765701e-03 -8.52955474e-05 9.99967372e-01 2.16104324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:394.02, Y:-3.37, Z:0.22 [[ 9.94781120e-01 1.01714231e-01 8.04596971e-03 3.94024434e+02] [-1.01711736e-01 9.94813653e-01 -7.19851925e-04 -3.37219487e+00] [-8.07745971e-03 -1.02274439e-04 9.99967372e-01 2.16674806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:394.06, Y:-3.37, Z:0.22 [[ 9.94559636e-01 1.03857565e-01 8.04587190e-03 3.94056416e+02] [-1.03855131e-01 9.94592174e-01 -7.20943572e-04 -3.37238269e+00] [-8.07723666e-03 -1.18583701e-04 9.99967372e-01 2.16582725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:394.09, Y:-3.37, Z:0.22 [[ 9.94187111e-01 1.07365052e-01 8.04577419e-03 3.94089009e+02] [-1.07362724e-01 9.94219656e-01 -7.22032385e-04 -3.37113871e+00] [-8.07678789e-03 -1.45980941e-04 9.99967372e-01 2.16213736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:394.12, Y:-3.37, Z:0.22 [[ 9.94038912e-01 1.08728599e-01 8.04567683e-03 3.94121581e+02] [-1.08726306e-01 9.94071460e-01 -7.23115585e-04 -3.37194341e+00] [-8.07660106e-03 -1.55971694e-04 9.99967372e-01 2.15089640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:394.15, Y:-3.37, Z:0.22 [[ 9.93960238e-01 1.09445482e-01 8.04558000e-03 3.94154233e+02] [-1.09443204e-01 9.93992787e-01 -7.24191319e-04 -3.36945373e+00] [-8.07650796e-03 -1.60716677e-04 9.99967372e-01 2.15141104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:394.19, Y:-3.37, Z:0.21 [[ 9.93966512e-01 1.09388494e-01 8.04548384e-03 3.94186064e+02] [-1.09386205e-01 9.93999060e-01 -7.25258036e-04 -3.36916080e+00] [-8.07653827e-03 -1.59182745e-04 9.99967372e-01 2.14572766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51864 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:394.22, Y:-3.37, Z:0.23 [[ 9.94019080e-01 1.08909780e-01 8.04541090e-03 3.94217090e+02] [-1.08907469e-01 9.94051626e-01 -7.26066347e-04 -3.36928359e+00] [-8.07662951e-03 -1.54481535e-04 9.99967372e-01 2.27710419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:394.25, Y:-3.37, Z:0.21 [[ 9.94095230e-01 1.08212532e-01 8.04492713e-03 3.94248279e+02] [-1.08210155e-01 9.94127772e-01 -7.31424845e-04 -3.37027821e+00] [-8.07683482e-03 -1.43436862e-04 9.99967372e-01 2.14339265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:394.28, Y:-3.37, Z:0.21 [[ 9.94254163e-01 1.06742364e-01 8.04531619e-03 3.94280518e+02] [-1.06739973e-01 9.94286704e-01 -7.27120052e-04 -3.36778601e+00] [-8.07696543e-03 -1.35814697e-04 9.99967372e-01 2.13860310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:394.31, Y:-3.36, Z:0.21 [[ 9.94509369e-01 1.04337861e-01 8.04521825e-03 3.94312827e+02] [-1.04335383e-01 9.94541903e-01 -7.28202107e-04 -3.36318199e+00] [-8.07728572e-03 -1.15197113e-04 9.99967372e-01 2.13325407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63864 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:394.34, Y:-3.36, Z:0.23 [[ 9.94632230e-01 1.03160089e-01 8.04511930e-03 3.94344623e+02] [-1.03157564e-01 9.94664760e-01 -7.29293652e-04 -3.36303120e+00] [-8.07743065e-03 -1.04535936e-04 9.99967372e-01 2.25081776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66864 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:394.38, Y:-3.36, Z:0.23 [[ 9.94825742e-01 1.01277024e-01 8.04408455e-03 3.94375566e+02] [-1.01274345e-01 9.94858260e-01 -7.40691631e-04 -3.36391470e+00] [-8.07773900e-03 -7.78002933e-05 9.99967372e-01 2.26162383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.69864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:394.41, Y:-3.36, Z:0.22 [[ 9.94903642e-01 1.00508736e-01 8.04597861e-03 3.94407243e+02] [-1.00506201e-01 9.94936172e-01 -7.19830890e-04 -3.36485092e+00] [-8.07758445e-03 -9.25083713e-05 9.99967372e-01 2.15330563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72864 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:394.44, Y:-3.36, Z:0.21 [[ 9.95241914e-01 9.71020575e-02 8.04505520e-03 3.94439437e+02] [-9.70993287e-02 9.95274428e-01 -7.30007418e-04 -3.36308391e+00] [-8.07792293e-03 -5.46354793e-05 9.99967372e-01 2.14867238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.75864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:394.47, Y:-3.36, Z:0.21 [[ 9.95314047e-01 9.63598797e-02 8.04495677e-03 3.94471630e+02] [-9.63571180e-02 9.95346558e-01 -7.31090521e-04 -3.36494923e+00] [-8.07796783e-03 -4.75241830e-05 9.99967372e-01 2.13741134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:394.50, Y:-3.37, Z:0.21 [[ 9.95631591e-01 9.30215835e-02 8.04485819e-03 3.94502827e+02] [-9.30187040e-02 9.95664092e-01 -7.32173611e-04 -3.36631572e+00] [-8.07808438e-03 -1.93471055e-05 9.99967372e-01 2.13663483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.81864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:394.53, Y:-3.37, Z:0.21 [[ 9.95768810e-01 9.15410192e-02 8.04480910e-03 3.94534190e+02] [-9.15380870e-02 9.95801306e-01 -7.32712615e-04 -3.36830199e+00] [-8.07810467e-03 -6.79406712e-06 9.99967372e-01 2.13731520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84864 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:394.57, Y:-3.37, Z:0.21 [[ 9.95888367e-01 9.02310489e-02 8.04476030e-03 3.94565251e+02] [-9.02280696e-02 9.95920859e-01 -7.33248029e-04 -3.37048840e+00] [-8.07810633e-03 4.36998967e-06 9.99967372e-01 2.13975678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:394.60, Y:-3.37, Z:0.21 [[ 9.96119213e-01 8.76458576e-02 8.04471139e-03 3.94596626e+02] [-8.76427897e-02 9.96151697e-01 -7.33784281e-04 -3.37497571e+00] [-8.07806605e-03 2.58756722e-05 9.99967372e-01 2.13533077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90864 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:394.63, Y:-3.38, Z:0.22 [[ 9.96154859e-01 8.72397883e-02 8.04466219e-03 3.94628087e+02] [-8.72367028e-02 9.96187341e-01 -7.34323275e-04 -3.38001621e+00] [-8.07805284e-03 2.97098932e-05 9.99967372e-01 2.22588237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93864 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:394.66, Y:-3.39, Z:0.21 [[ 9.96555874e-01 8.25331026e-02 8.04223967e-03 3.94657969e+02] [-8.25296497e-02 9.96588319e-01 -7.60841371e-04 -3.38574000e+00] [-8.07759671e-03 9.44977144e-05 9.99967371e-01 2.12956303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:394.69, Y:-3.39, Z:0.21 [[ 9.96693660e-01 8.08519163e-02 8.04463833e-03 3.94689555e+02] [-8.08486206e-02 9.96726121e-01 -7.34572562e-04 -3.39081306e+00] [-8.07769276e-03 8.17459031e-05 9.99967372e-01 2.12719359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:394.72, Y:-3.40, Z:0.21 [[ 9.96899395e-01 7.82743977e-02 8.04454211e-03 3.94721105e+02] [-7.82710096e-02 9.96931847e-01 -7.35624796e-04 -3.39679277e+00] [-8.07744082e-03 1.03689481e-04 9.99967372e-01 2.11642040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:394.75, Y:-3.41, Z:0.21 [[ 9.97186293e-01 7.45304175e-02 8.04444583e-03 3.94752096e+02] [-7.45268991e-02 9.97218732e-01 -7.36676214e-04 -3.40574617e+00] [-8.07697685e-03 1.35075821e-04 9.99967372e-01 2.11911769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:394.78, Y:-3.41, Z:0.21 [[ 9.97290352e-01 7.31248366e-02 8.04437322e-03 3.94783734e+02] [-7.31212661e-02 9.97322785e-01 -7.37468212e-04 -3.41069413e+00] [-8.07676394e-03 1.47255178e-04 9.99967372e-01 2.12673781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08864 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:394.81, Y:-3.42, Z:0.22 [[ 9.97209569e-01 7.42183596e-02 8.04427774e-03 3.94814095e+02] [-7.42148163e-02 9.97242005e-01 -7.38508213e-04 -3.41900383e+00] [-8.07690253e-03 1.39442862e-04 9.99967372e-01 2.21609659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11863999999997 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:394.84, Y:-3.43, Z:0.21 [[ 9.97157946e-01 7.49087988e-02 8.04373375e-03 3.94844918e+02] [-7.49052301e-02 9.97190379e-01 -7.44438812e-04 -3.42519264e+00] [-8.07689892e-03 1.39805350e-04 9.99967372e-01 2.11215511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:394.88, Y:-3.43, Z:0.22 [[ 9.96888226e-01 7.84165499e-02 8.04423401e-03 3.94876437e+02] [-7.84131392e-02 9.96920676e-01 -7.38993231e-04 -3.43060917e+00] [-8.07741251e-03 1.05920010e-04 9.99967372e-01 2.20334635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:394.91, Y:-3.44, Z:0.21 [[ 9.96730992e-01 8.03907890e-02 8.04054326e-03 3.94906466e+02] [-8.03871187e-02 9.96763414e-01 -7.79140265e-04 -3.43582416e+00] [-8.07715505e-03 1.30237144e-04 9.99967371e-01 2.10860129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:394.94, Y:-3.44, Z:0.22 [[ 9.96402090e-01 8.43692065e-02 8.04432692e-03 3.94938421e+02] [-8.43659986e-02 9.96434561e-01 -7.37891754e-04 -3.44039200e+00] [-8.07790070e-03 5.65692126e-05 9.99967372e-01 2.18619856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:394.97, Y:-3.45, Z:0.22 [[ 9.96139988e-01 8.74098868e-02 8.03967152e-03 3.94970737e+02] [-8.74063684e-02 9.96172427e-01 -7.88643704e-04 -3.44741314e+00] [-8.07783435e-03 8.28810393e-05 9.99967370e-01 2.18931743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:395.00, Y:-3.45, Z:0.21 [[ 9.96226028e-01 8.64239446e-02 8.03763092e-03 3.95000018e+02] [-8.64202148e-02 9.96258445e-01 -8.10852677e-04 -3.45115943e+00] [-8.07763476e-03 1.13178752e-04 9.99967369e-01 2.09785028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:395.03, Y:-3.45, Z:0.22 [[ 9.95961089e-01 8.94248063e-02 8.04441412e-03 3.95033323e+02] [-8.94217721e-02 9.95993576e-01 -7.36792937e-04 -3.45391744e+00] [-8.07807235e-03 1.44713301e-05 9.99967372e-01 2.17194989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:395.06, Y:-3.46, Z:0.22 [[ 9.96004910e-01 8.89362034e-02 8.03562737e-03 3.95064851e+02] [-8.89323804e-02 9.96037318e-01 -8.32539206e-04 -3.45795021e+00] [-8.07782761e-03 1.14585666e-04 9.99967367e-01 2.16627773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:395.10, Y:-3.46, Z:0.22 [[ 9.96034165e-01 8.86077593e-02 8.03784958e-03 3.95096932e+02] [-8.86041218e-02 9.96066592e-01 -8.08221221e-04 -3.46285013e+00] [-8.07784811e-03 9.28293455e-05 9.99967369e-01 2.17153870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:395.13, Y:-3.47, Z:0.21 [[ 9.96216363e-01 8.65353155e-02 8.03720922e-03 3.95126094e+02] [-8.65315538e-02 9.96248777e-01 -8.15260490e-04 -3.46547701e+00] [-8.07760868e-03 1.16703638e-04 9.99967369e-01 2.08316384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:395.16, Y:-3.47, Z:0.22 [[ 9.95945090e-01 8.96027711e-02 8.04488927e-03 3.95160182e+02] [-8.95997919e-02 9.95977582e-01 -7.30705304e-04 -3.46847564e+00] [-8.07800258e-03 6.92195532e-06 9.99967372e-01 2.15848525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:395.19, Y:-3.47, Z:0.22 [[ 9.95862045e-01 9.05220253e-02 8.03432837e-03 3.95190993e+02] [-9.05181393e-02 9.95894447e-01 -8.46741210e-04 -3.47213628e+00] [-8.07799174e-03 1.15984979e-04 9.99967366e-01 2.16799566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:395.22, Y:-3.48, Z:0.21 [[ 9.96170866e-01 8.70577355e-02 8.03465813e-03 3.95219636e+02] [-8.70537661e-02 9.96203258e-01 -8.43108779e-04 -3.47504210e+00] [-8.07755175e-03 1.40433153e-04 9.99967366e-01 2.09633177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:395.25, Y:-3.48, Z:0.21 [[ 9.96190557e-01 8.68311614e-02 8.04505650e-03 3.95252078e+02] [-8.68281117e-02 9.96223042e-01 -7.28235161e-04 -3.47668953e+00] [-8.07790416e-03 2.69239266e-05 9.99967373e-01 2.08881429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:395.29, Y:-3.48, Z:0.22 [[ 9.95857176e-01 9.05746324e-02 8.04495772e-03 3.95286876e+02] [-9.05716961e-02 9.95889671e-01 -7.29324723e-04 -3.47952481e+00] [-8.07794862e-03 -2.34220720e-06 9.99967373e-01 2.16211290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56864 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:395.32, Y:-3.48, Z:0.22 [[ 9.95809848e-01 9.10945630e-02 8.03283449e-03 3.95319836e+02] [-9.10905689e-02 9.95842239e-01 -8.62457552e-04 -3.48293308e+00] [-8.07800107e-03 1.27128261e-04 9.99967364e-01 2.15489059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:395.35, Y:-3.49, Z:0.22 [[ 9.95924494e-01 8.98326715e-02 8.03081373e-03 3.95351381e+02] [-8.98284561e-02 9.95956859e-01 -8.84801046e-04 -3.48609405e+00] [-8.07782806e-03 1.59799435e-04 9.99967361e-01 2.15990864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.38, Y:-3.49, Z:0.21 [[ 9.96273063e-01 8.58804073e-02 8.03360193e-03 3.95380915e+02] [-8.58763135e-02 9.96305440e-01 -8.53800066e-04 -3.48886698e+00] [-8.07724600e-03 1.60721890e-04 9.99967366e-01 2.08102975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:395.41, Y:-3.49, Z:0.21 [[ 9.96524394e-01 8.29120104e-02 8.04548186e-03 3.95413168e+02] [-8.29088891e-02 9.96556870e-01 -7.21288310e-04 -3.49330089e+00] [-8.07758368e-03 5.17394332e-05 9.99967374e-01 2.07464106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:395.44, Y:-3.50, Z:0.21 [[ 9.96707651e-01 8.06791863e-02 8.04538518e-03 3.95444753e+02] [-8.06759836e-02 9.96740119e-01 -7.22365088e-04 -3.49734401e+00] [-8.07743800e-03 7.09174475e-05 9.99967374e-01 2.07510484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:395.48, Y:-3.50, Z:0.21 [[ 9.96728899e-01 8.04162591e-02 8.04528960e-03 3.95476283e+02] [-8.04130392e-02 9.96761366e-01 -7.23428040e-04 -3.50089599e+00] [-8.07740922e-03 7.41154462e-05 9.99967374e-01 2.07754115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:395.51, Y:-3.50, Z:0.21 [[ 9.96640905e-01 8.14995786e-02 8.04519331e-03 3.95508185e+02] [-8.14963853e-02 9.96673374e-01 -7.24497198e-04 -3.50323937e+00] [-8.07747618e-03 6.64093688e-05 9.99967374e-01 2.07300994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.54, Y:-3.51, Z:0.21 [[ 9.96495530e-01 8.32582386e-02 8.04509665e-03 3.95540682e+02] [-8.32550940e-02 9.96528004e-01 -7.25569064e-04 -3.50578521e+00] [-8.07757370e-03 5.32310515e-05 9.99967374e-01 2.07429337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:395.57, Y:-3.51, Z:0.21 [[ 9.96308421e-01 8.54681737e-02 8.04500079e-03 3.95573040e+02] [-8.54650925e-02 9.96340900e-01 -7.26630343e-04 -3.50796216e+00] [-8.07766710e-03 3.63811922e-05 9.99967374e-01 2.06168693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:395.61, Y:-3.51, Z:0.21 [[ 9.96190506e-01 8.68317632e-02 8.04490334e-03 3.95605090e+02] [-8.68287178e-02 9.96222989e-01 -7.27707665e-04 -3.50996476e+00] [-8.07770579e-03 2.64068253e-05 9.99967374e-01 2.06661264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:395.64, Y:-3.51, Z:0.21 [[ 9.96178867e-01 8.69651990e-02 8.04480597e-03 3.95637624e+02] [-8.69621493e-02 9.96211350e-01 -7.28782457e-04 -3.51287721e+00] [-8.07770573e-03 2.64040645e-05 9.99967374e-01 2.06397406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.67, Y:-3.51, Z:0.21 [[ 9.96368062e-01 8.47700886e-02 8.04470821e-03 3.95669782e+02] [-8.47669586e-02 9.96400537e-01 -7.29859986e-04 -3.51499478e+00] [-8.07762188e-03 4.52837314e-05 9.99967374e-01 2.05647340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:395.70, Y:-3.52, Z:0.22 [[ 9.96347706e-01 8.50090206e-02 8.04461058e-03 3.95701857e+02] [-8.50058898e-02 9.96380181e-01 -7.30934521e-04 -3.51943729e+00] [-8.07762657e-03 4.44256524e-05 9.99967374e-01 2.16970632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:395.73, Y:-3.52, Z:0.21 [[ 9.96655851e-01 8.13169975e-02 8.04114366e-03 3.95732142e+02] [-8.13134390e-02 9.96688283e-01 -7.69028601e-04 -3.52419438e+00] [-8.07704877e-03 1.12603810e-04 9.99967374e-01 2.05457363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:395.76, Y:-3.53, Z:0.22 [[ 9.96723446e-01 8.04838814e-02 8.04467170e-03 3.95764307e+02] [-8.04806094e-02 9.96755907e-01 -7.30157792e-04 -3.52952907e+00] [-8.07733997e-03 8.03253104e-05 9.99967375e-01 2.16985742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:395.79, Y:-3.53, Z:0.20 [[ 9.96854972e-01 7.88385187e-02 8.04074593e-03 3.95794835e+02] [-7.88348451e-02 9.96887390e-01 -7.73300790e-04 -3.53311359e+00] [-8.07668412e-03 1.36977778e-04 9.99967374e-01 2.04799996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:395.83, Y:-3.54, Z:0.21 [[ 9.96714470e-01 8.05949705e-02 8.04463161e-03 3.95826896e+02] [-8.05916992e-02 9.96746931e-01 -7.30510473e-04 -3.53921544e+00] [-8.07733733e-03 7.97798279e-05 9.99967375e-01 2.05215260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:395.86, Y:-3.54, Z:0.20 [[ 9.96647987e-01 8.14129973e-02 8.04453478e-03 3.95858536e+02] [-8.14097441e-02 9.96680449e-01 -7.31575192e-04 -3.54410880e+00] [-8.07739027e-03 7.42194241e-05 9.99967375e-01 2.04939330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:395.89, Y:-3.55, Z:0.21 [[ 9.96341614e-01 8.50804097e-02 8.04443747e-03 3.95890602e+02] [-8.50772674e-02 9.96374087e-01 -7.32643650e-04 -3.55047570e+00] [-8.07760266e-03 4.55645984e-05 9.99967375e-01 2.05380862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:395.92, Y:-3.55, Z:0.20 [[ 9.96141735e-01 8.73895438e-02 8.04434036e-03 3.95922447e+02] [-8.73864682e-02 9.96174215e-01 -7.33708343e-04 -3.55446197e+00] [-8.07768288e-03 2.79110087e-05 9.99967375e-01 2.04460839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16864 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:395.96, Y:-3.56, Z:0.22 [[ 9.95787510e-01 9.13374225e-02 8.04424202e-03 3.95955623e+02] [-9.13344669e-02 9.95820001e-01 -7.34784968e-04 -3.55822227e+00] [-8.07773047e-03 -3.02686269e-06 9.99967375e-01 2.16468859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19864 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:395.99, Y:-3.56, Z:0.22 [[ 9.95370157e-01 9.57790855e-02 8.03851049e-03 3.95988305e+02] [-9.57757680e-02 9.95402615e-01 -7.97524669e-04 -3.56209224e+00] [-8.07794055e-03 2.39377390e-05 9.99967373e-01 2.15752432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:396.02, Y:-3.56, Z:0.20 [[ 9.95313543e-01 9.63656499e-02 8.03817294e-03 3.96018565e+02] [-9.63623217e-02 9.95346001e-01 -8.01221754e-04 -3.56498278e+00] [-8.07797354e-03 2.28898564e-05 9.99967372e-01 2.03850155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.05, Y:-3.57, Z:0.20 [[ 9.94997846e-01 9.95719683e-02 8.04421675e-03 3.96050665e+02] [-9.95692792e-02 9.95030360e-01 -7.35082885e-04 -3.56744064e+00] [-8.07743354e-03 -6.95509758e-05 9.99967375e-01 2.03066019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:396.08, Y:-3.57, Z:0.20 [[ 9.94870915e-01 1.00832307e-01 8.04411669e-03 3.96082787e+02] [-1.00829650e-01 9.94903432e-01 -7.36176262e-04 -3.56978585e+00] [-8.07734965e-03 -7.86851195e-05 9.99967375e-01 2.03485808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:396.11, Y:-3.57, Z:0.20 [[ 9.94812810e-01 1.01403976e-01 8.04401743e-03 3.96114439e+02] [-1.01401329e-01 9.94845328e-01 -7.37259239e-04 -3.57249212e+00] [-8.07731417e-03 -8.22391224e-05 9.99967375e-01 2.02950825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.15, Y:-3.57, Z:0.20 [[ 9.94741879e-01 1.02097447e-01 8.04391683e-03 3.96146716e+02] [-1.02094814e-01 9.94774398e-01 -7.38355194e-04 -3.57462189e+00] [-8.07726670e-03 -8.67693593e-05 9.99967375e-01 2.02357947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.37864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:396.18, Y:-3.58, Z:0.20 [[ 9.94715765e-01 1.02351565e-01 8.04381686e-03 3.96179181e+02] [-1.02348932e-01 9.94748284e-01 -7.39442647e-04 -3.57690030e+00] [-8.07725614e-03 -8.77408042e-05 9.99967375e-01 2.01280282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:396.21, Y:-3.58, Z:0.20 [[ 9.94718216e-01 1.02327758e-01 8.04371750e-03 3.96212177e+02] [-1.02325115e-01 9.94750734e-01 -7.40521961e-04 -3.57963587e+00] [-8.07726984e-03 -8.64636360e-05 9.99967375e-01 2.01234631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:396.25, Y:-3.58, Z:0.20 [[ 9.94593097e-01 1.03536820e-01 8.04356672e-03 3.96245059e+02] [-1.03534203e-01 9.94625617e-01 -7.42156073e-04 -3.58258457e+00] [-8.07717800e-03 -9.46409633e-05 9.99967375e-01 2.01342565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:396.28, Y:-3.59, Z:0.20 [[ 9.94633970e-01 1.03143436e-01 8.04341412e-03 3.96276862e+02] [-1.03140794e-01 9.94666489e-01 -7.43806337e-04 -3.58521210e+00] [-8.07723322e-03 -8.97890641e-05 9.99967375e-01 2.01202837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:396.31, Y:-3.59, Z:0.20 [[ 9.94711595e-01 1.02392132e-01 8.04331359e-03 3.96309618e+02] [-1.02389456e-01 9.94744110e-01 -7.44891775e-04 -3.58718104e+00] [-8.07730988e-03 -8.25980198e-05 9.99967375e-01 2.01414779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:396.34, Y:-3.59, Z:0.20 [[ 9.94749172e-01 1.02026430e-01 8.04316126e-03 3.96342371e+02] [-1.02023728e-01 9.94781685e-01 -7.46533012e-04 -3.58983809e+00] [-8.07735561e-03 -7.79802035e-05 9.99967375e-01 2.00824333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:396.37, Y:-3.59, Z:0.20 [[ 9.94866610e-01 1.00874867e-01 8.04300767e-03 3.96374211e+02] [-1.00872114e-01 9.94899119e-01 -7.48184091e-04 -3.59384889e+00] [-8.07745422e-03 -6.69718209e-05 9.99967375e-01 2.01220774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:396.41, Y:-3.60, Z:0.20 [[ 9.94927024e-01 1.00277256e-01 8.04290601e-03 3.96406553e+02] [-1.00274475e-01 9.94959531e-01 -7.49275336e-04 -3.59735114e+00] [-8.07750127e-03 -6.10238990e-05 9.99967375e-01 2.00918078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61863999999997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:396.44, Y:-3.60, Z:0.20 [[ 9.95062940e-01 9.89194599e-02 8.04275198e-03 3.96438953e+02] [-9.89166215e-02 9.95095442e-01 -7.50925060e-04 -3.60090554e+00] [-8.07758694e-03 -4.83441554e-05 9.99967375e-01 2.00577020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:396.47, Y:-3.61, Z:0.20 [[ 9.95279753e-01 9.67136488e-02 8.04259683e-03 3.96471311e+02] [-9.67107249e-02 9.95312247e-01 -7.52583147e-04 -3.60507669e+00] [-8.07768019e-03 -2.87746008e-05 9.99967375e-01 2.00953349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:396.50, Y:-3.61, Z:0.20 [[ 9.95374825e-01 9.57302220e-02 8.04249414e-03 3.96504533e+02] [-9.57272571e-02 9.95407316e-01 -7.53678908e-04 -3.60908866e+00] [-8.07770736e-03 -1.96928933e-05 9.99967375e-01 2.01394031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:396.54, Y:-3.61, Z:0.20 [[ 9.95526546e-01 9.41393443e-02 8.04233836e-03 3.96536033e+02] [-9.41363141e-02 9.95559031e-01 -7.55337617e-04 -3.61424405e+00] [-8.07772957e-03 -5.11744073e-06 9.99967375e-01 2.00508960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:396.57, Y:-3.62, Z:0.20 [[ 9.95522010e-01 9.41873105e-02 8.04223467e-03 3.96568503e+02] [-9.41842730e-02 9.95554494e-01 -7.56439954e-04 -3.61882042e+00] [-8.07772992e-03 -4.39940226e-06 9.99967375e-01 1.99606877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:396.60, Y:-3.62, Z:0.20 [[ 9.95518740e-01 9.42218816e-02 8.04207836e-03 3.96600240e+02] [-9.42188318e-02 9.95551223e-01 -7.58098200e-04 -3.62306850e+00] [-8.07773038e-03 -3.01426276e-06 9.99967375e-01 1.99173211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:396.63, Y:-3.63, Z:0.20 [[ 9.95431366e-01 9.51405387e-02 8.04197527e-03 3.96633143e+02] [-9.51375101e-02 9.95463851e-01 -7.59190183e-04 -3.62730263e+00] [-8.07772543e-03 -9.37178291e-06 9.99967375e-01 1.98832767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:396.67, Y:-3.63, Z:0.20 [[ 9.95337506e-01 9.61175209e-02 8.04181945e-03 3.96665466e+02] [-9.61145108e-02 9.95369992e-01 -7.60837118e-04 -3.63065972e+00] [-8.07771555e-03 -1.56458231e-05 9.99967375e-01 1.98873161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:396.70, Y:-3.64, Z:0.20 [[ 9.95122709e-01 9.83164551e-02 8.04171526e-03 3.96697100e+02] [-9.83135080e-02 9.95155201e-01 -7.61936749e-04 -3.63565151e+00] [-8.07766569e-03 -3.23886757e-05 9.99967375e-01 1.99403963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88864 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:396.73, Y:-3.64, Z:0.21 [[ 9.94823806e-01 1.01296235e-01 8.04161095e-03 3.96729369e+02] [-1.01293376e-01 9.94856306e-01 -7.63036124e-04 -3.63901539e+00] [-8.07754005e-03 -5.54754197e-05 9.99967375e-01 2.11120055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:396.76, Y:-3.64, Z:0.20 [[ 9.94800969e-01 1.01520741e-01 8.03556232e-03 3.96758621e+02] [-1.01517375e-01 9.94833423e-01 -8.26744041e-04 -3.64173464e+00] [-8.07797764e-03 6.69657745e-06 9.99967373e-01 1.99582893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:396.79, Y:-3.64, Z:0.20 [[ 9.94369004e-01 1.05667477e-01 8.04160299e-03 3.96790595e+02] [-1.05664760e-01 9.94401517e-01 -7.63086103e-04 -3.64312414e+00] [-8.07721559e-03 -9.09248851e-05 9.99967375e-01 1.98946364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:396.82, Y:-3.65, Z:0.20 [[ 9.94228300e-01 1.06983280e-01 8.04149858e-03 3.96822329e+02] [-1.06980598e-01 9.94260815e-01 -7.64184829e-04 -3.64533569e+00] [-8.07710193e-03 -1.00510143e-04 9.99967375e-01 1.98183915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:396.85, Y:-3.65, Z:0.20 [[ 9.93952959e-01 1.09511876e-01 8.04139520e-03 3.96854383e+02] [-1.09509268e-01 9.93985480e-01 -7.65271098e-04 -3.64634801e+00] [-8.07683634e-03 -1.19963826e-04 9.99967375e-01 1.98697462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:396.89, Y:-3.65, Z:0.20 [[ 9.93909513e-01 1.09905492e-01 8.04129258e-03 3.96886139e+02] [-1.09902888e-01 9.93942034e-01 -7.66347937e-04 -3.64820592e+00] [-8.07680455e-03 -1.22080774e-04 9.99967375e-01 1.98074736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:396.92, Y:-3.65, Z:0.20 [[ 9.93738354e-01 1.11442468e-01 8.04119005e-03 3.96918549e+02] [-1.11439906e-01 9.93770878e-01 -7.67422246e-04 -3.64964460e+00] [-8.07662392e-03 -1.33492542e-04 9.99967375e-01 1.98262571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:396.95, Y:-3.65, Z:0.20 [[ 9.93597582e-01 1.12690662e-01 8.04108764e-03 3.96951444e+02] [-1.12688131e-01 9.93630109e-01 -7.68493808e-04 -3.65129101e+00] [-8.07646887e-03 -1.42561551e-04 9.99967375e-01 1.98754004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:396.98, Y:-3.65, Z:0.20 [[ 9.93426340e-01 1.14190410e-01 8.04093235e-03 3.96983789e+02] [-1.14187915e-01 9.93458870e-01 -7.70115198e-04 -3.65271978e+00] [-8.07627534e-03 -1.53124579e-04 9.99967375e-01 1.97714892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:397.02, Y:-3.65, Z:0.20 [[ 9.93142245e-01 1.16635442e-01 8.04082984e-03 3.97015980e+02] [-1.16633020e-01 9.93174780e-01 -7.71184005e-04 -3.65185167e+00] [-8.07589680e-03 -1.71930851e-04 9.99967375e-01 1.97328502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:397.05, Y:-3.65, Z:0.20 [[ 9.93129182e-01 1.16746629e-01 8.04072693e-03 3.97048623e+02] [-1.16744201e-01 9.93161717e-01 -7.72255518e-04 -3.65301456e+00] [-8.07590039e-03 -1.71758750e-04 9.99967375e-01 1.97088725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:397.08, Y:-3.65, Z:0.20 [[ 9.93250471e-01 1.15710200e-01 8.04057220e-03 3.97081620e+02] [-1.15707726e-01 9.93283003e-01 -7.73863208e-04 -3.65199588e+00] [-8.07610756e-03 -1.61716326e-04 9.99967375e-01 1.97143520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24864 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:397.11, Y:-3.65, Z:0.20 [[ 9.93445127e-01 1.14026890e-01 8.04041797e-03 3.97114330e+02] [-1.14024347e-01 9.93477653e-01 -7.75462346e-04 -3.65458341e+00] [-8.07639913e-03 -1.46424119e-04 9.99967375e-01 1.96945537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:397.15, Y:-3.66, Z:0.20 [[ 9.93632032e-01 1.12386566e-01 8.04026303e-03 3.97147585e+02] [-1.12383956e-01 9.93664552e-01 -7.77065513e-04 -3.65746641e+00] [-8.07665609e-03 -1.31479383e-04 9.99967375e-01 1.97311475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:397.18, Y:-3.66, Z:0.20 [[ 9.94131827e-01 1.07876163e-01 8.04010642e-03 3.97179536e+02] [-1.07873393e-01 9.94164335e-01 -7.78682586e-04 -3.65845553e+00] [-8.07718834e-03 -9.32004139e-05 9.99967375e-01 1.96155640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:397.21, Y:-3.66, Z:0.20 [[ 9.94299501e-01 1.06319618e-01 8.04000100e-03 3.97211441e+02] [-1.06316788e-01 9.94332003e-01 -7.79769522e-04 -3.65951197e+00] [-8.07733509e-03 -7.94626381e-05 9.99967375e-01 1.96872378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:397.24, Y:-3.66, Z:0.20 [[ 9.94447214e-01 1.04929021e-01 8.03989516e-03 3.97243329e+02] [-1.04926137e-01 9.94479711e-01 -7.80859259e-04 -3.65990290e+00] [-8.07744741e-03 -6.70718270e-05 9.99967375e-01 1.96257680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:397.28, Y:-3.66, Z:0.20 [[ 9.94458904e-01 1.04818179e-01 8.03978854e-03 3.97275670e+02] [-1.04815282e-01 9.94491400e-01 -7.81955522e-04 -3.66158133e+00] [-8.07746371e-03 -6.50700741e-05 9.99967375e-01 1.96034080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:397.31, Y:-3.66, Z:0.19 [[ 9.94409104e-01 1.05289589e-01 8.03968238e-03 3.97308069e+02] [-1.05286699e-01 9.94441601e-01 -7.83045466e-04 -3.65954383e+00] [-8.07744115e-03 -6.78040744e-05 9.99967375e-01 1.94614909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:397.34, Y:-3.66, Z:0.19 [[ 9.94441868e-01 1.04979691e-01 8.03957607e-03 3.97340429e+02] [-1.04976782e-01 9.94474364e-01 -7.84135397e-04 -3.66048566e+00] [-8.07747059e-03 -6.41917575e-05 9.99967375e-01 1.93703802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:397.37, Y:-3.66, Z:0.19 [[ 9.94637590e-01 1.03108838e-01 8.03946909e-03 3.97372757e+02] [-1.03105859e-01 9.94670079e-01 -7.85230746e-04 -3.66386565e+00] [-8.07758358e-03 -4.78963507e-05 9.99967375e-01 1.94113268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51864 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:397.40, Y:-3.67, Z:0.19 [[ 9.94868900e-01 1.00852566e-01 8.03936184e-03 3.97404345e+02] [-1.00849505e-01 9.94901382e-01 -7.86327192e-04 -3.66806099e+00] [-8.07767532e-03 -2.84731923e-05 9.99967375e-01 1.94560538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:397.44, Y:-3.67, Z:0.21 [[ 9.94926554e-01 1.00282213e-01 8.03925509e-03 3.97438301e+02] [-1.00279124e-01 9.94959033e-01 -7.87417079e-04 -3.67183171e+00] [-8.07769340e-03 -2.27472966e-05 9.99967375e-01 2.05159213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57864 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:397.47, Y:-3.68, Z:0.19 [[ 9.95629353e-01 9.30469352e-02 8.02863442e-03 3.97466876e+02] [-9.30427375e-02 9.95661713e-01 -8.95582858e-04 -3.67643210e+00] [-8.07713514e-03 1.44662457e-04 9.99967369e-01 1.92360635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:397.50, Y:-3.68, Z:0.19 [[ 9.95800221e-01 9.11991802e-02 8.03922926e-03 3.97498580e+02] [-9.11957952e-02 9.95832670e-01 -7.87413564e-04 -3.68173398e+00] [-8.07753861e-03 5.09626967e-05 9.99967375e-01 1.92529646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63864 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:397.53, Y:-3.69, Z:0.19 [[ 9.95901697e-01 9.00843107e-02 8.03912474e-03 3.97530087e+02] [-9.00808807e-02 9.95934141e-01 -7.88479211e-04 -3.68752110e+00] [-8.07746840e-03 6.10763477e-05 9.99967375e-01 1.92527839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66864 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:397.56, Y:-3.69, Z:0.19 [[ 9.95757209e-01 9.16676277e-02 8.03901963e-03 3.97562508e+02] [-9.16642407e-02 9.95789658e-01 -7.89549436e-04 -3.69051135e+00] [-8.07754873e-03 4.93089136e-05 9.99967375e-01 1.93309692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.69864 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:397.59, Y:-3.69, Z:0.19 [[ 9.95305663e-01 9.64469482e-02 8.03891274e-03 3.97594752e+02] [-9.64437082e-02 9.95338126e-01 -7.90636226e-04 -3.69361064e+00] [-8.07769080e-03 1.16221586e-05 9.99967375e-01 1.93285628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72864 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:397.63, Y:-3.70, Z:0.19 [[ 9.95091674e-01 9.86303046e-02 8.03880391e-03 3.97626546e+02] [-9.86271269e-02 9.95124145e-01 -7.91741231e-04 -3.69797179e+00] [-8.07769754e-03 -4.98902598e-06 9.99967375e-01 1.94057669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75864 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:397.66, Y:-3.70, Z:0.19 [[ 9.94905464e-01 1.00491280e-01 8.03869377e-03 3.97658502e+02] [-1.00488154e-01 9.94937939e-01 -7.92857947e-04 -3.70192592e+00] [-8.07767672e-03 -1.89747920e-05 9.99967375e-01 1.92893169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78864 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:397.69, Y:-3.71, Z:0.19 [[ 9.94891616e-01 1.00628292e-01 8.03858379e-03 3.97691010e+02] [-1.00625161e-01 9.94924091e-01 -7.93971444e-04 -3.70510419e+00] [-8.07767666e-03 -1.89682573e-05 9.99967375e-01 1.92629327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81864 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:397.72, Y:-3.71, Z:0.19 [[ 9.94433466e-01 1.05059340e-01 8.03847430e-03 3.97723189e+02] [-1.05056345e-01 9.94465953e-01 -7.95078422e-04 -3.70783763e+00] [-8.07751942e-03 -5.38401367e-05 9.99967375e-01 1.94073225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84864 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:397.76, Y:-3.71, Z:0.19 [[ 9.94199134e-01 1.07254214e-01 8.03836523e-03 3.97755082e+02] [-1.07251282e-01 9.94231627e-01 -7.96179593e-04 -3.70987221e+00] [-8.07739056e-03 -7.05639176e-05 9.99967375e-01 1.94197634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87864 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:397.79, Y:-3.71, Z:0.20 [[ 9.93816701e-01 1.10741826e-01 8.03825734e-03 3.97787441e+02] [-1.10738999e-01 9.93849203e-01 -7.97267388e-04 -3.71186413e+00] [-8.07710649e-03 -9.78109268e-05 9.99967375e-01 1.95134576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90864 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:397.82, Y:-3.71, Z:0.20 [[ 9.93597426e-01 1.12692250e-01 8.03814994e-03 3.97819613e+02] [-1.12689479e-01 9.93629933e-01 -7.98348726e-04 -3.71483414e+00] [-8.07691410e-03 -1.12577688e-04 9.99967375e-01 1.95403593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93864 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:397.85, Y:-3.72, Z:0.20 [[ 9.93408481e-01 1.14345882e-01 8.03804231e-03 3.97851926e+02] [-1.14343155e-01 9.93440992e-01 -7.99430898e-04 -3.71737400e+00] [-8.07673235e-03 -1.24933686e-04 9.99967375e-01 1.95401152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96864 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:397.88, Y:-3.72, Z:0.20 [[ 9.93010312e-01 1.17753610e-01 8.03793464e-03 3.97883865e+02] [-1.17750987e-01 9.93042831e-01 -8.00511973e-04 -3.71819942e+00] [-8.07627655e-03 -1.51558090e-04 9.99967375e-01 1.95255701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99864 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:397.92, Y:-3.72, Z:0.19 [[ 9.92900138e-01 1.18679017e-01 8.03782766e-03 3.97916153e+02] [-1.18676415e-01 9.92932659e-01 -8.01584767e-04 -3.71967103e+00] [-8.07615288e-03 -1.58006942e-04 9.99967375e-01 1.94062995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02864 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:397.95, Y:-3.72, Z:0.19 [[ 9.92459038e-01 1.22312927e-01 8.03772159e-03 3.97948873e+02] [-1.22310436e-01 9.92491568e-01 -8.02646944e-04 -3.71982737e+00] [-8.07554500e-03 -1.86503014e-04 9.99967375e-01 1.94779129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05864 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:397.98, Y:-3.72, Z:0.20 [[ 9.92345001e-01 1.23234718e-01 8.03761513e-03 3.97981369e+02] [-1.23232248e-01 9.92377533e-01 -8.03711569e-04 -3.72145861e+00] [-8.07539384e-03 -1.92934226e-04 9.99967375e-01 1.95004531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08864 meters Centerline goodness : 0.997605 Centerline is valid? [True, True] Translation: X:398.01, Y:-3.72, Z:0.19 [[ 9.92295752e-01 1.23630652e-01 8.03750905e-03 3.98013358e+02] [-1.23628186e-01 9.92328284e-01 -8.04771044e-04 -3.72288773e+00] [-8.07534194e-03 -1.95091777e-04 9.99967375e-01 1.94829198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11863999999997 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:398.05, Y:-3.72, Z:0.19 [[ 9.92355567e-01 1.23149620e-01 8.03740330e-03 3.98045912e+02] [-1.23147131e-01 9.92388097e-01 -8.05825782e-04 -3.72430965e+00] [-8.07546051e-03 -1.90117454e-04 9.99967375e-01 1.94977692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14864 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:398.08, Y:-3.73, Z:0.19 [[ 9.92399942e-01 1.22791521e-01 8.03729774e-03 3.98078106e+02] [-1.22789011e-01 9.92432470e-01 -8.06877288e-04 -3.72661656e+00] [-8.07555294e-03 -1.86146864e-04 9.99967375e-01 1.94491397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17864 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:398.11, Y:-3.73, Z:0.20 [[ 9.92547726e-01 1.21591183e-01 8.03719124e-03 3.98110700e+02] [-1.21588625e-01 9.92580250e-01 -8.07936721e-04 -3.72738062e+00] [-8.07579528e-03 -1.75315274e-04 9.99967375e-01 1.96101647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20864 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:398.14, Y:-3.73, Z:0.19 [[ 9.92675044e-01 1.20547347e-01 8.03708460e-03 3.98142851e+02] [-1.20544747e-01 9.92707565e-01 -8.08996140e-04 -3.72940348e+00] [-8.07599702e-03 -1.65758049e-04 9.99967375e-01 1.94223808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23864 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:398.18, Y:-3.73, Z:0.19 [[ 9.92941184e-01 1.18335170e-01 8.03697668e-03 3.98175371e+02] [-1.18332488e-01 9.92973699e-01 -8.10066924e-04 -3.73205698e+00] [-8.07636586e-03 -1.46686634e-04 9.99967375e-01 1.93996151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26864 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:398.21, Y:-3.73, Z:0.19 [[ 9.93004780e-01 1.17800320e-01 8.03686921e-03 3.98207348e+02] [-1.17797612e-01 9.93037293e-01 -8.11131676e-04 -3.73477155e+00] [-8.07646242e-03 -1.41266372e-04 9.99967375e-01 1.93792380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29864 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:398.24, Y:-3.74, Z:0.19 [[ 9.92902255e-01 1.18661380e-01 8.03676128e-03 3.98239656e+02] [-1.18658691e-01 9.92934769e-01 -8.12199714e-04 -3.73502280e+00] [-8.07635644e-03 -1.47196647e-04 9.99967375e-01 1.94041326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32864 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:398.27, Y:-3.74, Z:0.19 [[ 9.92802228e-01 1.19495390e-01 8.03665271e-03 3.98271336e+02] [-1.19492720e-01 9.92834744e-01 -8.13272581e-04 -3.73727345e+00] [-8.07625036e-03 -1.52902661e-04 9.99967375e-01 1.94034597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35864 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:398.30, Y:-3.74, Z:0.19 [[ 9.92672666e-01 1.20566960e-01 8.03654482e-03 3.98303569e+02] [-1.20564316e-01 9.92705184e-01 -8.14337289e-04 -3.74056844e+00] [-8.07610188e-03 -1.60550164e-04 9.99967375e-01 1.94227282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38864 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:398.34, Y:-3.74, Z:0.19 [[ 9.92393832e-01 1.22840946e-01 8.03643635e-03 3.98336207e+02] [-1.22838368e-01 9.92426355e-01 -8.15406341e-04 -3.74193211e+00] [-8.07573652e-03 -1.77978506e-04 9.99967375e-01 1.93617686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41864 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:398.37, Y:-3.74, Z:0.19 [[ 9.92250229e-01 1.23995565e-01 8.03632829e-03 3.98368155e+02] [-1.23993017e-01 9.92282755e-01 -8.16469974e-04 -3.74245451e+00] [-8.07554863e-03 -1.86306069e-04 9.99967375e-01 1.93461841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44864 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:398.40, Y:-3.74, Z:0.19 [[ 9.92200329e-01 1.24394236e-01 8.03622036e-03 3.98400436e+02] [-1.24391692e-01 9.92232855e-01 -8.17530910e-04 -3.74431064e+00] [-8.07549800e-03 -1.88484610e-04 9.99967375e-01 1.91940064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:398.43, Y:-3.75, Z:0.19 [[ 9.92241408e-01 1.24066151e-01 8.03611147e-03 3.98432138e+02] [-1.24063588e-01 9.92273932e-01 -8.18599919e-04 -3.74833754e+00] [-8.07558446e-03 -1.84740086e-04 9.99967375e-01 1.92271141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50864 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:398.46, Y:-3.75, Z:0.19 [[ 9.92455953e-01 1.22338073e-01 8.03600407e-03 3.98463335e+02] [-1.22335445e-01 9.92488472e-01 -8.19652862e-04 -3.75014063e+00] [-8.07591615e-03 -1.69618770e-04 9.99967375e-01 1.91601314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:398.49, Y:-3.75, Z:0.19 [[ 9.92522138e-01 1.21799954e-01 8.03595004e-03 3.98494399e+02] [-1.21797304e-01 9.92554655e-01 -8.20182207e-04 -3.75197548e+00] [-8.07601778e-03 -1.64708050e-04 9.99967375e-01 1.90162161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56864 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:398.53, Y:-3.76, Z:0.19 [[ 9.92677213e-01 1.20529558e-01 8.03589584e-03 3.98525783e+02] [-1.20526862e-01 9.92709727e-01 -8.20712883e-04 -3.75543510e+00] [-8.07623213e-03 -1.53838334e-04 9.99967375e-01 1.89759788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:398.56, Y:-3.76, Z:0.19 [[ 9.92757459e-01 1.19866809e-01 8.03584128e-03 3.98556732e+02] [-1.19864087e-01 9.92789971e-01 -8.21246765e-04 -3.75857524e+00] [-8.07634286e-03 -1.47909925e-04 9.99967375e-01 1.88998700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:398.59, Y:-3.76, Z:0.19 [[ 9.92820562e-01 1.19343027e-01 8.03578696e-03 3.98588279e+02] [-1.19340283e-01 9.92853071e-01 -8.21777947e-04 -3.76076792e+00] [-8.07642923e-03 -1.43115050e-04 9.99967375e-01 1.89926176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65864 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:398.62, Y:-3.76, Z:0.19 [[ 9.92581428e-01 1.21315849e-01 8.03573233e-03 3.98619373e+02] [-1.21313166e-01 9.92613943e-01 -8.22311822e-04 -3.76071450e+00] [-8.07613941e-03 -1.58628685e-04 9.99967375e-01 1.89658102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68864 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:398.65, Y:-3.76, Z:0.19 [[ 9.92570979e-01 1.21401315e-01 8.03567756e-03 3.98650227e+02] [-1.21398630e-01 9.92603494e-01 -8.22846632e-04 -3.76291535e+00] [-8.07613629e-03 -1.58786559e-04 9.99967375e-01 1.89339594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:398.68, Y:-3.76, Z:0.19 [[ 9.92841716e-01 1.19166926e-01 8.03562336e-03 3.98681970e+02] [-1.19164164e-01 9.92874224e-01 -8.23375643e-04 -3.76494615e+00] [-8.07648245e-03 -1.40076651e-04 9.99967375e-01 1.88290891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:398.71, Y:-3.77, Z:0.19 [[ 9.93032065e-01 1.17570182e-01 8.03556881e-03 3.98713272e+02] [-1.17567363e-01 9.93064568e-01 -8.23907640e-04 -3.76770790e+00] [-8.07670564e-03 -1.26553933e-04 9.99967375e-01 1.88980930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:398.74, Y:-3.77, Z:0.19 [[ 9.93367122e-01 1.14704797e-01 8.03551357e-03 3.98744402e+02] [-1.14701880e-01 9.93399617e-01 -8.24446021e-04 -3.76882444e+00] [-8.07704402e-03 -1.02710946e-04 9.99967375e-01 1.89211869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80864 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:398.78, Y:-3.77, Z:0.19 [[ 9.93487428e-01 1.13658094e-01 8.03545868e-03 3.98776078e+02] [-1.13655139e-01 9.93519919e-01 -8.24980714e-04 -3.77102087e+00] [-8.07715399e-03 -9.36632013e-05 9.99967375e-01 1.89394744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:398.81, Y:-3.77, Z:0.19 [[ 9.93513120e-01 1.13433295e-01 8.03540383e-03 3.98807712e+02] [-1.13430328e-01 9.93545610e-01 -8.25514567e-04 -3.77356643e+00] [-8.07718104e-03 -9.12989410e-05 9.99967375e-01 1.88965273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:398.84, Y:-3.77, Z:0.19 [[ 9.93377960e-01 1.14610918e-01 8.03534867e-03 3.98839456e+02] [-1.14607985e-01 9.93410453e-01 -8.26051140e-04 -3.77272958e+00] [-8.07707384e-03 -1.00334122e-04 9.99967375e-01 1.88646003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89864 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:398.87, Y:-3.77, Z:0.20 [[ 9.93394705e-01 1.14465694e-01 8.03529314e-03 3.98870839e+02] [-1.14462752e-01 9.93427197e-01 -8.26590991e-04 -3.77306181e+00] [-8.07709505e-03 -9.86106521e-05 9.99967375e-01 1.96862422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:398.90, Y:-3.77, Z:0.19 [[ 9.93560359e-01 1.13018832e-01 8.03466249e-03 3.98901942e+02] [-1.13015793e-01 9.93592843e-01 -8.32725851e-04 -3.77359629e+00] [-8.07729685e-03 -8.06803605e-05 9.99967375e-01 1.87548081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:398.93, Y:-3.78, Z:0.19 [[ 9.93690825e-01 1.11865885e-01 8.03537192e-03 3.98931909e+02] [-1.11862864e-01 9.93723310e-01 -8.25823083e-04 -3.77719641e+00] [-8.07731781e-03 -7.82468955e-05 9.99967375e-01 1.86931390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:398.96, Y:-3.78, Z:0.19 [[ 9.94115243e-01 1.08029243e-01 8.03537192e-03 3.98963475e+02] [-1.08026097e-01 9.94147716e-01 -8.25823083e-04 -3.77942920e+00] [-8.07755968e-03 -4.70665486e-05 9.99967375e-01 1.87263991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01864 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:399.00, Y:-3.78, Z:0.20 [[ 9.94217105e-01 1.07087733e-01 8.03531692e-03 3.98995127e+02] [-1.07084552e-01 9.94249574e-01 -8.26357869e-04 -3.78092893e+00] [-8.07760322e-03 -3.88791853e-05 9.99967375e-01 1.96823613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:399.03, Y:-3.78, Z:0.19 [[ 9.94544671e-01 1.04001910e-01 8.03122131e-03 3.99025061e+02] [-1.03998305e-01 9.94577097e-01 -8.66252525e-04 -3.78355487e+00] [-8.07776069e-03 2.62934270e-05 9.99967374e-01 1.85953667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:399.06, Y:-3.79, Z:0.19 [[ 9.94952865e-01 1.00021127e-01 8.03558959e-03 3.99055768e+02] [-1.00017737e-01 9.94985313e-01 -8.23634528e-04 -3.78719978e+00] [-8.07767448e-03 1.57760495e-05 9.99967375e-01 1.85243239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:399.09, Y:-3.79, Z:0.19 [[ 9.95088559e-01 9.86620029e-02 8.03553487e-03 3.99086924e+02] [-9.86585643e-02 9.95121002e-01 -8.24167972e-04 -3.79027050e+00] [-8.07764358e-03 2.73457854e-05 9.99967375e-01 1.85387592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13864 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:399.12, Y:-3.79, Z:0.20 [[ 9.95263428e-01 9.68820894e-02 8.03548100e-03 3.99118364e+02] [-9.68785886e-02 9.95295865e-01 -8.24692916e-04 -3.79295908e+00] [-8.07757898e-03 4.23206413e-05 9.99967375e-01 1.95473464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:399.15, Y:-3.80, Z:0.19 [[ 9.95494320e-01 9.44802351e-02 8.03392342e-03 3.99148931e+02] [-9.44765332e-02 9.95526735e-01 -8.39900185e-04 -3.79696995e+00] [-8.07733951e-03 7.70986307e-05 9.99967375e-01 1.85028073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.19864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:399.18, Y:-3.80, Z:0.18 [[ 9.95743673e-01 9.18148324e-02 8.03575242e-03 3.99179815e+02] [-9.18111881e-02 9.95776094e-01 -8.22020614e-04 -3.80146943e+00] [-8.07728384e-03 8.07498500e-05 9.99967375e-01 1.84091684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22864 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:399.21, Y:-3.80, Z:0.19 [[ 9.95652208e-01 9.28014467e-02 8.03569912e-03 3.99211108e+02] [-9.27978303e-02 9.95684632e-01 -8.22541274e-04 -3.80397484e+00] [-8.07735514e-03 7.32695917e-05 9.99967375e-01 1.94070189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.25864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:399.24, Y:-3.81, Z:0.18 [[ 9.95958673e-01 8.94527934e-02 8.03244437e-03 3.99241695e+02] [-8.94488113e-02 9.95991054e-01 -8.54357859e-04 -3.80536411e+00] [-8.07666743e-03 1.32412518e-04 9.99967374e-01 1.84381829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:399.27, Y:-3.81, Z:0.18 [[ 9.95988353e-01 8.91213969e-02 8.03596744e-03 3.99272538e+02] [-8.91176826e-02 9.96020766e-01 -8.19824543e-04 -3.80831526e+00] [-8.07705436e-03 1.00388901e-04 9.99967375e-01 1.84227280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.31864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:399.30, Y:-3.81, Z:0.18 [[ 9.96023430e-01 8.87285287e-02 8.03591429e-03 3.99303775e+02] [-8.87247974e-02 9.96055840e-01 -8.20345216e-04 -3.81138794e+00] [-8.07700739e-03 1.04098188e-04 9.99967375e-01 1.83676738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:399.34, Y:-3.82, Z:0.18 [[ 9.96151103e-01 8.72834707e-02 8.03586180e-03 3.99335315e+02] [-8.72796882e-02 9.96183508e-01 -8.20859040e-04 -3.81519586e+00] [-8.07684043e-03 1.16332126e-04 9.99967375e-01 1.83292908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.37864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:399.37, Y:-3.82, Z:0.18 [[ 9.96170776e-01 8.70586589e-02 8.03580928e-03 3.99366702e+02] [-8.70548650e-02 9.96203180e-01 -8.21372954e-04 -3.81876598e+00] [-8.07680638e-03 1.18671442e-04 9.99967375e-01 1.81990894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:399.40, Y:-3.82, Z:0.18 [[ 9.96229471e-01 8.63844230e-02 8.03575593e-03 3.99397565e+02] [-8.63806030e-02 9.96261871e-01 -8.21894510e-04 -3.82380655e+00] [-8.07671612e-03 1.24662090e-04 9.99967375e-01 1.82919902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:399.43, Y:-3.83, Z:0.18 [[ 9.96227533e-01 8.64067646e-02 8.03570360e-03 3.99428233e+02] [-8.64029412e-02 9.96259934e-01 -8.22405826e-04 -3.82825041e+00] [-8.07671096e-03 1.24994902e-04 9.99967375e-01 1.82570030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:399.46, Y:-3.83, Z:0.18 [[ 9.96218602e-01 8.65096785e-02 8.03565050e-03 3.99459330e+02] [-8.65058542e-02 9.96251003e-01 -8.22924311e-04 -3.83236572e+00] [-8.07671579e-03 1.24681696e-04 9.99967375e-01 1.82002645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:399.49, Y:-3.84, Z:0.18 [[ 9.95990526e-01 8.90971410e-02 8.03559767e-03 3.99490326e+02] [-8.90933968e-02 9.96022936e-01 -8.23439860e-04 -3.83671258e+00] [-8.07700572e-03 1.04219608e-04 9.99967375e-01 1.81648970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:399.52, Y:-3.84, Z:0.18 [[ 9.95620535e-01 9.31406501e-02 8.03554455e-03 3.99521434e+02] [-9.31370332e-02 9.95652959e-01 -8.23957945e-04 -3.84140507e+00] [-8.07735768e-03 7.19426696e-05 9.99967375e-01 1.81063865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:399.55, Y:-3.85, Z:0.18 [[ 9.95436623e-01 9.50860657e-02 8.03549117e-03 3.99552282e+02] [-9.50825080e-02 9.95469054e-01 -8.24478193e-04 -3.84639596e+00] [-8.07747918e-03 5.66811349e-05 9.99967375e-01 1.79760854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:399.58, Y:-3.85, Z:0.18 [[ 9.95303658e-01 9.64679224e-02 8.03543704e-03 3.99583645e+02] [-9.64644056e-02 9.95336093e-01 -8.25005359e-04 -3.85167785e+00] [-8.07754707e-03 4.59971937e-05 9.99967375e-01 1.79631212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61863999999997 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:399.61, Y:-3.86, Z:0.18 [[ 9.95034050e-01 9.92102391e-02 8.03538325e-03 3.99614057e+02] [-9.92068073e-02 9.95066494e-01 -8.25528989e-04 -3.85761852e+00] [-8.07764157e-03 2.42647361e-05 9.99967375e-01 1.78691655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:399.65, Y:-3.86, Z:0.18 [[ 9.94752606e-01 1.01993558e-01 8.03532911e-03 3.99645228e+02] [-1.01990212e-01 9.94785059e-01 -8.26055643e-04 -3.86380162e+00] [-8.07767770e-03 2.19608163e-06 9.99967375e-01 1.78527844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:399.68, Y:-3.87, Z:0.18 [[ 9.94738904e-01 1.02127109e-01 8.03527455e-03 3.99677730e+02] [-1.02123764e-01 9.94771357e-01 -8.26585965e-04 -3.86711005e+00] [-8.07767781e-03 1.64473558e-06 9.99967375e-01 1.78263967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:399.71, Y:-3.87, Z:0.18 [[ 9.94625657e-01 1.03224217e-01 8.03516343e-03 3.99708824e+02] [-1.03220899e-01 9.94658113e-01 -8.27664742e-04 -3.87172375e+00] [-8.07767554e-03 -6.18020492e-06 9.99967375e-01 1.78348010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:399.74, Y:-3.88, Z:0.18 [[ 9.94509781e-01 1.04334711e-01 8.03510827e-03 3.99740868e+02] [-1.04331425e-01 9.94542240e-01 -8.28199933e-04 -3.87624711e+00] [-8.07766458e-03 -1.46613587e-05 9.99967375e-01 1.78267955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:399.77, Y:-3.88, Z:0.18 [[ 9.94455419e-01 1.04851604e-01 8.03499665e-03 3.99772486e+02] [-1.04848326e-01 9.94487879e-01 -8.29281461e-04 -3.88069610e+00] [-8.07765826e-03 -1.77725023e-05 9.99967375e-01 1.78262339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79864 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:399.81, Y:-3.88, Z:0.19 [[ 9.94027312e-01 1.08835400e-01 8.03488505e-03 3.99805394e+02] [-1.08832244e-01 9.94059784e-01 -8.30361279e-04 -3.88385215e+00] [-8.07752880e-03 -4.90527784e-05 9.99967375e-01 1.85905213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82864 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:399.84, Y:-3.89, Z:0.19 [[ 9.94088687e-01 1.08274254e-01 8.02302894e-03 3.99836006e+02] [-1.08270155e-01 9.94121060e-01 -9.44759888e-04 -3.88938073e+00] [-8.07815520e-03 7.05205293e-05 9.99967369e-01 1.85681924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:399.87, Y:-3.89, Z:0.18 [[ 9.94347826e-01 1.05867768e-01 8.02596396e-03 3.99865104e+02] [-1.05863820e-01 9.94380215e-01 -9.16377913e-04 -3.89404121e+00] [-8.07787466e-03 6.15391823e-05 9.99967372e-01 1.76527361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:399.90, Y:-3.90, Z:0.18 [[ 9.94201574e-01 1.07231834e-01 8.03515076e-03 3.99896776e+02] [-1.07228651e-01 9.94234043e-01 -8.27133572e-04 -3.89737674e+00] [-8.07751547e-03 -3.92608798e-05 9.99967376e-01 1.76844905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:399.93, Y:-3.90, Z:0.18 [[ 9.94173256e-01 1.07494067e-01 8.03503867e-03 3.99928066e+02] [-1.07490884e-01 9.94205725e-01 -8.28220932e-04 -3.90017152e+00] [-8.07751029e-03 -4.02983062e-05 9.99967376e-01 1.75723380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94864 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:399.96, Y:-3.90, Z:0.18 [[ 9.93910893e-01 1.09893475e-01 8.03498325e-03 3.99960559e+02] [-1.09890366e-01 9.93943369e-01 -8.28758326e-04 -3.90413405e+00] [-8.07739345e-03 -5.92553186e-05 9.99967376e-01 1.83944685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:399.99, Y:-3.91, Z:0.18 [[ 9.94138444e-01 1.07816238e-01 8.02578146e-03 3.99990255e+02] [-1.07812343e-01 9.94170839e-01 -9.17736122e-04 -3.90835822e+00] [-8.07794474e-03 4.70784602e-05 9.99967372e-01 1.75525290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:400.02, Y:-3.91, Z:0.18 [[ 9.93996372e-01 1.09117595e-01 8.03507168e-03 4.00021970e+02] [-1.09114471e-01 9.94028846e-01 -8.27531246e-04 -3.91053351e+00] [-8.07739126e-03 -5.41795369e-05 9.99967376e-01 1.75095110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:400.05, Y:-3.91, Z:0.18 [[ 9.93780514e-01 1.11066326e-01 8.03496033e-03 4.00053383e+02] [-1.11063257e-01 9.93812994e-01 -8.28611075e-04 -3.91271828e+00] [-8.07727876e-03 -6.89313216e-05 9.99967376e-01 1.75454090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:400.08, Y:-3.92, Z:0.18 [[ 9.93703075e-01 1.11757053e-01 8.03490524e-03 4.00084526e+02] [-1.11754002e-01 9.93735556e-01 -8.29144895e-04 -3.91661987e+00] [-8.07723382e-03 -7.40089838e-05 9.99967376e-01 1.75845145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:400.12, Y:-3.92, Z:0.18 [[ 9.93717659e-01 1.11627308e-01 8.03484964e-03 4.00115386e+02] [-1.11624248e-01 9.93750139e-01 -8.29683334e-04 -3.91993985e+00] [-8.07724826e-03 -7.24130663e-05 9.99967376e-01 1.75527413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12864 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:400.15, Y:-3.92, Z:0.17 [[ 9.93906270e-01 1.09935289e-01 8.03479392e-03 4.00147787e+02] [-1.09932170e-01 9.93938745e-01 -8.30222621e-04 -3.92230011e+00] [-8.07736375e-03 -5.81188584e-05 9.99967376e-01 1.74311072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:400.18, Y:-3.92, Z:0.17 [[ 9.93960636e-01 1.09442670e-01 8.03468122e-03 4.00179403e+02] [-1.09439526e-01 9.93993108e-01 -8.31311888e-04 -3.92499852e+00] [-8.07739875e-03 -5.30204085e-05 9.99967376e-01 1.74042305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:400.21, Y:-3.93, Z:0.17 [[ 9.94197966e-01 1.07265323e-01 8.03456897e-03 4.00210926e+02] [-1.07262099e-01 9.94230431e-01 -8.32395293e-04 -3.92809134e+00] [-8.07750012e-03 -3.42390262e-05 9.99967376e-01 1.74072145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:400.24, Y:-3.93, Z:0.17 [[ 9.94246251e-01 1.06816850e-01 8.03448448e-03 4.00243314e+02] [-1.06813604e-01 9.94278713e-01 -8.33210027e-04 -3.93034294e+00] [-8.07751776e-03 -2.97763005e-05 9.99967376e-01 1.73750446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:400.28, Y:-3.93, Z:0.17 [[ 9.94425059e-01 1.05139199e-01 8.03437265e-03 4.00275877e+02] [-1.05135890e-01 9.94457515e-01 -8.34287012e-04 -3.93211566e+00] [-8.07755852e-03 -1.50650046e-05 9.99967376e-01 1.74040590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:400.31, Y:-3.94, Z:0.17 [[ 9.94474412e-01 1.04671365e-01 8.03425951e-03 4.00307768e+02] [-1.04668032e-01 9.94506865e-01 -8.35375125e-04 -3.93546370e+00] [-8.07756609e-03 -1.01709418e-05 9.99967376e-01 1.72351139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:400.34, Y:-3.94, Z:0.17 [[ 9.94500233e-01 1.04425758e-01 8.03414622e-03 4.00338775e+02] [-1.04422408e-01 9.94532685e-01 -8.36463222e-04 -3.93905011e+00] [-8.07756932e-03 -7.08202349e-06 9.99967376e-01 1.72303720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:400.37, Y:-3.94, Z:0.17 [[ 9.94448121e-01 1.04920868e-01 8.03409053e-03 4.00370528e+02] [-1.04917530e-01 9.94480574e-01 -8.36997825e-04 -3.94052098e+00] [-8.07756550e-03 -1.05660175e-05 9.99967376e-01 1.72097874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:400.40, Y:-3.94, Z:0.17 [[ 9.94346302e-01 1.05881475e-01 8.03403451e-03 4.00402046e+02] [-1.05878164e-01 9.94378757e-01 -8.37535155e-04 -3.94165136e+00] [-8.07755271e-03 -1.78288367e-05 9.99967376e-01 1.71812855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:400.43, Y:-3.94, Z:0.17 [[ 9.94399077e-01 1.05384679e-01 8.03397817e-03 4.00433249e+02] [-1.05381347e-01 9.94431531e-01 -8.38075242e-04 -3.94300460e+00] [-8.07756150e-03 -1.32501950e-05 9.99967376e-01 1.70796318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:400.46, Y:-3.95, Z:0.18 [[ 9.94461228e-01 1.04796570e-01 8.03392212e-03 4.00464421e+02] [-1.04793215e-01 9.94493680e-01 -8.38612244e-04 -3.94556838e+00] [-8.07756846e-03 -7.93316683e-06 9.99967376e-01 1.81327337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:400.49, Y:-3.95, Z:0.17 [[ 9.94939471e-01 1.00154620e-01 8.03130449e-03 4.00494625e+02] [-1.00150911e-01 9.94971884e-01 -8.63700454e-04 -3.94604022e+00] [-8.07742574e-03 5.49872111e-05 9.99967376e-01 1.71095611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:400.53, Y:-3.95, Z:0.17 [[ 9.95273524e-01 9.67784425e-02 8.03402541e-03 4.00525617e+02] [-9.67748340e-02 9.95305948e-01 -8.37602161e-04 -3.94920801e+00] [-8.07737511e-03 5.61517786e-05 9.99967376e-01 1.70876330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:400.56, Y:-3.95, Z:0.17 [[ 9.95661860e-01 9.26979795e-02 8.03396997e-03 4.00556226e+02] [-9.26942339e-02 9.95694269e-01 -8.38133638e-04 -3.95395233e+00] [-8.07707115e-03 8.97950052e-05 9.99967376e-01 1.71029812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:400.59, Y:-3.96, Z:0.17 [[ 9.96407691e-01 8.43040303e-02 8.03391503e-03 4.00586800e+02] [-8.43000075e-02 9.96440066e-01 -8.38659890e-04 -3.96031495e+00] [-8.07601724e-03 1.58388067e-04 9.99967376e-01 1.70567778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57864 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:400.62, Y:-3.96, Z:0.17 [[ 9.96756471e-01 8.00749356e-02 8.03386044e-03 4.00618334e+02] [-8.00707712e-02 9.96788828e-01 -8.39182521e-04 -3.96450038e+00] [-8.07525982e-03 1.93183206e-04 9.99967376e-01 1.70686551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:400.65, Y:-3.97, Z:0.17 [[ 9.97331514e-01 7.25624519e-02 8.03375372e-03 4.00649647e+02] [-7.25580356e-02 9.97363838e-01 -8.40202967e-04 -3.97408145e+00] [-8.07354263e-03 2.55047509e-04 9.99967376e-01 1.70281511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:400.68, Y:-3.98, Z:0.17 [[ 9.97467206e-01 7.06727230e-02 8.03364799e-03 4.00681625e+02] [-7.06682373e-02 9.97499520e-01 -8.41212648e-04 -3.98223813e+00] [-8.07301081e-03 2.71358287e-04 9.99967376e-01 1.69541046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:400.71, Y:-3.99, Z:0.17 [[ 9.97560784e-01 6.93393381e-02 8.03354232e-03 4.00713427e+02] [-6.93348012e-02 9.97593091e-01 -8.42220637e-04 -3.99031646e+00] [-8.07260534e-03 2.83162219e-04 9.99967376e-01 1.70342562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.69864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:400.74, Y:-4.00, Z:0.17 [[ 9.97519167e-01 6.99355050e-02 8.03343745e-03 4.00744295e+02] [-6.99309793e-02 9.97551476e-01 -8.43219766e-04 -4.00037683e+00] [-8.07273838e-03 2.79341731e-04 9.99967376e-01 1.70227484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:400.78, Y:-4.01, Z:0.17 [[ 9.97404390e-01 7.15538103e-02 8.03333235e-03 4.00776427e+02] [-7.15493290e-02 9.97436705e-01 -8.44219807e-04 -4.00722289e+00] [-8.07314770e-03 2.67249002e-04 9.99967376e-01 1.69348019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.75864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:400.81, Y:-4.02, Z:0.17 [[ 9.97115715e-01 7.54699833e-02 8.03320058e-03 4.00808156e+02] [-7.54656189e-02 9.97148046e-01 -8.45471863e-04 -4.01719912e+00] [-8.07409801e-03 2.36802828e-04 9.99967376e-01 1.68262758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:400.84, Y:-4.02, Z:0.17 [[ 9.96923921e-01 7.79625846e-02 8.03309368e-03 4.00840377e+02] [-7.79582929e-02 9.96956262e-01 -8.46486346e-04 -4.02267520e+00] [-8.07463731e-03 2.17636218e-04 9.99967376e-01 1.68252620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.81864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:400.87, Y:-4.03, Z:0.17 [[ 9.96687302e-01 8.09314059e-02 8.03298524e-03 4.00872506e+02] [-8.09272022e-02 9.96719655e-01 -8.47514174e-04 -4.02720496e+00] [-8.07522478e-03 1.94619595e-04 9.99967376e-01 1.67584476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:400.90, Y:-4.03, Z:0.17 [[ 9.96288042e-01 8.57065315e-02 8.03287711e-03 4.00904297e+02] [-8.57024746e-02 9.96320413e-01 -8.48537749e-04 -4.03388888e+00] [-8.07604467e-03 1.56950567e-04 9.99967376e-01 1.66241077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.87864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:400.94, Y:-4.04, Z:0.18 [[ 9.95465875e-01 9.47795634e-02 8.03276761e-03 4.00936254e+02] [-9.47757933e-02 9.95498281e-01 -8.49573140e-04 -4.03629493e+00] [-8.07712851e-03 8.44091477e-05 9.99967376e-01 1.76362995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:400.97, Y:-4.04, Z:0.17 [[ 9.95128731e-01 9.82564598e-02 8.02971879e-03 4.00965944e+02] [-9.82525705e-02 9.95161123e-01 -8.78371974e-04 -4.03618715e+00] [-8.07716969e-03 8.51526768e-05 9.99967376e-01 1.67519026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:401.00, Y:-4.03, Z:0.17 [[ 9.94449498e-01 1.04907917e-01 8.03275664e-03 4.00998341e+02] [-1.04904476e-01 9.94481940e-01 -8.49651654e-04 -4.03497627e+00] [-8.07756659e-03 2.26353634e-06 9.99967376e-01 1.67473267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:401.03, Y:-4.03, Z:0.17 [[ 9.93809845e-01 1.10803739e-01 8.03264061e-03 4.01030613e+02] [-1.10800482e-01 9.93842306e-01 -8.50747184e-04 -4.03435688e+00] [-8.07744404e-03 -4.45395221e-05 9.99967376e-01 1.67302397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:401.06, Y:-4.03, Z:0.17 [[ 9.92774155e-01 1.19728672e-01 8.03252506e-03 4.01063174e+02] [-1.19725697e-01 9.92806644e-01 -8.51836781e-04 -4.03042443e+00] [-8.07673353e-03 -1.16018124e-04 9.99967376e-01 1.66592099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:401.10, Y:-4.03, Z:0.17 [[ 9.92302568e-01 1.23576268e-01 8.03241093e-03 4.01095274e+02] [-1.23573411e-01 9.92335067e-01 -8.52911592e-04 -4.03010873e+00] [-8.07624267e-03 -1.46246052e-04 9.99967376e-01 1.66656681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.13, Y:-4.03, Z:0.17 [[ 9.91642916e-01 1.28762609e-01 8.03229575e-03 4.01127814e+02] [-1.28759913e-01 9.91675429e-01 -8.53994926e-04 -4.02540583e+00] [-8.07539295e-03 -1.87379683e-04 9.99967376e-01 1.66952513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:401.16, Y:-4.02, Z:0.18 [[ 9.91350096e-01 1.30997977e-01 8.03221082e-03 4.01160136e+02] [-1.30995348e-01 9.91382614e-01 -8.54792966e-04 -4.02423694e+00] [-8.07497032e-03 -2.04783166e-04 9.99967376e-01 1.76766067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11863999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:401.19, Y:-4.02, Z:0.17 [[ 9.91189163e-01 1.32210551e-01 8.02582870e-03 4.01190345e+02] [-1.32207476e-01 9.91221643e-01 -9.14819604e-04 -4.01974499e+00] [-8.07632392e-03 -1.54315279e-04 9.99967374e-01 1.66538842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:401.22, Y:-4.02, Z:0.17 [[ 9.91109127e-01 1.32808796e-01 8.03256640e-03 4.01221135e+02] [-1.32806255e-01 9.91141652e-01 -8.51240838e-04 -4.01961333e+00] [-8.07446340e-03 -2.23102499e-04 9.99967376e-01 1.67340515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:401.25, Y:-4.02, Z:0.17 [[ 9.91190324e-01 1.32201434e-01 8.03256640e-03 4.01251818e+02] [-1.32198873e-01 9.91222847e-01 -8.51240838e-04 -4.01974260e+00] [-8.07459860e-03 -2.18154544e-04 9.99967376e-01 1.66584405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:401.28, Y:-4.02, Z:0.17 [[ 9.91590784e-01 1.29163446e-01 8.03256640e-03 4.01281832e+02] [-1.29160786e-01 9.91623299e-01 -8.51240838e-04 -4.01755113e+00] [-8.07522919e-03 -1.93410017e-04 9.99967376e-01 1.74305400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23864 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:401.31, Y:-4.02, Z:0.17 [[ 9.91767510e-01 1.27799420e-01 8.03213440e-03 4.01312662e+02] [-1.27796682e-01 9.91800018e-01 -8.55319954e-04 -4.01857958e+00] [-8.07558044e-03 -1.78201584e-04 9.99967376e-01 1.74901181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:401.34, Y:-4.02, Z:0.17 [[ 9.92414576e-01 1.22673722e-01 8.02913413e-03 4.01342637e+02] [-1.22670586e-01 9.92447050e-01 -8.83701014e-04 -4.01731266e+00] [-8.07689737e-03 -1.07940824e-04 9.99967376e-01 1.67268805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:401.37, Y:-4.02, Z:0.17 [[ 9.92634210e-01 1.20883390e-01 8.03308350e-03 4.01371969e+02] [-1.20880499e-01 9.92666706e-01 -8.46209670e-04 -4.01836177e+00] [-8.07646722e-03 -1.31066476e-04 9.99967376e-01 1.67473637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:401.40, Y:-4.02, Z:0.17 [[ 9.93123698e-01 1.16793788e-01 8.03314054e-03 4.01401447e+02] [-1.16790768e-01 9.93156182e-01 -8.45667781e-04 -4.01862498e+00] [-8.07693193e-03 -9.83439364e-05 9.99967376e-01 1.66434262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35864 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:401.43, Y:-4.02, Z:0.18 [[ 9.93191323e-01 1.16217311e-01 8.03319740e-03 4.01431657e+02] [-1.16214277e-01 9.93223805e-01 -8.45127281e-04 -4.02024158e+00] [-8.07698132e-03 -9.41991426e-05 9.99967376e-01 1.75432342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:401.46, Y:-4.02, Z:0.17 [[ 9.93553830e-01 1.13076648e-01 8.02860878e-03 4.01460330e+02] [-1.13073157e-01 9.93586268e-01 -8.88911057e-04 -4.02243456e+00] [-8.07763052e-03 -2.46391526e-05 9.99967375e-01 1.65117432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41864 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:401.49, Y:-4.02, Z:0.18 [[ 9.94182567e-01 1.07408017e-01 8.03373155e-03 4.01489399e+02] [-1.07404737e-01 9.94215026e-01 -8.39912086e-04 -4.02443399e+00] [-8.07746991e-03 -2.78348686e-05 9.99967376e-01 1.77905849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44864 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:401.52, Y:-4.03, Z:0.17 [[ 9.94074547e-01 1.08402992e-01 8.03652684e-03 4.01520052e+02] [-1.08399961e-01 9.94107030e-01 -8.13063666e-04 -4.02601346e+00] [-8.07730637e-03 -6.29133023e-05 9.99967376e-01 1.73325666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47864 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:401.55, Y:-4.03, Z:0.17 [[ 9.94333752e-01 1.05999699e-01 8.02833006e-03 4.01550868e+02] [-1.05995953e-01 9.94366161e-01 -8.91798347e-04 -4.02941353e+00] [-8.07763010e-03 3.57746989e-05 9.99967375e-01 1.74301577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:401.58, Y:-4.03, Z:0.16 [[ 9.95059852e-01 9.89518260e-02 8.02669482e-03 4.01579692e+02] [-9.89477236e-02 9.95092219e-01 -9.07596121e-04 -4.03257748e+00] [-8.07710985e-03 1.08889281e-04 9.99967374e-01 1.64500883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:401.61, Y:-4.04, Z:0.17 [[ 9.95278656e-01 9.67255739e-02 8.03499094e-03 4.01609548e+02] [-9.67220494e-02 9.95311088e-01 -8.26991887e-04 -4.03613076e+00] [-8.07730684e-03 4.59265821e-05 9.99967377e-01 1.65055376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:401.64, Y:-4.04, Z:0.16 [[ 9.95632014e-01 9.30179017e-02 8.03504501e-03 4.01640031e+02] [-9.30142607e-02 9.95664434e-01 -8.26466225e-04 -4.04153058e+00] [-8.07708469e-03 7.54824609e-05 9.99967377e-01 1.64335040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:401.67, Y:-4.04, Z:0.16 [[ 9.95632014e-01 9.30179017e-02 8.03504501e-03 4.01670864e+02] [-9.30142607e-02 9.95664434e-01 -8.26466225e-04 -4.04470203e+00] [-8.07708469e-03 7.54824609e-05 9.99967377e-01 1.64084664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:401.70, Y:-4.05, Z:0.16 [[ 9.95657409e-01 9.27456881e-02 8.03504501e-03 4.01700765e+02] [-9.27420382e-02 9.95689827e-01 -8.26466225e-04 -4.05014658e+00] [-8.07706375e-03 7.76907686e-05 9.99967377e-01 1.63079352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:401.73, Y:-4.06, Z:0.16 [[ 9.95696874e-01 9.23210335e-02 8.03504501e-03 4.01730406e+02] [-9.23173698e-02 9.95729291e-01 -8.26466225e-04 -4.05543792e+00] [-8.07702988e-03 8.11356148e-05 9.99967377e-01 1.63230130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68864 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:401.76, Y:-4.06, Z:0.17 [[ 9.95515190e-01 9.42599871e-02 8.03504501e-03 4.01761655e+02] [-9.42563865e-02 9.95547613e-01 -8.26466225e-04 -4.06111774e+00] [-8.07717258e-03 6.54053725e-05 9.99967377e-01 1.72095764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:401.79, Y:-4.07, Z:0.16 [[ 9.95847194e-01 9.06858995e-02 8.02712571e-03 4.01790812e+02] [-9.06815615e-02 9.95879530e-01 -9.03492938e-04 -4.06905143e+00] [-8.07598425e-03 1.71828613e-04 9.99967374e-01 1.62593042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:401.82, Y:-4.07, Z:0.16 [[ 9.95786596e-01 9.13481645e-02 8.03546114e-03 4.01821965e+02] [-9.13445051e-02 9.95819013e-01 -8.22011349e-04 -4.07444836e+00] [-8.07695421e-03 8.45526623e-05 9.99967377e-01 1.62593258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:401.85, Y:-4.08, Z:0.16 [[ 9.95553615e-01 9.38532448e-02 8.03540759e-03 4.01852143e+02] [-9.38496627e-02 9.95586041e-01 -8.22534453e-04 -4.08269275e+00] [-8.07713716e-03 6.47568558e-05 9.99967377e-01 1.61442006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:401.88, Y:-4.09, Z:0.16 [[ 9.95389397e-01 9.55791935e-02 8.03535342e-03 4.01883110e+02] [-9.55756634e-02 9.95421828e-01 -8.23063347e-04 -4.08858022e+00] [-8.07723392e-03 5.12842950e-05 9.99967377e-01 1.62080460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:401.91, Y:-4.09, Z:0.16 [[ 9.95202086e-01 9.75102158e-02 8.03529935e-03 4.01914219e+02] [-9.75067444e-02 9.95234523e-01 -8.23590912e-04 -4.09422756e+00] [-8.07731584e-03 3.61435142e-05 9.99967377e-01 1.61410694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:401.95, Y:-4.10, Z:0.17 [[ 9.94705111e-01 1.02455735e-01 8.03524520e-03 4.01945181e+02] [-1.02452421e-01 9.94737565e-01 -8.24118881e-04 -4.10012410e+00] [-8.07739594e-03 -3.47505847e-06 9.99967377e-01 1.70616543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:401.98, Y:-4.10, Z:0.17 [[ 9.94491322e-01 1.04510783e-01 8.03160204e-03 4.01976552e+02] [-1.04507248e-01 9.94523753e-01 -8.59668089e-04 -4.10416652e+00] [-8.07746359e-03 1.55718257e-05 9.99967377e-01 1.70190697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:402.01, Y:-4.11, Z:0.16 [[ 9.94372563e-01 1.05634794e-01 8.03100431e-03 4.02006600e+02] [-1.05631249e-01 9.94404993e-01 -8.65507004e-04 -4.10844355e+00] [-8.07749844e-03 1.23114042e-05 9.99967376e-01 1.60337010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:402.04, Y:-4.11, Z:0.16 [[ 9.93763155e-01 1.11221501e-01 8.03553702e-03 4.02037817e+02] [-1.11218497e-01 9.93795639e-01 -8.21151365e-04 -4.10982691e+00] [-8.07701133e-03 -7.76703747e-05 9.99967377e-01 1.60101291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:402.07, Y:-4.11, Z:0.16 [[ 9.93593935e-01 1.12723213e-01 8.03548224e-03 4.02069519e+02] [-1.12720253e-01 9.93626423e-01 -8.21687104e-04 -4.11181779e+00] [-8.07689069e-03 -8.93382690e-05 9.99967377e-01 1.59114018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01864 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:402.10, Y:-4.11, Z:0.17 [[ 9.93083897e-01 1.17131570e-01 8.03542766e-03 4.02102006e+02] [-1.17128751e-01 9.93116398e-01 -8.22220440e-04 -4.11164024e+00] [-8.07642295e-03 -1.24645724e-04 9.99967377e-01 1.69618544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:402.13, Y:-4.11, Z:0.16 [[ 9.93293999e-01 1.15336833e-01 8.02786728e-03 4.02131997e+02] [-1.15333358e-01 9.93326439e-01 -8.96020289e-04 -4.11351040e+00] [-8.07763696e-03 -3.58693161e-05 9.99967375e-01 1.57218081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:402.16, Y:-4.11, Z:0.16 [[ 9.93444307e-01 1.14034378e-01 8.03548570e-03 4.02163179e+02] [-1.14031462e-01 9.93476799e-01 -8.21501230e-04 -4.11484948e+00] [-8.07674799e-03 -1.00182466e-04 9.99967378e-01 1.57234534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:402.19, Y:-4.12, Z:0.16 [[ 9.93811998e-01 1.10784221e-01 8.03543075e-03 4.02194363e+02] [-1.10781196e-01 9.93844480e-01 -8.22038333e-04 -4.11517086e+00] [-8.07703737e-03 -7.32230689e-05 9.99967378e-01 1.56432636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13864 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:402.23, Y:-4.12, Z:0.17 [[ 9.93964972e-01 1.09403229e-01 8.03537544e-03 4.02225036e+02] [-1.09400154e-01 9.93997450e-01 -8.22578617e-04 -4.11738663e+00] [-8.07713545e-03 -6.14569803e-05 9.99967378e-01 1.66082507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:402.26, Y:-4.12, Z:0.17 [[ 9.94458950e-01 1.04818350e-01 8.03183267e-03 4.02255787e+02] [-1.04814845e-01 9.94491384e-01 -8.57239214e-04 -4.11982609e+00] [-8.07744279e-03 1.06339134e-05 9.99967377e-01 1.65029476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.19864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:402.29, Y:-4.12, Z:0.16 [[ 9.94726160e-01 1.02251430e-01 8.03188183e-03 4.02286121e+02] [-1.02247845e-01 9.94758586e-01 -8.56757271e-04 -4.12348022e+00] [-8.07738807e-03 3.09962614e-05 9.99967377e-01 1.64903461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:402.32, Y:-4.13, Z:0.15 [[ 9.95139907e-01 9.81429087e-02 8.03334969e-03 4.02316070e+02] [-9.81393066e-02 9.95172330e-01 -8.42325250e-04 -4.12790092e+00] [-8.07723558e-03 4.98441020e-05 9.99967377e-01 1.53896500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:402.35, Y:-4.13, Z:0.15 [[ 9.95664792e-01 9.26663098e-02 8.03592584e-03 4.02346957e+02] [-9.26627338e-02 9.95697218e-01 -8.16986173e-04 -4.13466475e+00] [-8.07705609e-03 6.88135120e-05 9.99967378e-01 1.54761232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28864 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:402.38, Y:-4.14, Z:0.16 [[ 9.95728294e-01 9.19814613e-02 8.03587238e-03 4.02377653e+02] [-9.19778588e-02 9.95760717e-01 -8.17511644e-04 -4.14029422e+00] [-8.07700195e-03 7.48971405e-05 9.99967378e-01 1.64864980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.31864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:402.41, Y:-4.15, Z:0.15 [[ 9.95995463e-01 8.90420453e-02 8.03435576e-03 4.02407277e+02] [-8.90382266e-02 9.96027862e-01 -8.32447573e-04 -4.14868235e+00] [-8.07656502e-03 1.13749218e-04 9.99967378e-01 1.54552913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:402.44, Y:-4.15, Z:0.15 [[ 9.95905100e-01 9.00469459e-02 8.03614588e-03 4.02439229e+02] [-9.00433023e-02 9.95937518e-01 -8.14791909e-04 -4.15397288e+00] [-8.07686871e-03 8.78543047e-05 9.99967378e-01 1.54865175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.37864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:402.47, Y:-4.16, Z:0.15 [[ 9.95870132e-01 9.04328563e-02 8.03603994e-03 4.02470726e+02] [-9.04292169e-02 9.95902551e-01 -8.15835429e-04 -4.15899117e+00] [-8.07689101e-03 8.57733370e-05 9.99967378e-01 1.54761747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:402.50, Y:-4.16, Z:0.15 [[ 9.95646716e-01 9.28603266e-02 8.03596048e-03 4.02502127e+02] [-9.28567599e-02 9.95679143e-01 -8.16617403e-04 -4.16481984e+00] [-8.07706960e-03 6.68691822e-05 9.99967378e-01 1.53329512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43864 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:402.53, Y:-4.17, Z:0.16 [[ 9.95313203e-01 9.63693557e-02 8.03585398e-03 4.02533581e+02] [-9.63658949e-02 9.95345641e-01 -8.17664068e-04 -4.16882306e+00] [-8.07724999e-03 3.94495827e-05 9.99967378e-01 1.64116721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46864 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:402.56, Y:-4.18, Z:0.16 [[ 9.95118373e-01 9.83610553e-02 8.03287009e-03 4.02563837e+02] [-9.83574230e-02 9.95150793e-01 -8.46946256e-04 -4.17511773e+00] [-8.07722357e-03 5.27193784e-05 9.99967377e-01 1.64145884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49864 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:402.60, Y:-4.18, Z:0.16 [[ 9.94949616e-01 1.00053501e-01 8.03477619e-03 4.02595758e+02] [-1.00050075e-01 9.94982058e-01 -8.28218045e-04 -4.17894444e+00] [-8.07732427e-03 2.01552646e-05 9.99967378e-01 1.63587930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:402.63, Y:-4.18, Z:0.15 [[ 9.95079992e-01 9.87487134e-02 8.03121717e-03 4.02626069e+02] [-9.87449625e-02 9.95112399e-01 -8.63207026e-04 -4.18195209e+00] [-8.07720437e-03 6.59178024e-05 9.99967377e-01 1.52287180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55864 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:402.66, Y:-4.18, Z:0.16 [[ 9.95088748e-01 9.86600559e-02 8.03598722e-03 4.02657577e+02] [-9.86566812e-02 9.95121195e-01 -8.16245675e-04 -4.18395915e+00] [-8.07731205e-03 1.94330580e-05 9.99967378e-01 1.62089596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:402.69, Y:-4.19, Z:0.15 [[ 9.95156907e-01 9.79703025e-02 8.03431478e-03 4.02689047e+02] [-9.79667722e-02 9.95189338e-01 -8.32746500e-04 -4.18700845e+00] [-8.07724883e-03 4.16175457e-05 9.99967378e-01 1.51520747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61863999999997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:402.72, Y:-4.19, Z:0.15 [[ 9.95337051e-01 9.61227036e-02 8.03619592e-03 4.02720977e+02] [-9.61192629e-02 9.95369491e-01 -8.14179084e-04 -4.18817450e+00] [-8.07724534e-03 3.79493804e-05 9.99967378e-01 1.51628222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:402.75, Y:-4.19, Z:0.15 [[ 9.95432750e-01 9.51265543e-02 8.03608846e-03 4.02753076e+02] [-9.51230726e-02 9.95465186e-01 -8.15238372e-04 -4.19060504e+00] [-8.07719711e-03 4.70975488e-05 9.99967378e-01 1.51780356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:402.78, Y:-4.19, Z:0.15 [[ 9.95551415e-01 9.38765363e-02 8.03598085e-03 4.02784684e+02] [-9.38730053e-02 9.95583845e-01 -8.16297645e-04 -4.19325041e+00] [-8.07712391e-03 5.83046020e-05 9.99967378e-01 1.51152285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70864 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:402.82, Y:-4.20, Z:0.16 [[ 9.95608692e-01 9.32671314e-02 8.03587286e-03 4.02815608e+02] [-9.32635720e-02 9.95641119e-01 -8.17359353e-04 -4.19553719e+00] [-8.07707821e-03 6.43158686e-05 9.99967378e-01 1.61268164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:402.85, Y:-4.20, Z:0.15 [[ 9.95757609e-01 9.16636952e-02 8.03436994e-03 4.02846688e+02] [-9.16599641e-02 9.95790017e-01 -8.32165768e-04 -4.19825213e+00] [-8.07682477e-03 9.22053349e-05 9.99967378e-01 1.51521306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:402.88, Y:-4.20, Z:0.15 [[ 9.95736483e-01 9.18927468e-02 8.03608606e-03 4.02878575e+02] [-9.18891596e-02 9.95768908e-01 -8.15249666e-04 -4.20102019e+00] [-8.07700017e-03 7.33446407e-05 9.99967378e-01 1.50727094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:402.91, Y:-4.21, Z:0.15 [[ 9.95737800e-01 9.18784896e-02 8.03597963e-03 4.02910993e+02] [-9.18748935e-02 9.95770223e-01 -8.16297363e-04 -4.20512032e+00] [-8.07698940e-03 7.45133670e-05 9.99967378e-01 1.50612049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:402.94, Y:-4.21, Z:0.15 [[ 9.95790862e-01 9.13016120e-02 8.03587156e-03 4.02943375e+02] [-9.12979886e-02 9.95823282e-01 -8.17359889e-04 -4.20923578e+00] [-8.07693427e-03 8.02605980e-05 9.99967378e-01 1.49743167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85864 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:402.98, Y:-4.21, Z:0.15 [[ 9.95856220e-01 9.05859596e-02 8.03576432e-03 4.02975243e+02] [-9.05823044e-02 9.95888637e-01 -8.18412801e-04 -4.21397525e+00] [-8.07686309e-03 8.71234283e-05 9.99967378e-01 1.49769480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88864 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:403.01, Y:-4.22, Z:0.16 [[ 9.95709425e-01 9.21855127e-02 8.03565660e-03 4.03006601e+02] [-9.21819011e-02 9.95741847e-01 -8.19469150e-04 -4.21802921e+00] [-8.07698273e-03 7.52110541e-05 9.99967378e-01 1.59164332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:403.04, Y:-4.22, Z:0.15 [[ 9.95816281e-01 9.10241931e-02 8.03309284e-03 4.03036432e+02] [-9.10203410e-02 9.95848675e-01 -8.44581132e-04 -4.22332714e+00] [-8.07662218e-03 1.09872791e-04 9.99967378e-01 1.49395020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94864 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:403.07, Y:-4.23, Z:0.15 [[ 9.95793826e-01 9.12692979e-02 8.03562221e-03 4.03068534e+02] [-9.12656538e-02 9.95826244e-01 -8.19788132e-04 -4.22737823e+00] [-8.07690497e-03 8.29636457e-05 9.99967378e-01 1.48750167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97864 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:403.10, Y:-4.23, Z:0.16 [[ 9.95629351e-01 9.30463664e-02 8.03551457e-03 4.03099767e+02] [-9.30427716e-02 9.95661774e-01 -8.20841816e-04 -4.23084911e+00] [-8.07703105e-03 6.96076572e-05 9.99967378e-01 1.58081781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:403.13, Y:-4.23, Z:0.15 [[ 9.95929085e-01 8.97816778e-02 8.03168354e-03 4.03129494e+02] [-8.97776741e-02 9.95961461e-01 -8.58377170e-04 -4.23477770e+00] [-8.07631381e-03 1.33816922e-04 9.99967377e-01 1.46708672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03864 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:403.16, Y:-4.24, Z:0.16 [[ 9.96030370e-01 8.86505893e-02 8.03579973e-03 4.03160763e+02] [-8.86468750e-02 9.96062780e-01 -8.17937851e-04 -4.23883773e+00] [-8.07667169e-03 1.02342407e-04 9.99967378e-01 1.58439100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06864 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:403.19, Y:-4.25, Z:0.16 [[ 9.96439157e-01 8.39313120e-02 8.03376503e-03 4.03192869e+02] [-8.39272832e-02 9.96471529e-01 -8.37902449e-04 -4.24682099e+00] [-8.07574438e-03 1.60666737e-04 9.99967378e-01 1.58309154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09864 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:403.22, Y:-4.25, Z:0.15 [[ 9.96916523e-01 7.80576312e-02 8.02823564e-03 4.03222233e+02] [-7.80529741e-02 9.96948814e-01 -8.92261740e-04 -4.25365445e+00] [-8.07338783e-03 2.62882802e-04 9.99967375e-01 1.47304728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:403.25, Y:-4.26, Z:0.15 [[ 9.97117124e-01 7.54510648e-02 8.03597759e-03 4.03254243e+02] [-7.54469369e-02 9.97149484e-01 -8.16021170e-04 -4.26042039e+00] [-8.07464057e-03 2.07378788e-04 9.99967378e-01 1.47137685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:403.29, Y:-4.27, Z:0.15 [[ 9.97415817e-01 7.13940628e-02 8.03587350e-03 4.03286021e+02] [-7.13897951e-02 9.97448159e-01 -8.17044919e-04 -4.26867835e+00] [-8.07369938e-03 2.41254163e-04 9.99967378e-01 1.46783536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18864 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:403.32, Y:-4.27, Z:0.15 [[ 9.97509581e-01 7.00718364e-02 8.03577026e-03 4.03317303e+02] [-7.00675177e-02 9.97541916e-01 -8.18058992e-04 -4.27455617e+00] [-8.07334056e-03 2.52975207e-04 9.99967378e-01 1.47125421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:403.35, Y:-4.29, Z:0.15 [[ 9.97627710e-01 6.83694430e-02 8.03566650e-03 4.03348077e+02] [-6.83650609e-02 9.97660036e-01 -8.19077005e-04 -4.28558181e+00] [-8.07286316e-03 2.67775087e-04 9.99967378e-01 1.45355181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24864 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:403.38, Y:-4.29, Z:0.15 [[ 9.97684740e-01 6.75321390e-02 8.03556352e-03 4.03379228e+02] [-6.75277216e-02 9.97717061e-01 -8.20085985e-04 -4.29323458e+00] [-8.07260098e-03 2.75563976e-04 9.99967378e-01 1.45150993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27864 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:403.41, Y:-4.30, Z:0.14 [[ 9.97641148e-01 6.81731004e-02 8.03546089e-03 4.03411059e+02] [-6.81686958e-02 9.97673471e-01 -8.21090336e-04 -4.30117351e+00] [-8.07274244e-03 2.71386616e-04 9.99967378e-01 1.44527205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30864 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:403.44, Y:-4.31, Z:0.14 [[ 9.97634163e-01 6.82752527e-02 8.03535831e-03 4.03442254e+02] [-6.82708433e-02 9.97666485e-01 -8.22093013e-04 -4.31365124e+00] [-8.07273629e-03 2.71567386e-04 9.99967378e-01 1.43393557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:403.47, Y:-4.32, Z:0.14 [[ 9.97553243e-01 6.94475491e-02 8.03525575e-03 4.03473606e+02] [-6.94431696e-02 9.97585570e-01 -8.23094219e-04 -4.32153385e+00] [-8.07301706e-03 2.63086679e-04 9.99967378e-01 1.43742065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:403.50, Y:-4.33, Z:0.14 [[ 9.97358091e-01 7.21960818e-02 8.03515258e-03 4.03504364e+02] [-7.21917833e-02 9.97390429e-01 -8.24100199e-04 -4.33327487e+00] [-8.07368108e-03 2.41851008e-04 9.99967378e-01 1.43807055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39864 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:403.54, Y:-4.34, Z:0.14 [[ 9.97250842e-01 7.36627141e-02 8.03504870e-03 4.03536285e+02] [-7.36584551e-02 9.97283185e-01 -8.25111743e-04 -4.34102202e+00] [-8.07399893e-03 2.30994107e-04 9.99967378e-01 1.44221393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:403.57, Y:-4.35, Z:0.14 [[ 9.97097230e-01 7.57136373e-02 8.03488988e-03 4.03567633e+02] [-7.57094324e-02 9.97129580e-01 -8.26655426e-04 -4.34886651e+00] [-8.07441546e-03 2.15938883e-04 9.99967378e-01 1.43559352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45864 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:403.60, Y:-4.36, Z:0.14 [[ 9.96970213e-01 7.73681840e-02 8.03478330e-03 4.03599547e+02] [-7.73640244e-02 9.97002569e-01 -8.27690085e-04 -4.35593065e+00] [-8.07473647e-03 2.03579190e-04 9.99967378e-01 1.43818646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:403.63, Y:-4.36, Z:0.14 [[ 9.96955236e-01 7.75609532e-02 8.03467695e-03 4.03632869e+02] [-7.75567915e-02 9.96987591e-01 -8.28721208e-04 -4.35931929e+00] [-8.07474962e-03 2.03054183e-04 9.99967378e-01 1.43548063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51864 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:403.67, Y:-4.37, Z:0.15 [[ 9.96482233e-01 8.34182592e-02 8.03451641e-03 4.03665378e+02] [-8.34142752e-02 9.96514611e-01 -8.30274717e-04 -4.36963343e+00] [-8.07577306e-03 1.57160641e-04 9.99967378e-01 1.53439823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:403.69, Y:-4.38, Z:0.14 [[ 9.96554829e-01 8.25471604e-02 8.02733861e-03 4.03694293e+02] [-8.25425902e-02 9.96587132e-01 -8.99544169e-04 -4.37710329e+00] [-8.07419718e-03 2.33847765e-04 9.99967376e-01 1.43163380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57864 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:403.73, Y:-4.39, Z:0.14 [[ 9.96389754e-01 8.45157071e-02 8.03451095e-03 4.03726606e+02] [-8.45117600e-02 9.96422136e-01 -8.30125620e-04 -4.38874506e+00] [-8.07592322e-03 1.48118001e-04 9.99967378e-01 1.43433202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60864 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:403.76, Y:-4.39, Z:0.14 [[ 9.96324026e-01 8.52870686e-02 8.03432024e-03 4.03758283e+02] [-8.52831318e-02 9.96356410e-01 -8.31967372e-04 -4.39475290e+00] [-8.07600252e-03 1.43717090e-04 9.99967378e-01 1.43459663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63864 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:403.79, Y:-4.40, Z:0.14 [[ 9.96100948e-01 8.78541574e-02 8.03420979e-03 4.03790118e+02] [-8.78502954e-02 9.96133340e-01 -8.33032594e-04 -4.40303380e+00] [-8.07632961e-03 1.23976854e-04 9.99967378e-01 1.41847747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66864 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:403.82, Y:-4.41, Z:0.14 [[ 9.95968430e-01 8.93439441e-02 8.03400808e-03 4.03821448e+02] [-8.93401149e-02 9.96000827e-01 -8.34973385e-04 -4.40977580e+00] [-8.07647851e-03 1.13847927e-04 9.99967378e-01 1.42129217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69864 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:403.85, Y:-4.42, Z:0.14 [[ 9.95901556e-01 9.00863295e-02 8.03389715e-03 4.03852855e+02] [-9.00825158e-02 9.95933954e-01 -8.36039391e-04 -4.41634330e+00] [-8.07654668e-03 1.08899264e-04 9.99967378e-01 1.42275146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72864 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:403.88, Y:-4.42, Z:0.14 [[ 9.95835283e-01 9.08160080e-02 8.03378559e-03 4.03884415e+02] [-9.08122095e-02 9.95867683e-01 -8.37109979e-04 -4.42226138e+00] [-8.07661043e-03 1.04057833e-04 9.99967378e-01 1.42254387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.75864 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:403.92, Y:-4.43, Z:0.14 [[ 9.95657391e-01 9.27459967e-02 8.03367361e-03 4.03915861e+02] [-9.27422523e-02 9.95689797e-01 -8.38183284e-04 -4.43014338e+00] [-8.07678499e-03 8.94823971e-05 9.99967378e-01 1.42546888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78864 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:403.95, Y:-4.44, Z:0.14 [[ 9.95279744e-01 9.67144947e-02 8.03356102e-03 4.03948412e+02] [-9.67108708e-02 9.95312164e-01 -8.39261003e-04 -4.43691009e+00] [-8.07706971e-03 5.83667935e-05 9.99967378e-01 1.42641309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.81864 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:403.98, Y:-4.44, Z:0.14 [[ 9.95006385e-01 9.94874804e-02 8.03338840e-03 4.03980772e+02] [-9.94839336e-02 9.95038813e-01 -8.40910107e-04 -4.44031553e+00] [-8.07719329e-03 3.75178474e-05 9.99967378e-01 1.41031317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84864 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:404.01, Y:-4.44, Z:0.14 [[ 9.94628592e-01 1.03196083e-01 8.03321324e-03 4.04013371e+02] [-1.03192643e-01 9.94661032e-01 -8.42580088e-04 -4.44332177e+00] [-8.07727514e-03 9.08573651e-06 9.99967378e-01 1.39781151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.87864 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:404.05, Y:-4.45, Z:0.14 [[ 9.94317797e-01 1.06148897e-01 8.03303912e-03 4.04045614e+02] [-1.06145540e-01 9.94350246e-01 -8.44236878e-04 -4.44633500e+00] [-8.07726924e-03 -1.32315253e-05 9.99967378e-01 1.39351329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90864 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:404.08, Y:-4.45, Z:0.14 [[ 9.93846295e-01 1.10476309e-01 8.03292313e-03 4.04078768e+02] [-1.10473085e-01 9.93878757e-01 -8.45339064e-04 -4.45059095e+00] [-8.07714160e-03 -4.72847064e-05 9.99967378e-01 1.40042637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93864 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:404.11, Y:-4.45, Z:0.14 [[ 9.93736667e-01 1.11458118e-01 8.03274922e-03 4.04111165e+02] [-1.11454912e-01 9.93769131e-01 -8.46988442e-04 -4.45430510e+00] [-8.07710195e-03 -5.36058876e-05 9.99967378e-01 1.38818868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96864 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:404.14, Y:-4.46, Z:0.14 [[ 9.93649453e-01 1.12232978e-01 8.03263346e-03 4.04143788e+02] [-1.12229789e-01 9.93681919e-01 -8.48084842e-04 -4.45649398e+00] [-8.07706572e-03 -5.88017183e-05 9.99967378e-01 1.39142445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99864 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:404.18, Y:-4.46, Z:0.14 [[ 9.93528426e-01 1.13299366e-01 8.03246034e-03 4.04176183e+02] [-1.13296199e-01 9.93560894e-01 -8.49721328e-04 -4.45916169e+00] [-8.07701137e-03 -6.58249296e-05 9.99967378e-01 1.38890936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02864 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:404.21, Y:-4.46, Z:0.14 [[ 9.93472746e-01 1.13786575e-01 8.03234650e-03 4.04208093e+02] [-1.13783414e-01 9.93505214e-01 -8.50796130e-04 -4.46243535e+00] [-8.07698731e-03 -6.87050438e-05 9.99967378e-01 1.38644099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05864 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:404.24, Y:-4.46, Z:0.14 [[ 9.93305270e-01 1.15239421e-01 8.03223242e-03 4.04240093e+02] [-1.15236300e-01 9.93337742e-01 -8.51871755e-04 -4.46434333e+00] [-8.07688883e-03 -7.94360373e-05 9.99967378e-01 1.39902062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08864 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:404.27, Y:-4.47, Z:0.14 [[ 9.93200685e-01 1.16137349e-01 8.03211905e-03 4.04271977e+02] [-1.16134248e-01 9.93233159e-01 -8.52939404e-04 -4.46589236e+00] [-8.07682510e-03 -8.56641081e-05 9.99967378e-01 1.39604245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11863999999997 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:404.30, Y:-4.47, Z:0.14 [[ 9.93154198e-01 1.16534223e-01 8.03200486e-03 4.04304292e+02] [-1.16531127e-01 9.93186673e-01 -8.54013323e-04 -4.46703379e+00] [-8.07680196e-03 -8.78116618e-05 9.99967378e-01 1.38358708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14864 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:404.34, Y:-4.47, Z:0.14 [[ 9.93203750e-01 1.16111154e-01 8.03188965e-03 4.04336590e+02] [-1.16108035e-01 9.93236222e-01 -8.55095517e-04 -4.47008138e+00] [-8.07684986e-03 -8.32828486e-05 9.99967378e-01 1.38183599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17864 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:404.37, Y:-4.47, Z:0.14 [[ 9.93250230e-01 1.15712883e-01 8.03177622e-03 4.04369143e+02] [-1.15709742e-01 9.93282700e-01 -8.56159594e-04 -4.47249515e+00] [-8.07689307e-03 -7.89740436e-05 9.99967378e-01 1.37241751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20864 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:404.40, Y:-4.47, Z:0.14 [[ 9.93537032e-01 1.13223928e-01 8.03166113e-03 4.04401172e+02] [-1.13220698e-01 9.93569494e-01 -8.57237900e-04 -4.47469735e+00] [-8.07707333e-03 -5.76526775e-05 9.99967378e-01 1.36616556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23864 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:404.43, Y:-4.48, Z:0.14 [[ 9.93736251e-01 1.11461912e-01 8.03154596e-03 4.04432595e+02] [-1.11458615e-01 9.93768706e-01 -8.58315581e-04 -4.47869409e+00] [-8.07716853e-03 -4.22456836e-05 9.99967378e-01 1.35766660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26864 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:404.46, Y:-4.48, Z:0.14 [[ 9.94002186e-01 1.09064886e-01 8.03142948e-03 4.04464166e+02] [-1.09061502e-01 9.94034632e-01 -8.59404170e-04 -4.48344142e+00] [-8.07724987e-03 -2.16701416e-05 9.99967378e-01 1.37130493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29864 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:404.50, Y:-4.49, Z:0.14 [[ 9.94049700e-01 1.08630995e-01 8.03121060e-03 4.04496900e+02] [-1.08627581e-01 9.94082143e-01 -8.61444785e-04 -4.48663150e+00] [-8.07726264e-03 -1.60920487e-05 9.99967378e-01 1.35866998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32864 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:404.53, Y:-4.49, Z:0.14 [[ 9.94053088e-01 1.08600007e-01 8.03103117e-03 4.04529971e+02] [-1.08596578e-01 9.94085529e-01 -8.63114312e-04 -4.48965122e+00] [-8.07726609e-03 -1.41610586e-05 9.99967378e-01 1.35711259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35864 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:404.56, Y:-4.49, Z:0.14 [[ 9.93985730e-01 1.09214806e-01 8.03085144e-03 4.04561828e+02] [-1.09211384e-01 9.94018172e-01 -8.64783387e-04 -4.49239900e+00] [-8.07725941e-03 -1.74780534e-05 9.99967378e-01 1.35763876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38864 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:404.59, Y:-4.50, Z:0.14 [[ 9.93890338e-01 1.10079531e-01 8.03073181e-03 4.04594049e+02] [-1.10076128e-01 9.93922782e-01 -8.65892861e-04 -4.49550532e+00] [-8.07724438e-03 -2.33893113e-05 9.99967378e-01 1.35638622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41864 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:404.63, Y:-4.50, Z:0.14 [[ 9.93767595e-01 1.11182178e-01 8.03061307e-03 4.04626786e+02] [-1.11178802e-01 9.93800041e-01 -8.66992727e-04 -4.49782786e+00] [-8.07721774e-03 -3.12446655e-05 9.99967378e-01 1.35907826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44864 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:404.66, Y:-4.50, Z:0.14 [[ 9.93706187e-01 1.11729701e-01 8.03043522e-03 4.04658616e+02] [-1.11726329e-01 9.93738634e-01 -8.68636928e-04 -4.49972756e+00] [-8.07720627e-03 -3.40411594e-05 9.99967378e-01 1.35414879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47864 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:404.69, Y:-4.50, Z:0.13 [[ 9.93639424e-01 1.12321899e-01 8.03031743e-03 4.04691628e+02] [-1.12318538e-01 9.93671872e-01 -8.69724507e-04 -4.50197023e+00] [-8.07718966e-03 -3.77609526e-05 9.99967378e-01 1.34595493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50864 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:404.73, Y:-4.50, Z:0.13 [[ 9.93640929e-01 1.12308600e-01 8.03013916e-03 4.04725257e+02] [-1.12305225e-01 9.93673375e-01 -8.71367355e-04 -4.50242056e+00] [-8.07719753e-03 -3.60003212e-05 9.99967378e-01 1.33666479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53864 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:404.76, Y:-4.50, Z:0.13 [[ 9.93741932e-01 1.11411361e-01 8.02996041e-03 4.04757244e+02] [-1.11407944e-01 9.93774375e-01 -8.73011459e-04 -4.50397695e+00] [-8.07723229e-03 -2.70532837e-05 9.99967378e-01 1.33043351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56864 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:404.79, Y:-4.50, Z:0.13 [[ 9.94005997e-01 1.09030273e-01 8.02984163e-03 4.04790794e+02] [-1.09026769e-01 9.94038430e-01 -8.74102657e-04 -4.50124140e+00] [-8.07727482e-03 -6.60440799e-06 9.99967378e-01 1.33218979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59864 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:404.82, Y:-4.50, Z:0.13 [[ 9.94150267e-01 1.07706872e-01 8.02966261e-03 4.04823709e+02] [-1.07703312e-01 9.94182694e-01 -8.75744116e-04 -4.50303794e+00] [-8.07727526e-03 5.79999057e-06 9.99967378e-01 1.32788526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62864 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:404.86, Y:-4.51, Z:0.13 [[ 9.94676899e-01 1.02729709e-01 8.02948040e-03 4.04855194e+02] [-1.02725973e-01 9.94709307e-01 -8.77411574e-04 -4.50790116e+00] [-8.07713511e-03 4.79048347e-05 9.99967378e-01 1.32376889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65864 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:404.89, Y:-4.51, Z:0.13 [[ 9.94943935e-01 1.00110419e-01 8.02936102e-03 4.04888246e+02] [-1.00106589e-01 9.94976331e-01 -8.78502707e-04 -4.51241680e+00] [-8.07697144e-03 7.02689940e-05 9.99967378e-01 1.31991823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68864 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:404.92, Y:-4.52, Z:0.13 [[ 9.95186753e-01 9.76670857e-02 8.02918123e-03 4.04920043e+02] [-9.76631630e-02 9.95219138e-01 -8.80142778e-04 -4.51609812e+00] [-8.07675580e-03 9.17511974e-05 9.99967378e-01 1.33074926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71864 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:404.95, Y:-4.52, Z:0.13 [[ 9.95431813e-01 9.51369552e-02 8.02906353e-03 4.04952973e+02] [-9.51329415e-02 9.95464187e-01 -8.81215236e-04 -4.51928707e+00] [-8.07648133e-03 1.13361249e-04 9.99967378e-01 1.32182398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74864 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:404.99, Y:-4.52, Z:0.13 [[ 9.95458524e-01 9.48570766e-02 8.02888491e-03 4.04985839e+02] [-9.48530407e-02 9.95490895e-01 -8.82839627e-04 -4.52362592e+00] [-8.07642541e-03 1.17266084e-04 9.99967378e-01 1.31920527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77864 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:405.02, Y:-4.53, Z:0.13 [[ 9.95444289e-01 9.50063535e-02 8.02870734e-03 4.05017654e+02] [-9.50023095e-02 9.95476659e-01 -8.84451528e-04 -4.52800342e+00] [-8.07641928e-03 1.17676482e-04 9.99967378e-01 1.31502878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80864 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:405.05, Y:-4.53, Z:0.13 [[ 9.95373086e-01 9.57494685e-02 8.02859112e-03 4.05050027e+02] [-9.57454401e-02 9.95405458e-01 -8.85505332e-04 -4.53292680e+00] [-8.07649009e-03 1.12707186e-04 9.99967378e-01 1.32426684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83864 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:405.08, Y:-4.54, Z:0.13 [[ 9.95305641e-01 9.64480431e-02 8.02841468e-03 4.05082376e+02] [-9.64440245e-02 9.95338015e-01 -8.87102083e-04 -4.53745802e+00] [-8.07654559e-03 1.08645085e-04 9.99967378e-01 1.31551550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:405.11, Y:-4.54, Z:0.13 [[ 9.95024325e-01 9.93083107e-02 8.02823744e-03 4.05114550e+02] [-9.93043723e-02 9.95056708e-01 -8.88703230e-04 -4.54325683e+00] [-8.07680713e-03 8.70422517e-05 9.99967378e-01 1.31225834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89864 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:405.15, Y:-4.55, Z:0.13 [[ 9.94818241e-01 1.01351947e-01 8.02811866e-03 4.05146968e+02] [-1.01348067e-01 9.94850631e-01 -8.89774958e-04 -4.54668868e+00] [-8.07695934e-03 7.15300513e-05 9.99967378e-01 1.30334803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:405.18, Y:-4.55, Z:0.13 [[ 9.94574985e-01 1.03711858e-01 8.02799884e-03 4.05178710e+02] [-1.03708046e-01 9.94607384e-01 -8.90854697e-04 -4.55027933e+00] [-8.07709912e-03 5.34537253e-05 9.99967378e-01 1.30827673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95864 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:405.21, Y:-4.55, Z:0.13 [[ 9.93984324e-01 1.09227821e-01 8.02787854e-03 4.05210843e+02] [-1.09224180e-01 9.94016742e-01 -8.91937435e-04 -4.55311583e+00] [-8.07727006e-03 9.73338020e-06 9.99967378e-01 1.28690787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:405.24, Y:-4.56, Z:0.13 [[ 9.93712791e-01 1.11671144e-01 8.02775719e-03 4.05242364e+02] [-1.11667574e-01 9.93745217e-01 -8.93028350e-04 -4.55633790e+00] [-8.07727080e-03 -9.02647246e-06 9.99967378e-01 1.27253261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01864 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:405.27, Y:-4.56, Z:0.13 [[ 9.93574870e-01 1.12891693e-01 8.02763559e-03 4.05274539e+02] [-1.12888154e-01 9.93607299e-01 -8.94120112e-04 -4.56043680e+00] [-8.07725605e-03 -1.78496879e-05 9.99967378e-01 1.26026071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:405.31, Y:-4.57, Z:0.13 [[ 9.93406548e-01 1.14363413e-01 8.02751384e-03 4.05305934e+02] [-1.14359912e-01 9.93438981e-01 -8.95211858e-04 -4.56567355e+00] [-8.07722465e-03 -2.87164582e-05 9.99967378e-01 1.25979400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07864 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:405.34, Y:-4.57, Z:0.13 [[ 9.93304613e-01 1.15245421e-01 8.02739191e-03 4.05338627e+02] [-1.15241941e-01 9.93337048e-01 -8.96303828e-04 -4.56977110e+00] [-8.07720070e-03 -3.47894979e-05 9.99967378e-01 1.25064799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10864 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:405.37, Y:-4.57, Z:0.12 [[ 9.93146397e-01 1.16601025e-01 8.02720850e-03 4.05370116e+02] [-1.16597575e-01 9.93178835e-01 -8.97943496e-04 -4.57432113e+00] [-8.07715472e-03 -4.41637007e-05 9.99967378e-01 1.23992559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13864 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:405.40, Y:-4.58, Z:0.12 [[ 9.92924746e-01 1.18473691e-01 8.02708715e-03 4.05402154e+02] [-1.18470295e-01 9.92957190e-01 -8.99026979e-04 -4.57844623e+00] [-8.07706494e-03 -5.83052440e-05 9.99967378e-01 1.23456891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16864 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:405.43, Y:-4.58, Z:0.12 [[ 9.92663076e-01 1.20646532e-01 8.02696568e-03 4.05434406e+02] [-1.20643197e-01 9.92695527e-01 -9.00110211e-04 -4.58195423e+00] [-8.07692810e-03 -7.48926335e-05 9.99967378e-01 1.23314596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.19864 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:405.47, Y:-4.58, Z:0.12 [[ 9.92038615e-01 1.25677987e-01 8.02684447e-03 4.05467718e+02] [-1.25674808e-01 9.92071081e-01 -9.01189794e-04 -4.58473223e+00] [-8.07645999e-03 -1.14757064e-04 9.99967378e-01 1.23339094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22864 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:405.50, Y:-4.59, Z:0.12 [[ 9.91708647e-01 1.28255733e-01 8.02666228e-03 4.05500081e+02] [-1.28252626e-01 9.91741120e-01 -9.02809564e-04 -4.58676346e+00] [-8.07616155e-03 -1.34116463e-04 9.99967378e-01 1.22495394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.25864 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:405.53, Y:-4.59, Z:0.12 [[ 9.91077208e-01 1.33047146e-01 8.02654256e-03 4.05532599e+02] [-1.33044187e-01 9.91109695e-01 -9.03872722e-04 -4.58847178e+00] [-8.07544184e-03 -1.72077176e-04 9.99967378e-01 1.20891187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28864 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:405.56, Y:-4.59, Z:0.12 [[ 9.90814932e-01 1.34986468e-01 8.02639556e-03 4.05564446e+02] [-1.34983562e-01 9.90847424e-01 -9.05176235e-04 -4.59140546e+00] [-8.07511991e-03 -1.86569333e-04 9.99967378e-01 1.21471569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.31864 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:405.60, Y:-4.59, Z:0.12 [[ 9.90692922e-01 1.35879036e-01 8.02627932e-03 4.05596872e+02] [-1.35876151e-01 9.90725416e-01 -9.06205721e-04 -4.59423813e+00] [-8.07497328e-03 -1.92808350e-04 9.99967378e-01 1.21075937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34864 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:405.63, Y:-4.59, Z:0.12 [[ 9.90493628e-01 1.37324267e-01 8.02616327e-03 4.05628873e+02] [-1.37321421e-01 9.90526125e-01 -9.07232467e-04 -4.59497014e+00] [-8.07470943e-03 -2.03556167e-04 9.99967378e-01 1.21979392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.37864 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:405.66, Y:-4.60, Z:0.12 [[ 9.90549245e-01 1.36922516e-01 8.02604679e-03 4.05660879e+02] [-1.36919649e-01 9.90581741e-01 -9.08261712e-04 -4.59709771e+00] [-8.07481688e-03 -1.99245553e-04 9.99967378e-01 1.21715871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40864 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:405.69, Y:-4.60, Z:0.12 [[ 9.90522792e-01 1.37113758e-01 8.02593073e-03 4.05694152e+02] [-1.37110888e-01 9.90555287e-01 -9.09286134e-04 -4.60082007e+00] [-8.07480376e-03 -1.99773852e-04 9.99967378e-01 1.21445370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43864 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:405.73, Y:-4.60, Z:0.12 [[ 9.90421044e-01 1.37846809e-01 8.02575488e-03 4.05727410e+02] [-1.37843951e-01 9.90453540e-01 -9.10835641e-04 -4.60071895e+00] [-8.07469312e-03 -2.04190972e-04 9.99967378e-01 1.21510010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46864 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:405.76, Y:-4.60, Z:0.12 [[ 9.90388463e-01 1.38080713e-01 8.02557873e-03 4.05760207e+02] [-1.38077850e-01 9.90420958e-01 -9.12385114e-04 -4.60147989e+00] [-8.07468416e-03 -2.04538964e-04 9.99967378e-01 1.22527407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49864 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:405.79, Y:-4.60, Z:0.12 [[ 9.90375030e-01 1.38177034e-01 8.02543227e-03 4.05792352e+02] [-1.38174163e-01 9.90407525e-01 -9.13671534e-04 -4.60133473e+00] [-8.07469694e-03 -2.04029918e-04 9.99967378e-01 1.21132165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52864 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:405.83, Y:-4.60, Z:0.12 [[ 9.90288618e-01 1.38794981e-01 8.02531379e-03 4.05825861e+02] [-1.38792123e-01 9.90321115e-01 -9.14711082e-04 -4.60128587e+00] [-8.07459500e-03 -2.08022363e-04 9.99967378e-01 1.21124820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55864 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:405.86, Y:-4.60, Z:0.13 [[ 9.90028601e-01 1.40637715e-01 8.02513636e-03 4.05858259e+02] [-1.40634904e-01 9.90061101e-01 -9.16265091e-04 -4.59701271e+00] [-8.07423677e-03 -2.21485639e-04 9.99967378e-01 1.27946483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58864 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:405.89, Y:-4.59, Z:0.12 [[ 9.89963341e-01 1.41096611e-01 8.02057621e-03 4.05888818e+02] [-1.41093493e-01 9.89995814e-01 -9.56094287e-04 -4.59217235e+00] [-8.07523854e-03 -1.85152819e-04 9.99967378e-01 1.18704814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61863999999997 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:405.92, Y:-4.59, Z:0.12 [[ 9.89922039e-01 1.41385853e-01 8.02481964e-03 4.05920891e+02] [-1.41383045e-01 9.89954539e-01 -9.19041872e-04 -4.59145416e+00] [-8.07414615e-03 -2.24793632e-04 9.99967378e-01 1.18252175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64864 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:405.95, Y:-4.59, Z:0.12 [[ 9.89968486e-01 1.41060273e-01 8.02470075e-03 4.05952928e+02] [-1.41057445e-01 9.90000985e-01 -9.20078775e-04 -4.59126880e+00] [-8.07424821e-03 -2.21094794e-04 9.99967378e-01 1.18964996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67864 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:405.99, Y:-4.59, Z:0.12 [[ 9.90540516e-01 1.36985741e-01 8.02458144e-03 4.05985801e+02] [-1.36982771e-01 9.90573002e-01 -9.21118229e-04 -4.58808325e+00] [-8.07511379e-03 -1.86824480e-04 9.99967378e-01 1.19728558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70864 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:406.02, Y:-4.59, Z:0.12 [[ 9.90871212e-01 1.34572838e-01 8.02446162e-03 4.06018793e+02] [-1.34569781e-01 9.90903690e-01 -9.22160817e-04 -4.58885008e+00] [-8.07556644e-03 -1.66107434e-04 9.99967378e-01 1.19080340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73864 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:406.05, Y:-4.59, Z:0.12 [[ 9.91610591e-01 1.29011810e-01 8.02427818e-03 4.06050867e+02] [-1.29008558e-01 9.91643050e-01 -9.23754306e-04 -4.58889001e+00] [-8.07639491e-03 -1.19196005e-04 9.99967378e-01 1.19152254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76864 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:406.08, Y:-4.59, Z:0.12 [[ 9.91897910e-01 1.26783870e-01 8.02415556e-03 4.06082912e+02] [-1.26780536e-01 9.91930361e-01 -9.24818196e-04 -4.59093355e+00] [-8.07665555e-03 -9.99815087e-05 9.99967378e-01 1.18979627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79864 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:406.11, Y:-4.59, Z:0.12 [[ 9.92106661e-01 1.25139877e-01 8.02403135e-03 4.06114750e+02] [-1.25136481e-01 9.92139105e-01 -9.25894636e-04 -4.59247076e+00] [-8.07682163e-03 -8.55128114e-05 9.99967378e-01 1.19259368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82864 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:406.15, Y:-4.59, Z:0.12 [[ 9.92465895e-01 1.22258190e-01 8.02390601e-03 4.06147291e+02] [-1.22254691e-01 9.92498328e-01 -9.26979633e-04 -4.59147916e+00] [-8.07704415e-03 -6.09644797e-05 9.99967378e-01 1.18527157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85864 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:406.18, Y:-4.59, Z:0.12 [[ 9.92568513e-01 1.21422261e-01 8.02377986e-03 4.06178954e+02] [-1.21418726e-01 9.92600943e-01 -9.28070246e-04 -4.59427925e+00] [-8.07709984e-03 -5.30638216e-05 9.99967378e-01 1.18413324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88864 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:406.21, Y:-4.60, Z:0.12 [[ 9.92859968e-01 1.19015566e-01 8.02365457e-03 4.06211044e+02] [-1.19011943e-01 9.92892388e-01 -9.29152179e-04 -4.59803313e+00] [-8.07720912e-03 -3.23927198e-05 9.99967378e-01 1.17983224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91864 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:406.24, Y:-4.60, Z:0.12 [[ 9.92955200e-01 1.18218417e-01 8.02352806e-03 4.06242542e+02] [-1.18214760e-01 9.92987616e-01 -9.30243383e-04 -4.60173063e+00] [-8.07723590e-03 -2.48094374e-05 9.99967378e-01 1.18450959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94864 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:406.27, Y:-4.61, Z:0.12 [[ 9.93134068e-01 1.16706248e-01 8.02340225e-03 4.06274567e+02] [-1.16702532e-01 9.93166477e-01 -9.31327222e-04 -4.60570746e+00] [-8.07726585e-03 -1.14185656e-05 9.99967378e-01 1.18315630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97864 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:406.31, Y:-4.61, Z:0.12 [[ 9.93262627e-01 1.15607011e-01 8.02327508e-03 4.06306718e+02] [-1.15603250e-01 9.93295031e-01 -9.32421475e-04 -4.60981053e+00] [-8.07727373e-03 -1.37727458e-06 9.99967378e-01 1.17964437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00864 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:406.34, Y:-4.62, Z:0.12 [[ 9.93400398e-01 1.14417128e-01 8.02314832e-03 4.06338687e+02] [-1.14413320e-01 9.93432796e-01 -9.33510900e-04 -4.61634992e+00] [-8.07726831e-03 9.39506060e-06 9.99967378e-01 1.17823006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03864 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:406.37, Y:-4.62, Z:0.13 [[ 9.93198430e-01 1.16157264e-01 8.02302066e-03 4.06370558e+02] [-1.16153504e-01 9.93230834e-01 -9.34606860e-04 -4.62192439e+00] [-8.07727287e-03 -3.65189656e-06 9.99967378e-01 1.29892265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06864 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:406.40, Y:-4.63, Z:0.12 [[ 9.93497276e-01 1.13573145e-01 8.01890572e-03 4.06400525e+02] [-1.13569016e-01 9.93529636e-01 -9.69865815e-04 -4.62733859e+00] [-8.07717119e-03 5.28598105e-05 9.99967378e-01 1.15881660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09864 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:406.43, Y:-4.63, Z:0.13 [[ 9.93420008e-01 1.14246757e-01 8.02280169e-03 4.06431363e+02] [-1.14242920e-01 9.93452404e-01 -9.36489546e-04 -4.63296478e+00] [-8.07726251e-03 1.37791636e-05 9.99967378e-01 1.25935581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12864 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:406.46, Y:-4.64, Z:0.12 [[ 9.93665374e-01 1.12092831e-01 8.02012881e-03 4.06460733e+02] [-1.12088739e-01 9.93697738e-01 -9.59358021e-04 -4.63962864e+00] [-8.07712101e-03 5.43147251e-05 9.99967378e-01 1.15303710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15864 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:406.49, Y:-4.65, Z:0.12 [[ 9.93917566e-01 1.09833995e-01 8.02276450e-03 4.06491853e+02] [-1.09830011e-01 9.93949944e-01 -9.36785594e-04 -4.64958810e+00] [-8.07711723e-03 4.99473427e-05 9.99967378e-01 1.16480478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18864 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:406.52, Y:-4.66, Z:0.12 [[ 9.93994847e-01 1.09132405e-01 8.02263869e-03 4.06524149e+02] [-1.09128389e-01 9.94027220e-01 -9.37861847e-04 -4.65603992e+00] [-8.07707235e-03 5.67322042e-05 9.99967378e-01 1.16844014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21864 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:406.55, Y:-4.66, Z:0.13 [[ 9.93981499e-01 1.09253921e-01 8.02244777e-03 4.06554797e+02] [-1.09249896e-01 9.94013872e-01 -9.39492065e-04 -4.66493424e+00] [-8.07706757e-03 5.73861455e-05 9.99967378e-01 1.28042893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24864 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:406.59, Y:-4.67, Z:0.13 [[ 9.93900470e-01 1.09988701e-01 8.02126434e-03 4.06587447e+02] [-1.09984619e-01 9.93932836e-01 -9.49606757e-04 -4.67125917e+00] [-8.07704402e-03 6.15989020e-05 9.99967378e-01 1.27749963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27864 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:406.62, Y:-4.68, Z:0.12 [[ 9.93914223e-01 1.09864559e-01 8.01841683e-03 4.06617162e+02] [-1.09860277e-01 9.93946563e-01 -9.73894163e-04 -4.67835538e+00] [-8.07687431e-03 8.70617639e-05 9.99967378e-01 1.18295491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30864 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:406.65, Y:-4.68, Z:0.12 [[ 9.93741996e-01 1.11411349e-01 8.02229575e-03 4.06649878e+02] [-1.11407384e-01 9.93774376e-01 -9.40818916e-04 -4.68301504e+00] [-8.07716986e-03 4.11882867e-05 9.99967378e-01 1.17467749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33864 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:406.68, Y:-4.69, Z:0.12 [[ 9.93650476e-01 1.12224669e-01 8.02210294e-03 4.06681742e+02] [-1.12220718e-01 9.93682858e-01 -9.42460120e-04 -4.68782223e+00] [-8.07719345e-03 3.62297968e-05 9.99967378e-01 1.16695439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:406.71, Y:-4.69, Z:0.13 [[ 9.93260516e-01 1.15625239e-01 8.02197435e-03 4.06713704e+02] [-1.15621390e-01 9.93292909e-01 -9.43553325e-04 -4.69477516e+00] [-8.07726883e-03 9.68243987e-06 9.99967378e-01 1.25009754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39864 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:406.74, Y:-4.70, Z:0.13 [[ 9.93273863e-01 1.15511021e-01 8.01477624e-03 4.06744935e+02] [-1.15506674e-01 9.93306196e-01 -1.00471965e-03 -4.70074982e+00] [-8.07718309e-03 7.22016224e-05 9.99967376e-01 1.25414559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:406.77, Y:-4.71, Z:0.12 [[ 9.93650993e-01 1.12220560e-01 8.01557515e-03 4.06774533e+02] [-1.12216161e-01 9.93683318e-01 -9.97929307e-04 -4.70817442e+00] [-8.07693150e-03 9.21163755e-05 9.99967377e-01 1.17164278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45864 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:406.81, Y:-4.71, Z:0.12 [[ 9.93601265e-01 1.12659549e-01 8.02199362e-03 4.06806184e+02] [-1.12655604e-01 9.93633647e-01 -9.43348425e-04 -4.71291231e+00] [-8.07719998e-03 3.35896520e-05 9.99967378e-01 1.16241937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:406.84, Y:-4.72, Z:0.12 [[ 9.93543840e-01 1.13164870e-01 8.02186424e-03 4.06837950e+02] [-1.13160933e-01 9.93576223e-01 -9.44447336e-04 -4.71741454e+00] [-8.07721183e-03 3.05881929e-05 9.99967378e-01 1.16495475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51864 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:406.87, Y:-4.72, Z:0.12 [[ 9.93194980e-01 1.16186848e-01 8.02173605e-03 4.06870016e+02] [-1.16183000e-01 9.93227374e-01 -9.45534848e-04 -4.72300015e+00] [-8.07726654e-03 7.11110182e-06 9.99967378e-01 1.15992495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:406.90, Y:-4.73, Z:0.12 [[ 9.92913628e-01 1.18567199e-01 8.02160684e-03 4.06902161e+02] [-1.18563420e-01 9.92946030e-01 -9.46629743e-04 -4.72677120e+00] [-8.07726191e-03 -1.11475695e-05 9.99967378e-01 1.15043485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57864 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:406.93, Y:-4.73, Z:0.12 [[ 9.92264607e-01 1.23881420e-01 8.02147701e-03 4.06934782e+02] [-1.23877806e-01 9.92297028e-01 -9.47728600e-04 -4.73027157e+00] [-8.07709376e-03 -5.32854297e-05 9.99967378e-01 1.15887987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60864 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:406.97, Y:-4.73, Z:0.11 [[ 9.92089555e-01 1.25275591e-01 8.02128324e-03 4.06966462e+02] [-1.25272010e-01 9.92121980e-01 -9.49365772e-04 -4.73433885e+00] [-8.07702377e-03 -6.29864081e-05 9.99967378e-01 1.14353514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63864 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:407.00, Y:-4.74, Z:0.11 [[ 9.91961187e-01 1.26288020e-01 8.02115452e-03 4.06998368e+02] [-1.26284463e-01 9.91993614e-01 -9.50452109e-04 -4.73891100e+00] [-8.07696478e-03 -7.01355854e-05 9.99967378e-01 1.14449119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:407.03, Y:-4.74, Z:0.11 [[ 9.91960291e-01 1.26295071e-01 8.02102644e-03 4.07030610e+02] [-1.26291506e-01 9.91992717e-01 -9.51531757e-04 -4.74420418e+00] [-8.07697358e-03 -6.91057895e-05 9.99967378e-01 1.14275000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.69864 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:407.06, Y:-4.75, Z:0.11 [[ 9.91952595e-01 1.26355506e-01 8.02089852e-03 4.07062444e+02] [-1.26351934e-01 9.91985021e-01 -9.52608851e-04 -4.74870859e+00] [-8.07697856e-03 -6.85132187e-05 9.99967378e-01 1.14581590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72864 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:407.09, Y:-4.75, Z:0.11 [[ 9.92037920e-01 1.25683862e-01 8.02076848e-03 4.07094700e+02] [-1.25680259e-01 9.92070342e-01 -9.53702521e-04 -4.75299666e+00] [-8.07703154e-03 -6.19431946e-05 9.99967378e-01 1.14066596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.75864 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:407.13, Y:-4.76, Z:0.11 [[ 9.92030929e-01 1.25739034e-01 8.02063970e-03 4.07127182e+02] [-1.25735424e-01 9.92063351e-01 -9.54784282e-04 -4.75776507e+00] [-8.07703635e-03 -6.13029967e-05 9.99967378e-01 1.13100736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78864 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:407.16, Y:-4.76, Z:0.11 [[ 9.91972968e-01 1.26195500e-01 8.02044368e-03 4.07158639e+02] [-1.26191891e-01 9.92005389e-01 -9.56428135e-04 -4.76205689e+00] [-8.07702028e-03 -6.33641017e-05 9.99967378e-01 1.12836263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.81864 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:407.19, Y:-4.76, Z:0.11 [[ 9.91728759e-01 1.28100516e-01 8.02031446e-03 4.07192012e+02] [-1.28096961e-01 9.91761187e-01 -9.57510468e-04 -4.76483314e+00] [-8.07689417e-03 -7.77872425e-05 9.99967378e-01 1.13173332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84864 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:407.22, Y:-4.77, Z:0.11 [[ 9.91598184e-01 1.29107392e-01 8.02011961e-03 4.07224053e+02] [-1.29103857e-01 9.91630614e-01 -9.59139817e-04 -4.76862885e+00] [-8.07682817e-03 -8.43470710e-05 9.99967378e-01 1.12860096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.87864 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:407.26, Y:-4.77, Z:0.11 [[ 9.91679657e-01 1.28480108e-01 8.01999122e-03 4.07257199e+02] [-1.28476544e-01 9.91712083e-01 -9.60212130e-04 -4.77340760e+00] [-8.07689036e-03 -7.81579185e-05 9.99967378e-01 1.11549155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90864 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:407.29, Y:-4.78, Z:0.11 [[ 9.91786491e-01 1.27652807e-01 8.01979697e-03 4.07289405e+02] [-1.27649203e-01 9.91818913e-01 -9.61831771e-04 -4.77798127e+00] [-8.07696684e-03 -6.97889338e-05 9.99967378e-01 1.12115343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93864 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:407.32, Y:-4.78, Z:0.11 [[ 9.92002277e-01 1.25964951e-01 8.01960255e-03 4.07321044e+02] [-1.25961278e-01 9.92034691e-01 -9.63450116e-04 -4.78208539e+00] [-8.07708488e-03 -5.44146786e-05 9.99967378e-01 1.10965143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96864 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:407.35, Y:-4.79, Z:0.11 [[ 9.92273467e-01 1.23810561e-01 8.01947249e-03 4.07352587e+02] [-1.23806809e-01 9.92305872e-01 -9.64531486e-04 -4.78775714e+00] [-8.07718883e-03 -3.57862965e-05 9.99967378e-01 1.11354634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99864 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:407.38, Y:-4.79, Z:0.11 [[ 9.92555804e-01 1.21526402e-01 8.01934093e-03 4.07384758e+02] [-1.21522566e-01 9.92588199e-01 -9.65624092e-04 -4.79344593e+00] [-8.07725199e-03 -1.60950932e-05 9.99967378e-01 1.11571677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02864 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:407.42, Y:-4.80, Z:0.11 [[ 9.92568956e-01 1.21418947e-01 8.01914102e-03 4.07416305e+02] [-1.21415095e-01 9.92601350e-01 -9.67281418e-04 -4.79772492e+00] [-8.07725649e-03 -1.35512576e-05 9.99967378e-01 1.11620332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05864 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:407.45, Y:-4.80, Z:0.11 [[ 9.92597980e-01 1.21181456e-01 8.01900723e-03 4.07448401e+02] [-1.21177587e-01 9.92630372e-01 -9.68389272e-04 -4.80229600e+00] [-8.07726095e-03 -1.05027144e-05 9.99967378e-01 1.11432391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08864 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:407.48, Y:-4.81, Z:0.11 [[ 9.92521891e-01 1.21803092e-01 8.01887397e-03 4.07479879e+02] [-1.21799234e-01 9.92554284e-01 -9.69491537e-04 -4.80682289e+00] [-8.07725477e-03 -1.44511337e-05 9.99967378e-01 1.10121411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11863999999997 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:407.51, Y:-4.81, Z:0.11 [[ 9.92522079e-01 1.21801570e-01 8.01874031e-03 4.07512219e+02] [-1.21797704e-01 9.92554471e-01 -9.70595798e-04 -4.81365939e+00] [-8.07725663e-03 -1.33263989e-05 9.99967378e-01 1.11544085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14864 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:407.54, Y:-4.82, Z:0.11 [[ 9.92549067e-01 1.21581464e-01 8.01853840e-03 4.07544918e+02] [-1.21577577e-01 9.92581456e-01 -9.72260983e-04 -4.82028941e+00] [-8.07726144e-03 -9.85773590e-06 9.99967378e-01 1.11591915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17864 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:407.58, Y:-4.83, Z:0.11 [[ 9.92545510e-01 1.21610516e-01 8.01833584e-03 4.07577502e+02] [-1.21606616e-01 9.92577897e-01 -9.73928655e-04 -4.82583050e+00] [-8.07726289e-03 -8.41417355e-06 9.99967378e-01 1.10197831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20864 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:407.61, Y:-4.83, Z:0.12 [[ 9.92383424e-01 1.22926197e-01 8.01813410e-03 4.07611193e+02] [-1.22922327e-01 9.92415815e-01 -9.75586724e-04 -4.83120455e+00] [-8.07724825e-03 -1.74516062e-05 9.99967378e-01 1.17438724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23864 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:407.64, Y:-4.84, Z:0.11 [[ 9.92876098e-01 1.18882114e-01 8.00611336e-03 4.07640189e+02] [-1.18877316e-01 9.92908369e-01 -1.07424336e-03 -4.83956285e+00] [-8.07704528e-03 1.14845290e-04 9.99967374e-01 1.09588699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26864 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:407.67, Y:-4.85, Z:0.11 [[ 9.92871031e-01 1.18923606e-01 8.01815248e-03 4.07671872e+02] [-1.18919608e-01 9.92903407e-01 -9.75263744e-04 -4.84543754e+00] [-8.07723280e-03 1.47955697e-05 9.99967379e-01 1.08948798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29864 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:407.71, Y:-4.85, Z:0.11 [[ 9.92846360e-01 1.19129412e-01 8.01801967e-03 4.07705114e+02] [-1.19125412e-01 9.92878735e-01 -9.76354438e-04 -4.84943549e+00] [-8.07723376e-03 1.42200531e-05 9.99967379e-01 1.08678270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32864 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:407.74, Y:-4.86, Z:0.11 [[ 9.92868116e-01 1.18947967e-01 8.01781694e-03 4.07736936e+02] [-1.18943948e-01 9.92900489e-01 -9.78016407e-04 -4.85729035e+00] [-8.07722743e-03 1.73705079e-05 9.99967379e-01 1.09000521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35864 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:407.77, Y:-4.86, Z:0.11 [[ 9.92812565e-01 1.19410751e-01 8.01768246e-03 4.07769004e+02] [-1.19406738e-01 9.92844939e-01 -9.79117625e-04 -4.86362676e+00] [-8.07723262e-03 1.47149743e-05 9.99967379e-01 1.07341475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38864 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:407.80, Y:-4.87, Z:0.11 [[ 9.92431538e-01 1.22537192e-01 8.01747862e-03 4.07803293e+02] [-1.22533267e-01 9.92463922e-01 -9.80783921e-04 -4.86989014e+00] [-8.07724079e-03 -9.04695311e-06 9.99967379e-01 1.13791322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41864 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:407.83, Y:-4.88, Z:0.10 [[ 9.92897696e-01 1.18701902e-01 8.00150145e-03 4.07830757e+02] [-1.18696803e-01 9.92929924e-01 -1.11089650e-03 -4.87960018e+00] [-8.07679576e-03 1.53253932e-04 9.99967370e-01 1.04755732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44864 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:407.87, Y:-4.89, Z:0.11 [[ 9.92360686e-01 1.23109669e-01 8.01740730e-03 4.07865240e+02] [-1.23105762e-01 9.92393072e-01 -9.80888764e-04 -4.88594864e+00] [-8.07717635e-03 -1.35935886e-05 9.99967379e-01 1.13634421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47864 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:407.89, Y:-4.90, Z:0.10 [[ 9.92716956e-01 1.20204212e-01 7.99954615e-03 4.07892447e+02] [-1.20199033e-01 9.92749174e-01 -1.12683680e-03 -4.89504409e+00] [-8.07699337e-03 1.57092286e-04 9.99967368e-01 1.04988463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50864 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:407.92, Y:-4.90, Z:0.11 [[ 9.92611521e-01 1.21070590e-01 8.01756163e-03 4.07924525e+02] [-1.21066629e-01 9.92643900e-01 -9.79352084e-04 -4.90066451e+00] [-8.07715438e-03 1.45700066e-06 9.99967379e-01 1.05217576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53864 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:407.96, Y:-4.91, Z:0.10 [[ 9.92537293e-01 1.21677619e-01 8.01742732e-03 4.07957354e+02] [-1.21673669e-01 9.92569674e-01 -9.80450387e-04 -4.90591192e+00] [-8.07715409e-03 -2.37622470e-06 9.99967379e-01 1.04352564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56864 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:407.99, Y:-4.91, Z:0.10 [[ 9.92071996e-01 1.25414828e-01 8.01722369e-03 4.07989368e+02] [-1.25410986e-01 9.92104390e-01 -9.82112644e-04 -4.91045687e+00] [-8.07709431e-03 -3.11214773e-05 9.99967379e-01 1.03185321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59864 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:408.02, Y:-4.91, Z:0.11 [[ 9.91424836e-01 1.30432053e-01 8.01709040e-03 4.08021943e+02] [-1.30428366e-01 9.91457248e-01 -9.83199526e-04 -4.91370201e+00] [-8.07684312e-03 -7.08875720e-05 9.99967379e-01 1.10414715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62864 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:408.05, Y:-4.92, Z:0.10 [[ 9.91360334e-01 1.30921970e-01 8.00792410e-03 4.08051077e+02] [-1.30917697e-01 9.91392676e-01 -1.05774652e-03 -4.91630900e+00] [-8.07747956e-03 2.28963971e-07 9.99967377e-01 1.03619679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65864 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:408.09, Y:-4.92, Z:0.11 [[ 9.90807161e-01 1.35044058e-01 8.01703946e-03 4.08085921e+02] [-1.35040520e-01 9.90839589e-01 -9.83437805e-04 -4.91975077e+00] [-8.07640751e-03 -1.08227960e-04 9.99967379e-01 1.12818002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68864 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:408.11, Y:-4.92, Z:0.10 [[ 9.91445769e-01 1.30273961e-01 7.99888094e-03 4.08112088e+02] [-1.30269075e-01 9.91478032e-01 -1.13112901e-03 -4.92360111e+00] [-8.07807139e-03 7.94462587e-05 9.99967369e-01 1.02949552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71864 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:408.14, Y:-4.93, Z:0.10 [[ 9.91528079e-01 1.29644867e-01 8.01730518e-03 4.08144853e+02] [-1.29641176e-01 9.91560489e-01 -9.80475628e-04 -4.92595127e+00] [-8.07675668e-03 -6.72037583e-05 9.99967380e-01 1.03542249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74864 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:408.18, Y:-4.93, Z:0.10 [[ 9.91594140e-01 1.29138634e-01 8.01710951e-03 4.08177333e+02] [-1.29134915e-01 9.91626547e-01 -9.82072952e-04 -4.92952627e+00] [-8.07680218e-03 -6.14709666e-05 9.99967380e-01 1.04108933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77864 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:408.21, Y:-4.93, Z:0.11 [[ 9.91437531e-01 1.30335530e-01 8.01691287e-03 4.08210964e+02] [-1.30331837e-01 9.91469941e-01 -9.83675531e-04 -4.93214343e+00] [-8.07673601e-03 -6.96061394e-05 9.99967380e-01 1.14287422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80864 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:408.24, Y:-4.94, Z:0.10 [[ 9.91971464e-01 1.26208368e-01 8.00393914e-03 4.08239298e+02] [-1.26203688e-01 9.92003752e-01 -1.08912371e-03 -4.93531714e+00] [-8.07739418e-03 7.02530089e-05 9.99967375e-01 1.03316084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83864 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:408.27, Y:-4.94, Z:0.11 [[ 9.91745763e-01 1.27969024e-01 8.01688175e-03 4.08272755e+02] [-1.27965254e-01 9.91778164e-01 -9.83638874e-04 -4.93720258e+00] [-8.07684357e-03 -5.03626233e-05 9.99967380e-01 1.14135697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:408.30, Y:-4.94, Z:0.10 [[ 9.92081626e-01 1.25339411e-01 8.00496401e-03 4.08302026e+02] [-1.25334772e-01 9.92113918e-01 -1.08055696e-03 -4.93922529e+00] [-8.07727258e-03 6.87003680e-05 9.99967376e-01 1.02253385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89864 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:408.33, Y:-4.94, Z:0.10 [[ 9.92003474e-01 1.25955710e-01 8.01662539e-03 4.08334358e+02] [-1.25951857e-01 9.92035865e-01 -9.85717866e-04 -4.94240364e+00] [-8.07693670e-03 -3.18733077e-05 9.99967381e-01 1.02423741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:408.37, Y:-4.94, Z:0.11 [[ 9.91576067e-01 1.29277370e-01 8.01649311e-03 4.08366848e+02] [-1.29273616e-01 9.91608470e-01 -9.86792454e-04 -4.94405968e+00] [-8.07679240e-03 -5.78412730e-05 9.99967381e-01 1.11022107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95864 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:408.40, Y:-4.95, Z:0.11 [[ 9.91514523e-01 1.29749103e-01 8.00760773e-03 4.08399278e+02] [-1.29744783e-01 9.91546857e-01 -1.05881960e-03 -4.94783022e+00] [-8.07729917e-03 1.08896832e-05 9.99967378e-01 1.09861322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:408.43, Y:-4.95, Z:0.10 [[ 9.91645653e-01 1.28743027e-01 8.00824818e-03 4.08428837e+02] [-1.28738717e-01 9.91677988e-01 -1.05361549e-03 -4.95132679e+00] [-8.07724909e-03 1.38416252e-05 9.99967378e-01 1.01273505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01864 meters Centerline goodness : 0.988789 Centerline is valid? [True, True] Translation: X:408.46, Y:-4.95, Z:0.11 [[ 9.91059326e-01 1.33180888e-01 8.01646500e-03 4.08462425e+02] [-1.33177262e-01 9.91091743e-01 -9.86869353e-04 -4.95276416e+00] [-8.07648441e-03 -8.95647835e-05 9.99967381e-01 1.11421728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:408.49, Y:-4.96, Z:0.11 [[ 9.91045462e-01 1.33284789e-01 8.00360205e-03 4.08493280e+02] [-1.33280324e-01 9.91077779e-01 -1.09117604e-03 -4.95578142e+00] [-8.07762932e-03 1.46823956e-05 9.99967375e-01 1.09633203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07864 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:408.52, Y:-4.96, Z:0.10 [[ 9.91244996e-01 1.31792378e-01 8.00795133e-03 4.08523052e+02] [-1.31788149e-01 9.91277342e-01 -1.05587795e-03 -4.95927273e+00] [-8.07725737e-03 -8.71934114e-06 9.99967378e-01 1.00971433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10864 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:408.55, Y:-4.96, Z:0.10 [[ 9.91175134e-01 1.32316259e-01 8.01626806e-03 4.08554982e+02] [-1.32312592e-01 9.91207547e-01 -9.88428451e-04 -4.96185376e+00] [-8.07657055e-03 -8.09474994e-05 9.99967381e-01 1.00592844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13864 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:408.59, Y:-4.96, Z:0.10 [[ 9.91124326e-01 1.32696312e-01 8.01613623e-03 4.08587623e+02] [-1.32692649e-01 9.91156739e-01 -9.89496458e-04 -4.96434293e+00] [-8.07654998e-03 -8.29683394e-05 9.99967381e-01 1.01011171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16864 meters Centerline goodness : 0.988909 Centerline is valid? [True, True] Translation: X:408.62, Y:-4.96, Z:0.11 [[ 9.90436496e-01 1.37736316e-01 8.01593811e-03 4.08621993e+02] [-1.37732805e-01 9.90468925e-01 -9.91098841e-04 -4.96393740e+00] [-8.07604791e-03 -1.22437174e-04 9.99967381e-01 1.10784167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19864 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:408.65, Y:-4.97, Z:0.10 [[ 9.90737308e-01 1.35556297e-01 8.00483814e-03 4.08651523e+02] [-1.35551991e-01 9.90769645e-01 -1.08060549e-03 -4.96729362e+00] [-8.07743352e-03 -1.44755749e-05 9.99967377e-01 9.95976262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22864 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:408.68, Y:-4.97, Z:0.10 [[ 9.90414004e-01 1.37897968e-01 8.01565008e-03 4.08684142e+02] [-1.37894443e-01 9.90446433e-01 -9.93361839e-04 -4.96795204e+00] [-8.07605460e-03 -1.21474128e-04 9.99967381e-01 1.00410405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25864 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:408.72, Y:-4.97, Z:0.11 [[ 9.89886441e-01 1.41635393e-01 8.01551933e-03 4.08717336e+02] [-1.41631983e-01 9.89918882e-01 -9.94415762e-04 -4.96862716e+00] [-8.07555840e-03 -1.50895216e-04 9.99967381e-01 1.12005137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28864 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:408.75, Y:-4.97, Z:0.10 [[ 9.90002719e-01 1.40820863e-01 8.00628916e-03 4.08746887e+02] [-1.40816825e-01 9.90035090e-01 -1.06869533e-03 -4.97086665e+00] [-8.07700181e-03 -6.94089345e-05 9.99967378e-01 9.99260799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.31864 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:408.78, Y:-4.97, Z:0.10 [[ 9.89830742e-01 1.42024128e-01 8.01553741e-03 4.08779278e+02] [-1.42020732e-01 9.89863184e-01 -9.94127932e-04 -4.97220563e+00] [-8.07547554e-03 -1.54354104e-04 9.99967381e-01 9.96031486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34864 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:408.81, Y:-4.97, Z:0.10 [[ 9.89809577e-01 1.42171564e-01 8.01540669e-03 4.08812596e+02] [-1.42168165e-01 9.89842019e-01 -9.95180811e-04 -4.97473109e+00] [-8.07547275e-03 -1.54496162e-04 9.99967381e-01 9.93785934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.37864 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:408.84, Y:-4.97, Z:0.10 [[ 9.89692940e-01 1.42981260e-01 8.01520929e-03 4.08844635e+02] [-1.42977875e-01 9.89725383e-01 -9.96768113e-04 -4.97372752e+00] [-8.07537525e-03 -1.59503226e-04 9.99967381e-01 9.78637965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40864 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:408.88, Y:-4.98, Z:0.10 [[ 9.89702334e-01 1.42916248e-01 8.01478316e-03 4.08876247e+02] [-1.42912833e-01 9.89734773e-01 -1.00018282e-03 -4.97604270e+00] [-8.07545198e-03 -1.55532100e-04 9.99967381e-01 9.78052196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43864 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:408.91, Y:-4.98, Z:0.10 [[ 9.89768988e-01 1.42453903e-01 8.01468412e-03 4.08908257e+02] [-1.42450466e-01 9.89801426e-01 -1.00097587e-03 -4.97705621e+00] [-8.07553869e-03 -1.50960619e-04 9.99967381e-01 9.84337761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46864 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:408.94, Y:-4.98, Z:0.10 [[ 9.89763743e-01 1.42490348e-01 8.01455249e-03 4.08940452e+02] [-1.42486904e-01 9.89796180e-01 -1.00202864e-03 -4.97850507e+00] [-8.07555285e-03 -1.50197161e-04 9.99967381e-01 9.81679435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49864 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:408.97, Y:-4.98, Z:0.10 [[ 9.89904665e-01 1.41508030e-01 8.01442053e-03 4.08973318e+02] [-1.41504545e-01 9.89937098e-01 -1.00308300e-03 -4.97974408e+00] [-8.07571650e-03 -1.41120386e-04 9.99967381e-01 9.78821542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52864 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:409.01, Y:-4.98, Z:0.11 [[ 9.90078794e-01 1.40284547e-01 8.01422071e-03 4.09006415e+02] [-1.40281009e-01 9.90111221e-01 -1.00467693e-03 -4.97981417e+00] [-8.07591050e-03 -1.29533646e-04 9.99967381e-01 1.07744506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55864 meters Centerline goodness : 0.987356 Centerline is valid? [True, True] Translation: X:409.04, Y:-4.98, Z:0.11 [[ 9.90433799e-01 1.37756249e-01 8.00660184e-03 4.09036826e+02] [-1.37752138e-01 9.90466160e-01 -1.06528074e-03 -4.98249381e+00] [-8.07701725e-03 -4.78364713e-05 9.99967379e-01 1.09132113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58864 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:409.07, Y:-4.98, Z:0.10 [[ 9.91020548e-01 1.33469566e-01 8.00932424e-03 4.09067520e+02] [-1.33465491e-01 9.91052912e-01 -1.04357190e-03 -4.98255826e+00] [-8.07694920e-03 -3.47671956e-05 9.99967380e-01 9.70589727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61863999999997 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:409.10, Y:-4.98, Z:0.10 [[ 9.91274674e-01 1.31568596e-01 8.01405766e-03 4.09099923e+02] [-1.31564764e-01 9.91307067e-01 -1.00585907e-03 -4.98456827e+00] [-8.07673146e-03 -5.72849835e-05 9.99967381e-01 9.67974326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64864 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:409.13, Y:-4.99, Z:0.10 [[ 9.91633048e-01 1.28839726e-01 8.01392128e-03 4.09132294e+02] [-1.28835795e-01 9.91665429e-01 -1.00694442e-03 -4.98685305e+00] [-8.07686313e-03 -3.39605536e-05 9.99967381e-01 9.89780759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67864 meters Centerline goodness : 0.989799 Centerline is valid? [True, True] Translation: X:409.16, Y:-4.99, Z:0.11 [[ 9.91696300e-01 1.28351967e-01 8.01378308e-03 4.09164192e+02] [-1.28348012e-01 9.91728678e-01 -1.00804310e-03 -4.98956306e+00] [-8.07688282e-03 -2.88805084e-05 9.99967381e-01 1.08170681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70864 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:409.20, Y:-4.99, Z:0.11 [[ 9.91666483e-01 1.28582402e-01 8.00958659e-03 4.09195793e+02] [-1.28578184e-01 9.91698828e-01 -1.04143431e-03 -4.99181982e+00] [-8.07700776e-03 2.89740268e-06 9.99967380e-01 1.06557556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73864 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:409.23, Y:-5.00, Z:0.11 [[ 9.91845839e-01 1.27191662e-01 8.00700586e-03 4.09227292e+02] [-1.27187234e-01 9.91878158e-01 -1.06195178e-03 -4.99500543e+00] [-8.07704564e-03 3.49035294e-05 9.99967380e-01 1.06721345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76864 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:409.26, Y:-5.00, Z:0.10 [[ 9.92015877e-01 1.25858506e-01 8.00847843e-03 4.09257841e+02] [-1.25854128e-01 9.92048202e-01 -1.05024948e-03 -4.99999498e+00] [-8.07697946e-03 3.39640940e-05 9.99967380e-01 9.89332104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79864 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:409.29, Y:-5.00, Z:0.10 [[ 9.92007691e-01 1.25922667e-01 8.01393123e-03 4.09290180e+02] [-1.25918642e-01 9.92040061e-01 -1.00684837e-03 -5.00477540e+00] [-8.07692586e-03 -1.03020102e-05 9.99967381e-01 9.97341053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82864 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:409.32, Y:-5.01, Z:0.10 [[ 9.91962824e-01 1.26275632e-01 8.01372307e-03 4.09322357e+02] [-1.26271605e-01 9.91995194e-01 -1.00850249e-03 -5.00904495e+00] [-8.07692406e-03 -1.15087005e-05 9.99967381e-01 9.88098985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85864 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:409.35, Y:-5.02, Z:0.11 [[ 9.92004537e-01 1.25947533e-01 8.01358479e-03 4.09354411e+02] [-1.25943487e-01 9.92036904e-01 -1.00960002e-03 -5.01537100e+00] [-8.07692848e-03 -7.73100849e-06 9.99967381e-01 1.07859830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88864 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:409.39, Y:-5.02, Z:0.11 [[ 9.92061204e-01 1.25500738e-01 8.00832439e-03 4.09386770e+02] [-1.25496340e-01 9.92093526e-01 -1.05131808e-03 -5.02153819e+00] [-8.07694797e-03 3.79564820e-05 9.99967380e-01 1.07091827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91864 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:409.42, Y:-5.03, Z:0.10 [[ 9.92290315e-01 1.23676289e-01 8.00661008e-03 4.09416299e+02] [-1.23671722e-01 9.92322614e-01 -1.06489591e-03 -5.02765428e+00] [-8.07684262e-03 6.64946402e-05 9.99967380e-01 9.87209931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94864 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:409.45, Y:-5.03, Z:0.10 [[ 9.92113136e-01 1.25089209e-01 8.01341805e-03 4.09447993e+02] [-1.25085124e-01 9.92145498e-01 -1.01093075e-03 -5.03394033e+00] [-8.07693317e-03 5.98289559e-07 9.99967381e-01 9.81454085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97864 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:409.48, Y:-5.04, Z:0.10 [[ 9.91761661e-01 1.27845979e-01 8.01327919e-03 4.09480132e+02] [-1.27841975e-01 9.91794034e-01 -1.01203024e-03 -5.03860672e+00] [-8.07690649e-03 -2.07406410e-05 9.99967381e-01 9.77117952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00864 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:409.51, Y:-5.04, Z:0.10 [[ 9.90807998e-01 1.35038143e-01 8.01314113e-03 4.09512637e+02] [-1.35034365e-01 9.90840398e-01 -1.01312225e-03 -5.04481028e+00] [-8.07655409e-03 -7.82398004e-05 9.99967381e-01 9.94473206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03864 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:409.54, Y:-5.05, Z:0.10 [[ 9.90360199e-01 1.38284013e-01 8.01293078e-03 4.09544238e+02] [-1.38280328e-01 9.90392610e-01 -1.01478320e-03 -5.05003270e+00] [-8.07627572e-03 -1.03029802e-04 9.99967381e-01 9.91437543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06864 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:409.58, Y:-5.05, Z:0.10 [[ 9.89918406e-01 1.41411968e-01 8.01279341e-03 4.09575857e+02] [-1.41408377e-01 9.89950827e-01 -1.01586670e-03 -5.05432455e+00] [-8.07592717e-03 -1.27450970e-04 9.99967381e-01 9.83428084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09864 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:409.61, Y:-5.06, Z:0.10 [[ 9.89301296e-01 1.45666548e-01 8.01265755e-03 4.09608389e+02] [-1.45663088e-01 9.89333731e-01 -1.01693719e-03 -5.05746553e+00] [-8.07532612e-03 -1.61091156e-04 9.99967381e-01 9.76702328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12864 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:409.64, Y:-5.06, Z:0.10 [[ 9.89093003e-01 1.47074235e-01 8.01248994e-03 4.09640037e+02] [-1.47070809e-01 9.89125442e-01 -1.01825608e-03 -5.06066409e+00] [-8.07511689e-03 -1.71253414e-04 9.99967381e-01 9.73187258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15864 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:409.67, Y:-5.06, Z:0.10 [[ 9.88907634e-01 1.48315523e-01 8.01235682e-03 4.09672020e+02] [-1.48312130e-01 9.88940076e-01 -1.01930251e-03 -5.06388439e+00] [-8.07491914e-03 -1.80333675e-04 9.99967381e-01 9.53846884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18864 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:409.70, Y:-5.07, Z:0.10 [[ 9.89085289e-01 1.47126124e-01 8.01222379e-03 4.09703466e+02] [-1.47122683e-01 9.89117726e-01 -1.02034711e-03 -5.06807731e+00] [-8.07515229e-03 -1.69569547e-04 9.99967381e-01 9.65251461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21864 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:409.74, Y:-5.07, Z:0.10 [[ 9.89056156e-01 1.47321848e-01 8.01209052e-03 4.09736692e+02] [-1.47318406e-01 9.89088593e-01 -1.02139249e-03 -5.07226602e+00] [-8.07514077e-03 -1.70113878e-04 9.99967381e-01 9.62546026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:409.77, Y:-5.08, Z:0.10 [[ 9.89043741e-01 1.47405181e-01 8.01188809e-03 4.09769657e+02] [-1.47401728e-01 9.89076177e-01 -1.02297792e-03 -5.07540103e+00] [-8.07515989e-03 -1.69196241e-04 9.99967381e-01 9.58670022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27864 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:409.80, Y:-5.08, Z:0.10 [[ 9.88959458e-01 1.47969602e-01 8.01168534e-03 4.09801551e+02] [-1.47966155e-01 9.88991894e-01 -1.02456332e-03 -5.07701003e+00] [-8.07509609e-03 -1.72206691e-04 9.99967381e-01 9.65638240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30864 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:409.83, Y:-5.08, Z:0.11 [[ 9.88590862e-01 1.50412505e-01 8.01155176e-03 4.09834847e+02] [-1.50409130e-01 9.88623306e-01 -1.02560682e-03 -5.07877251e+00] [-8.07467088e-03 -1.91105000e-04 9.99967381e-01 1.05728494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33864 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:409.87, Y:-5.08, Z:0.10 [[ 9.88297843e-01 1.52326526e-01 8.00017177e-03 4.09866934e+02] [-1.52322495e-01 9.88330216e-01 -1.11434035e-03 -5.07913352e+00] [-8.07655509e-03 -1.17305960e-04 9.99967377e-01 1.02638407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:409.90, Y:-5.08, Z:0.09 [[ 9.88337544e-01 1.52068702e-01 8.00056887e-03 4.09895931e+02] [-1.52064688e-01 9.88369919e-01 -1.11124310e-03 -5.08057114e+00] [-8.07650690e-03 -1.18320727e-04 9.99967377e-01 9.36659189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39864 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:409.93, Y:-5.08, Z:0.10 [[ 9.87871421e-01 1.55067306e-01 8.01163477e-03 4.09929619e+02] [-1.55064091e-01 9.87903881e-01 -1.02472670e-03 -5.08256456e+00] [-8.07362669e-03 -2.30018642e-04 9.99967381e-01 1.00930242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:409.96, Y:-5.08, Z:0.09 [[ 9.88323573e-01 1.52159692e-01 7.99640689e-03 4.09957400e+02] [-1.52155419e-01 9.88355918e-01 -1.14358465e-03 -5.08334536e+00] [-8.07730356e-03 -8.64649704e-05 9.99967374e-01 9.25052922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:409.99, Y:-5.09, Z:0.09 [[ 9.88491272e-01 1.51065599e-01 8.01186285e-03 4.09989866e+02] [-1.51062270e-01 9.88523720e-01 -1.02247615e-03 -5.08615078e+00] [-8.07437744e-03 -1.99581444e-04 9.99967382e-01 9.23875815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:410.02, Y:-5.09, Z:0.09 [[ 9.89110077e-01 1.46959407e-01 8.01173125e-03 4.10021430e+02] [-1.46955936e-01 9.89142510e-01 -1.02350629e-03 -5.09014349e+00] [-8.07515784e-03 -1.65011078e-04 9.99967382e-01 9.18182150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:410.05, Y:-5.09, Z:0.09 [[ 9.89414208e-01 1.44897692e-01 8.01149135e-03 4.10053597e+02] [-1.44894138e-01 9.89446632e-01 -1.02538063e-03 -5.09455582e+00] [-8.07551842e-03 -1.46291962e-04 9.99967382e-01 9.12239222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:410.09, Y:-5.10, Z:0.09 [[ 9.89752697e-01 1.42567237e-01 8.01135492e-03 4.10085554e+02] [-1.42563597e-01 9.89785112e-01 -1.02644552e-03 -5.09835634e+00] [-8.07585732e-03 -1.26200352e-04 9.99967382e-01 8.97533179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:410.12, Y:-5.10, Z:0.09 [[ 9.90138816e-01 1.39860451e-01 8.01121868e-03 4.10117101e+02] [-1.39856714e-01 9.90171219e-01 -1.02750770e-03 -5.10284025e+00] [-8.07618586e-03 -1.03047467e-04 9.99967382e-01 8.97663876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:410.15, Y:-5.11, Z:0.09 [[ 9.90126295e-01 1.39949072e-01 8.01108244e-03 4.10149210e+02] [-1.39945330e-01 9.90158698e-01 -1.02856881e-03 -5.10849946e+00] [-8.07619021e-03 -1.02700551e-04 9.99967382e-01 8.88532549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:410.18, Y:-5.11, Z:0.09 [[ 9.89696516e-01 1.42956750e-01 8.01087386e-03 4.10181392e+02] [-1.42953093e-01 9.89728928e-01 -1.03019082e-03 -5.11294603e+00] [-8.07586633e-03 -1.25602936e-04 9.99967382e-01 8.97422787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:410.21, Y:-5.12, Z:0.09 [[ 9.89367336e-01 1.45217429e-01 8.01073713e-03 4.10214289e+02] [-1.45213837e-01 9.89399756e-01 -1.03125293e-03 -5.11544264e+00] [-8.07557726e-03 -1.42981916e-04 9.99967382e-01 8.92558930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.69864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:410.25, Y:-5.12, Z:0.09 [[ 9.88705514e-01 1.49657066e-01 8.01052794e-03 4.10246264e+02] [-1.49653607e-01 9.88737949e-01 -1.03287526e-03 -5.11605634e+00] [-8.07489005e-03 -1.77594939e-04 9.99967382e-01 8.70512336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:410.28, Y:-5.12, Z:0.09 [[ 9.88448432e-01 1.51345731e-01 8.01039200e-03 4.10278422e+02] [-1.51342319e-01 9.88480872e-01 -1.03392851e-03 -5.11924930e+00] [-8.07459993e-03 -1.90326292e-04 9.99967382e-01 8.69678195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.75864 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:410.31, Y:-5.12, Z:0.10 [[ 9.88075310e-01 1.53762862e-01 8.01025727e-03 4.10310830e+02] [-1.53759521e-01 9.88107757e-01 -1.03497126e-03 -5.12150585e+00] [-8.07413748e-03 -2.09023770e-04 9.99967382e-01 9.58173331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:410.34, Y:-5.12, Z:0.09 [[ 9.88155330e-01 1.53248228e-01 8.00154611e-03 4.10340656e+02] [-1.53244325e-01 9.88187716e-01 -1.10226680e-03 -5.12139112e+00] [-8.07595001e-03 -1.36980722e-04 9.99967380e-01 8.74842941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.81864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:410.37, Y:-5.12, Z:0.09 [[ 9.88148817e-01 1.53289763e-01 8.01027851e-03 4.10373427e+02] [-1.53286408e-01 9.88181262e-01 -1.03466125e-03 -5.12273623e+00] [-8.07421011e-03 -2.05467530e-04 9.99967382e-01 8.74801140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:410.41, Y:-5.12, Z:0.09 [[ 9.88324686e-01 1.52151746e-01 8.01007647e-03 4.10405357e+02] [-1.52148342e-01 9.88357126e-01 -1.03622309e-03 -5.12276012e+00] [-8.07447931e-03 -1.94594996e-04 9.99967382e-01 8.71924774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.87864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:410.44, Y:-5.12, Z:0.09 [[ 9.88301119e-01 1.52304761e-01 8.00982473e-03 4.10438412e+02] [-1.52301346e-01 9.88333558e-01 -1.03816536e-03 -5.12453525e+00] [-8.07449610e-03 -1.93887106e-04 9.99967382e-01 8.64595150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:410.47, Y:-5.13, Z:0.09 [[ 9.88332585e-01 1.52100450e-01 8.00962037e-03 4.10470359e+02] [-1.52097016e-01 9.88365022e-01 -1.03973965e-03 -5.12566714e+00] [-8.07457348e-03 -1.90630786e-04 9.99967382e-01 8.69669901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:410.50, Y:-5.12, Z:0.09 [[ 9.88183041e-01 1.53069021e-01 8.00948355e-03 4.10502923e+02] [-1.53065610e-01 9.88215480e-01 -1.04079255e-03 -5.12192379e+00] [-8.07440873e-03 -1.97482933e-04 9.99967382e-01 8.68722933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:410.54, Y:-5.12, Z:0.09 [[ 9.88140683e-01 1.53342235e-01 8.00934714e-03 4.10535358e+02] [-1.53338824e-01 9.88173122e-01 -1.04184120e-03 -5.11882022e+00] [-8.07437983e-03 -1.98658194e-04 9.99967382e-01 8.72875643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:410.57, Y:-5.12, Z:0.09 [[ 9.88221402e-01 1.52821181e-01 8.00921104e-03 4.10567357e+02] [-1.52817745e-01 9.88253838e-01 -1.04288642e-03 -5.11975887e+00] [-8.07450869e-03 -1.93346888e-04 9.99967382e-01 8.67207187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02864 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:410.60, Y:-5.12, Z:0.09 [[ 9.88160061e-01 1.53217327e-01 8.00907391e-03 4.10599583e+02] [-1.53213895e-01 9.88192498e-01 -1.04393847e-03 -5.12062253e+00] [-8.07445622e-03 -1.95523109e-04 9.99967382e-01 8.63742920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05864 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:410.63, Y:-5.12, Z:0.09 [[ 9.88432964e-01 1.51446796e-01 8.00893744e-03 4.10632078e+02] [-1.51443298e-01 9.88465394e-01 -1.04498445e-03 -5.11839191e+00] [-8.07481705e-03 -1.80002819e-04 9.99967382e-01 8.56854692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08864 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:410.67, Y:-5.12, Z:0.09 [[ 9.88600615e-01 1.50348536e-01 8.00880093e-03 4.10665118e+02] [-1.50344993e-01 9.88633041e-01 -1.04602962e-03 -5.11642588e+00] [-8.07503423e-03 -1.69977600e-04 9.99967382e-01 8.56529509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11863999999997 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:410.70, Y:-5.12, Z:0.08 [[ 9.88638300e-01 1.50100542e-01 8.00866290e-03 4.10697907e+02] [-1.50096982e-01 9.88670723e-01 -1.04708529e-03 -5.11720128e+00] [-8.07509862e-03 -1.66887515e-04 9.99967382e-01 8.47837448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14864 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:410.73, Y:-5.12, Z:0.08 [[ 9.88673275e-01 1.49870006e-01 8.00852453e-03 4.10729652e+02] [-1.49866430e-01 9.88705697e-01 -1.04814257e-03 -5.11745787e+00] [-8.07515896e-03 -1.63938438e-04 9.99967382e-01 8.39063785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17864 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:410.76, Y:-5.11, Z:0.09 [[ 9.88577493e-01 1.50500513e-01 8.00845545e-03 4.10762064e+02] [-1.50496954e-01 9.88609917e-01 -1.04867010e-03 -5.11408360e+00] [-8.07506386e-03 -1.68556490e-04 9.99967382e-01 9.35241199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20864 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:410.79, Y:-5.12, Z:0.08 [[ 9.89064959e-01 1.47263458e-01 7.99878061e-03 4.10791320e+02] [-1.47259196e-01 9.89097300e-01 -1.12251696e-03 -5.11576080e+00] [-8.07687803e-03 -6.76518084e-05 9.99967379e-01 8.31775737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23864 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:410.82, Y:-5.12, Z:0.08 [[ 9.89943972e-01 1.41233119e-01 8.00862221e-03 4.10821539e+02] [-1.41229268e-01 9.89976362e-01 -1.04725597e-03 -5.11647752e+00] [-8.07625391e-03 -9.43271150e-05 9.99967382e-01 8.30451483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26864 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:410.85, Y:-5.12, Z:0.08 [[ 9.90639598e-01 1.36268296e-01 8.00862221e-03 4.10852261e+02] [-1.36264282e-01 9.90671968e-01 -1.04725597e-03 -5.11944554e+00] [-8.07662532e-03 -5.38359246e-05 9.99967382e-01 8.37102968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29864 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:410.88, Y:-5.12, Z:0.08 [[ 9.91313243e-01 1.31278008e-01 8.00862221e-03 4.10882925e+02] [-1.31273831e-01 9.91345593e-01 -1.04725597e-03 -5.12238312e+00] [-8.07679401e-03 -1.31638083e-05 9.99967382e-01 8.32070814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32864 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:410.91, Y:-5.12, Z:0.08 [[ 9.92307872e-01 1.23535215e-01 8.00862221e-03 4.10913665e+02] [-1.23530786e-01 9.92340188e-01 -1.04725597e-03 -5.12455728e+00] [-8.07665066e-03 4.98889474e-05 9.99967382e-01 8.26459703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35864 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:410.94, Y:-5.13, Z:0.08 [[ 9.92689142e-01 1.20433090e-01 8.00862221e-03 4.10943779e+02] [-1.20428560e-01 9.92721444e-01 -1.04725597e-03 -5.12826200e+00] [-8.07645528e-03 7.51327923e-05 9.99967382e-01 8.15541080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38864 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:410.97, Y:-5.13, Z:0.08 [[ 9.93198412e-01 1.16158411e-01 8.00862221e-03 4.10973884e+02] [-1.16153742e-01 9.93230694e-01 -1.04725597e-03 -5.13243068e+00] [-8.07605699e-03 1.09901528e-04 9.99967382e-01 8.28691908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41864 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:411.00, Y:-5.14, Z:0.08 [[ 9.93320744e-01 1.15107605e-01 8.00862221e-03 4.11004604e+02] [-1.15102902e-01 9.93353021e-01 -1.04725597e-03 -5.13660313e+00] [-8.07593620e-03 1.18445422e-04 9.99967382e-01 8.29410290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44864 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:411.04, Y:-5.14, Z:0.08 [[ 9.93455001e-01 1.13943078e-01 8.00855505e-03 4.11035832e+02] [-1.13938332e-01 9.93487271e-01 -1.04776930e-03 -5.14163201e+00] [-8.07578357e-03 1.28430245e-04 9.99967382e-01 8.27227120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47864 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:411.07, Y:-5.15, Z:0.08 [[ 9.93666865e-01 1.12080443e-01 8.00848768e-03 4.11066102e+02] [-1.12075633e-01 9.93699126e-01 -1.04828398e-03 -5.14789756e+00] [-8.07551935e-03 1.44088733e-04 9.99967382e-01 8.15329614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50864 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:411.10, Y:-5.15, Z:0.08 [[ 9.93753764e-01 1.11307332e-01 8.00845398e-03 4.11096929e+02] [-1.11302495e-01 9.93786021e-01 -1.04854140e-03 -5.15299567e+00] [-8.07539996e-03 1.50631057e-04 9.99967382e-01 8.01632446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53864 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:411.13, Y:-5.16, Z:0.08 [[ 9.93965713e-01 1.09398476e-01 8.00838694e-03 4.11127640e+02] [-1.09393573e-01 9.93997961e-01 -1.04905317e-03 -5.16041097e+00] [-8.07508510e-03 1.66656827e-04 9.99967382e-01 8.15520753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56864 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:411.16, Y:-5.17, Z:0.08 [[ 9.94099166e-01 1.08179092e-01 8.00832026e-03 4.11158018e+02] [-1.08174145e-01 9.94131406e-01 -1.04956199e-03 -5.16713667e+00] [-8.07486334e-03 1.77075498e-04 9.99967382e-01 8.05641062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59864 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:411.19, Y:-5.17, Z:0.08 [[ 9.94300876e-01 1.06309152e-01 8.00825338e-03 4.11189463e+02] [-1.06304141e-01 9.94333107e-01 -1.05007203e-03 -5.17449810e+00] [-8.07450373e-03 1.92777046e-04 9.99967382e-01 8.09897593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62864 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:411.22, Y:-5.19, Z:0.08 [[ 9.94721680e-01 1.02296868e-01 8.00811902e-03 4.11220393e+02] [-1.02291719e-01 9.94753889e-01 -1.05109570e-03 -5.18667368e+00] [-8.07363133e-03 2.26383426e-04 9.99967382e-01 8.07223414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65864 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:411.25, Y:-5.19, Z:0.08 [[ 9.94866984e-01 1.00873963e-01 8.00798730e-03 4.11251392e+02] [-1.00868759e-01 9.94899184e-01 -1.05209828e-03 -5.19444293e+00] [-8.07326935e-03 2.38942103e-04 9.99967382e-01 7.95591202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68864 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:411.28, Y:-5.21, Z:0.08 [[ 9.94968138e-01 9.98713144e-02 8.00785577e-03 4.11282327e+02] [-9.98660702e-02 9.95000331e-01 -1.05309845e-03 -5.20519447e+00] [-8.07299346e-03 2.48086322e-04 9.99967382e-01 7.92074863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71864 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:411.31, Y:-5.21, Z:0.08 [[ 9.94834865e-01 1.01190251e-01 8.00772328e-03 4.11313623e+02] [-1.01185041e-01 9.94867065e-01 -1.05410488e-03 -5.21283361e+00] [-8.07328529e-03 2.38398474e-04 9.99967382e-01 7.88091205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74864 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:411.35, Y:-5.22, Z:0.08 [[ 9.94599292e-01 1.03480077e-01 8.00759090e-03 4.11345142e+02] [-1.03474934e-01 9.94631502e-01 -1.05510961e-03 -5.22125544e+00] [-8.07378498e-03 2.20826335e-04 9.99967382e-01 7.78503365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77864 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:411.38, Y:-5.23, Z:0.08 [[ 9.94035175e-01 1.08765577e-01 8.00745784e-03 4.11375874e+02] [-1.08760596e-01 9.94067411e-01 -1.05611842e-03 -5.23225034e+00] [-8.07482221e-03 1.78922969e-04 9.99967382e-01 7.99039441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80864 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:411.41, Y:-5.24, Z:0.08 [[ 9.93391779e-01 1.14493037e-01 8.00732294e-03 4.11407418e+02] [-1.14488234e-01 9.93424042e-01 -1.05714026e-03 -5.24156929e+00] [-8.07570231e-03 1.33410182e-04 9.99967382e-01 7.88955484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83864 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:411.44, Y:-5.25, Z:0.08 [[ 9.92993561e-01 1.17896881e-01 8.00713576e-03 4.11439413e+02] [-1.17892177e-01 9.93025838e-01 -1.05855614e-03 -5.24822370e+00] [-8.07609316e-03 1.07160768e-04 9.99967382e-01 7.69032807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:411.47, Y:-5.26, Z:0.09 [[ 9.92463276e-01 1.22280556e-01 8.00699565e-03 4.11470828e+02] [-1.22275986e-01 9.92495572e-01 -1.05961485e-03 -5.25512603e+00] [-8.07647802e-03 7.25655367e-05 9.99967382e-01 8.92308099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89864 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:411.50, Y:-5.26, Z:0.08 [[ 9.92466517e-01 1.22254848e-01 7.99784323e-03 4.11499377e+02] [-1.22249721e-01 9.92498731e-01 -1.12867545e-03 -5.26245833e+00] [-8.07583530e-03 1.42438492e-04 9.99967380e-01 7.70223438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:411.53, Y:-5.27, Z:0.08 [[ 9.92337187e-01 1.23299607e-01 8.00713078e-03 4.11530698e+02] [-1.23295080e-01 9.92369489e-01 -1.05841322e-03 -5.26721473e+00] [-8.07653421e-03 6.30629615e-05 9.99967382e-01 7.65385765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95864 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:411.56, Y:-5.27, Z:0.08 [[ 9.92005700e-01 1.25938792e-01 8.00702493e-03 4.11561992e+02] [-1.25934345e-01 9.92038013e-01 -1.05921340e-03 -5.27329650e+00] [-8.07666915e-03 4.23862855e-05 9.99967382e-01 7.66465730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:411.59, Y:-5.28, Z:0.08 [[ 9.91830230e-01 1.27313332e-01 8.00688305e-03 4.11594334e+02] [-1.27308921e-01 9.91862548e-01 -1.06028479e-03 -5.27812896e+00] [-8.07671581e-03 3.22748680e-05 9.99967382e-01 7.54671742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01864 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:411.63, Y:-5.28, Z:0.08 [[ 9.91297723e-01 1.31395270e-01 8.00666743e-03 4.11626328e+02] [-1.31390979e-01 9.91330058e-01 -1.06191053e-03 -5.28215721e+00] [-8.07678011e-03 6.65622011e-07 9.99967382e-01 7.55140763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:411.66, Y:-5.29, Z:0.09 [[ 9.90709675e-01 1.35758002e-01 8.00652369e-03 4.11659337e+02] [-1.35753845e-01 9.90742027e-01 -1.06299318e-03 -5.28580526e+00] [-8.07670934e-03 -3.37987494e-05 9.99967382e-01 8.61149361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07864 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:411.69, Y:-5.29, Z:0.07 [[ 9.90755410e-01 1.35424411e-01 7.99664428e-03 4.11688647e+02] [-1.35419643e-01 9.90787680e-01 -1.13727610e-03 -5.28937596e+00] [-8.07699158e-03 4.38597380e-05 9.99967380e-01 7.39749765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10864 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:411.72, Y:-5.29, Z:0.07 [[ 9.90727513e-01 1.35627766e-01 8.00654582e-03 4.11721849e+02] [-1.35623607e-01 9.90759864e-01 -1.06267477e-03 -5.29379060e+00] [-8.07669245e-03 -3.30554948e-05 9.99967382e-01 7.37050462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:411.75, Y:-5.30, Z:0.07 [[ 9.90599011e-01 1.36563162e-01 8.00632671e-03 4.11754755e+02] [-1.36559020e-01 9.90631365e-01 -1.06432303e-03 -5.29687159e+00] [-8.07666567e-03 -3.90187901e-05 9.99967382e-01 7.27817559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16864 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:411.79, Y:-5.30, Z:0.07 [[ 9.90453168e-01 1.37616947e-01 8.00610766e-03 4.11786806e+02] [-1.37612826e-01 9.90485524e-01 -1.06596823e-03 -5.29950937e+00] [-8.07662903e-03 -4.59514852e-05 9.99967382e-01 7.26136982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.19864 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:411.82, Y:-5.30, Z:0.08 [[ 9.90163574e-01 1.39685366e-01 8.00596303e-03 4.11819561e+02] [-1.39681304e-01 9.90195938e-01 -1.06705337e-03 -5.30246459e+00] [-8.07652381e-03 -6.17259756e-05 9.99967382e-01 8.36694180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:411.85, Y:-5.31, Z:0.07 [[ 9.90378920e-01 1.38150901e-01 7.99521169e-03 4.11849496e+02] [-1.38146137e-01 9.90411191e-01 -1.14763844e-03 -5.30524347e+00] [-8.07709441e-03 3.20893106e-05 9.99967379e-01 7.25929590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.25864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:411.88, Y:-5.30, Z:0.07 [[ 9.90162616e-01 1.39692152e-01 8.00600332e-03 4.11881864e+02] [-1.39688094e-01 9.90194980e-01 -1.06663851e-03 -5.30492854e+00] [-8.07650533e-03 -6.21977624e-05 9.99967383e-01 7.29010577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28864 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:411.91, Y:-5.31, Z:0.08 [[ 9.90894878e-01 1.34399580e-01 8.00585894e-03 4.11907653e+02] [-1.34395340e-01 9.90927219e-01 -1.06772107e-03 -5.30840635e+00] [-8.07672480e-03 -1.79507992e-05 9.99967383e-01 8.47395654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.31864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:411.94, Y:-5.31, Z:0.07 [[ 9.89608597e-01 1.43562977e-01 8.03098424e-03 4.11944181e+02] [-1.43560568e-01 9.89641143e-01 -8.78583489e-04 -5.30654065e+00] [-8.07392449e-03 -2.83478888e-04 9.99967365e-01 7.30198200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34864 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:411.98, Y:-5.31, Z:0.08 [[ 9.89116888e-01 1.46913917e-01 8.00515521e-03 4.11978009e+02] [-1.46910055e-01 9.89149275e-01 -1.07154477e-03 -5.30814342e+00] [-8.07571831e-03 -1.16154765e-04 9.99967384e-01 8.41718827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.37864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:412.01, Y:-5.31, Z:0.07 [[ 9.89506417e-01 1.44267729e-01 7.99201704e-03 4.12007963e+02] [-1.44262987e-01 9.89538692e-01 -1.16963527e-03 -5.30989362e+00] [-8.07715071e-03 4.40935155e-06 9.99967379e-01 7.23445893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:412.04, Y:-5.31, Z:0.07 [[ 9.89843294e-01 1.41937200e-01 8.00534071e-03 4.12040118e+02] [-1.41933188e-01 9.89875662e-01 -1.06994795e-03 -5.30949342e+00] [-8.07615735e-03 -7.71427282e-05 9.99967384e-01 7.18066778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:412.07, Y:-5.31, Z:0.07 [[ 9.90075852e-01 1.40305822e-01 8.00519592e-03 4.12072119e+02] [-1.40301749e-01 9.90108212e-01 -1.07103018e-03 -5.31153500e+00] [-8.07628199e-03 -6.27418670e-05 9.99967384e-01 7.13557286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46864 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:412.11, Y:-5.31, Z:0.08 [[ 9.90117572e-01 1.40011119e-01 8.00504973e-03 4.12105568e+02] [-1.40007027e-01 9.90149930e-01 -1.07212171e-03 -5.31066645e+00] [-8.07630839e-03 -5.92366738e-05 9.99967384e-01 8.26009240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:412.13, Y:-5.31, Z:0.07 [[ 9.90765885e-01 1.35348081e-01 7.99116903e-03 4.12134134e+02] [-1.35342998e-01 9.90798108e-01 -1.17600005e-03 -5.31216050e+00] [-8.07680451e-03 8.35919531e-05 9.99967379e-01 7.22856752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:412.17, Y:-5.31, Z:0.07 [[ 9.91038760e-01 1.33334473e-01 8.00592233e-03 4.12166615e+02] [-1.33330220e-01 9.91071096e-01 -1.06510659e-03 -5.31146109e+00] [-8.07645365e-03 -1.18694695e-05 9.99967385e-01 7.20607335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55864 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:412.20, Y:-5.31, Z:0.07 [[ 9.91031293e-01 1.33389973e-01 8.00577779e-03 4.12199306e+02] [-1.33385712e-01 9.91063628e-01 -1.06619194e-03 -5.31276325e+00] [-8.07645449e-03 -1.12267965e-05 9.99967385e-01 7.21959026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:412.23, Y:-5.31, Z:0.07 [[ 9.91107171e-01 1.32825021e-01 8.00563339e-03 4.12230897e+02] [-1.32820733e-01 9.91139503e-01 -1.06727508e-03 -5.31358178e+00] [-8.07646033e-03 -5.53010849e-06 9.99967385e-01 7.13350789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61863999999997 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:412.26, Y:-5.31, Z:0.07 [[ 9.91031534e-01 1.33388188e-01 8.00556146e-03 4.12261839e+02] [-1.33383914e-01 9.91063868e-01 -1.06781432e-03 -5.30955424e+00] [-8.07645653e-03 -9.57546223e-06 9.99967385e-01 7.30059088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64864 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:412.29, Y:-5.31, Z:0.07 [[ 9.90987774e-01 1.33712910e-01 8.00556146e-03 4.12292051e+02] [-1.33708647e-01 9.91020110e-01 -1.06781432e-03 -5.31030308e+00] [-8.07645296e-03 -1.22218592e-05 9.99967385e-01 7.25279159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67864 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:412.32, Y:-5.31, Z:0.07 [[ 9.91014186e-01 1.33517015e-01 8.00556146e-03 4.12322631e+02] [-1.33512746e-01 9.91046521e-01 -1.06781432e-03 -5.30921706e+00] [-8.07645522e-03 -1.06253527e-05 9.99967385e-01 7.21331132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70864 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:412.35, Y:-5.31, Z:0.08 [[ 9.90757281e-01 1.35410197e-01 8.00556146e-03 4.12354262e+02] [-1.35405989e-01 9.90789623e-01 -1.06781432e-03 -5.30955843e+00] [-8.07642017e-03 -2.60561599e-05 9.99967385e-01 8.22578192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73864 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:412.38, Y:-5.31, Z:0.07 [[ 9.91431692e-01 1.30381479e-01 7.99181894e-03 4.12382415e+02] [-1.30376276e-01 9.91463895e-01 -1.17081601e-03 -5.31083002e+00] [-8.07625266e-03 1.18840514e-04 9.99967379e-01 7.22767318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76864 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:412.41, Y:-5.31, Z:0.07 [[ 9.91902419e-01 1.26749739e-01 8.00592436e-03 4.12412919e+02] [-1.26745274e-01 9.91934727e-01 -1.06475750e-03 -5.31399558e+00] [-8.07631213e-03 4.14224702e-05 9.99967385e-01 7.17796490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79864 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:412.44, Y:-5.32, Z:0.07 [[ 9.92178771e-01 1.24568016e-01 8.00592436e-03 4.12443126e+02] [-1.24563480e-01 9.92211069e-01 -1.06475750e-03 -5.31935430e+00] [-8.07620150e-03 5.91839965e-05 9.99967385e-01 7.25313879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82864 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:412.47, Y:-5.32, Z:0.07 [[ 9.92572605e-01 1.21389989e-01 8.00592436e-03 4.12472892e+02] [-1.21385349e-01 9.92604888e-01 -1.06475750e-03 -5.32388167e+00] [-8.07597056e-03 8.50472035e-05 9.99967385e-01 7.24891177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85864 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:412.50, Y:-5.33, Z:0.07 [[ 9.92602581e-01 1.21144633e-01 8.00592436e-03 4.12503582e+02] [-1.21139985e-01 9.92634863e-01 -1.06475750e-03 -5.32771033e+00] [-8.07594929e-03 8.70434887e-05 9.99967385e-01 7.25695989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88864 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:412.54, Y:-5.33, Z:0.08 [[ 9.92154028e-01 1.24764941e-01 8.00592436e-03 4.12535929e+02] [-1.24760411e-01 9.92186326e-01 -1.06475750e-03 -5.33219384e+00] [-8.07621309e-03 5.75810337e-05 9.99967385e-01 8.08064913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91864 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:412.56, Y:-5.34, Z:0.07 [[ 9.92382549e-01 1.22934987e-01 7.99159518e-03 4.12563415e+02] [-1.22929529e-01 9.92414710e-01 -1.17254779e-03 -5.33785485e+00] [-8.07512376e-03 1.81212938e-04 9.99967379e-01 7.09128863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94864 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:412.59, Y:-5.34, Z:0.07 [[ 9.92164357e-01 1.24682732e-01 8.00658818e-03 4.12593819e+02] [-1.24678244e-01 9.92196661e-01 -1.05921655e-03 -5.34241494e+00] [-8.07617607e-03 5.26695566e-05 9.99967386e-01 7.04051199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97864 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:412.62, Y:-5.35, Z:0.07 [[ 9.91733427e-01 1.28065233e-01 8.00658818e-03 4.12623527e+02] [-1.28060855e-01 9.91765746e-01 -1.05921655e-03 -5.34690210e+00] [-8.07630871e-03 2.51299302e-05 9.99967386e-01 6.97768207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00864 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:412.65, Y:-5.35, Z:0.07 [[ 9.91684098e-01 1.28446660e-01 8.00658818e-03 4.12654096e+02] [-1.28442295e-01 9.91716419e-01 -1.05921655e-03 -5.35160759e+00] [-8.07631778e-03 2.20236527e-05 9.99967386e-01 6.98370017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03864 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:412.68, Y:-5.36, Z:0.08 [[ 9.91242833e-01 1.31808726e-01 8.00658818e-03 4.12684814e+02] [-1.31804470e-01 9.91275169e-01 -1.05921655e-03 -5.35649399e+00] [-8.07634603e-03 -5.36329236e-06 9.99967386e-01 7.81078887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06864 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:412.71, Y:-5.36, Z:0.08 [[ 9.91282498e-01 1.31510777e-01 7.99532587e-03 4.12714576e+02] [-1.31505824e-01 9.91314737e-01 -1.14439332e-03 -5.36255456e+00] [-8.07638442e-03 8.29851539e-05 9.99967382e-01 7.81354066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09864 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:412.74, Y:-5.37, Z:0.07 [[ 9.91590099e-01 1.29170901e-01 7.99710103e-03 4.12743358e+02] [-1.29165981e-01 9.91622343e-01 -1.13090309e-03 -5.36740397e+00] [-8.07618382e-03 8.84389047e-05 9.99967383e-01 6.99072994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12864 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:412.77, Y:-5.37, Z:0.07 [[ 9.91495371e-01 1.29895379e-01 8.00745669e-03 4.12773935e+02] [-1.29891118e-01 9.91527705e-01 -1.05208601e-03 -5.37168069e+00] [-8.07627627e-03 3.04090737e-06 9.99967386e-01 6.88354272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15864 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:412.81, Y:-5.38, Z:0.08 [[ 9.90999127e-01 1.33628628e-01 8.00745669e-03 4.12805743e+02] [-1.33624489e-01 9.91031477e-01 -1.05208601e-03 -5.37552211e+00] [-8.07623044e-03 -2.73759903e-05 9.99967386e-01 7.71767669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18864 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:412.84, Y:-5.38, Z:0.07 [[ 9.90980327e-01 1.33768628e-01 7.99659030e-03 4.12835254e+02] [-1.33763825e-01 9.91012589e-01 -1.13478130e-03 -5.37933263e+00] [-8.07651979e-03 5.48914396e-05 9.99967383e-01 6.92632637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21864 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:412.87, Y:-5.38, Z:0.08 [[ 9.90534373e-01 1.37031123e-01 8.00791708e-03 4.12866667e+02] [-1.37027127e-01 9.90566741e-01 -1.04825285e-03 -5.38196841e+00] [-8.07601959e-03 -5.89713893e-05 9.99967387e-01 7.57788747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24864 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:412.90, Y:-5.38, Z:0.07 [[ 9.90346691e-01 1.38381490e-01 7.99961721e-03 4.12896479e+02] [-1.38377025e-01 9.90379000e-01 -1.11168889e-03 -5.38417987e+00] [-8.07649006e-03 -6.00581441e-06 9.99967385e-01 6.80041750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27864 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:412.93, Y:-5.39, Z:0.07 [[ 9.90191263e-01 1.39488815e-01 8.00832812e-03 4.12927078e+02] [-1.39484925e-01 9.90223643e-01 -1.04492864e-03 -5.38691714e+00] [-8.07579171e-03 -8.23618434e-05 9.99967387e-01 6.87399905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30864 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:412.96, Y:-5.39, Z:0.07 [[ 9.90042431e-01 1.40541278e-01 8.00832812e-03 4.12956226e+02] [-1.40537422e-01 9.90074816e-01 -1.04492864e-03 -5.38930413e+00] [-8.07569960e-03 -9.09461061e-05 9.99967387e-01 6.92421403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33864 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:412.99, Y:-5.39, Z:0.07 [[ 9.89836282e-01 1.41985917e-01 8.00839756e-03 4.12985750e+02] [-1.41982114e-01 9.89868672e-01 -1.04439622e-03 -5.39057648e+00] [-8.07555141e-03 -1.03267936e-04 9.99967387e-01 6.94812830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:413.02, Y:-5.39, Z:0.07 [[ 9.89634117e-01 1.43388209e-01 8.00846725e-03 4.13015768e+02] [-1.43384455e-01 9.89666514e-01 -1.04386151e-03 -5.39037958e+00] [-8.07538930e-03 -1.15248750e-04 9.99967387e-01 6.86935999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39864 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:413.05, Y:-5.39, Z:0.07 [[ 9.89459080e-01 1.44591120e-01 8.00853692e-03 4.13045821e+02] [-1.44587410e-01 9.89491482e-01 -1.04332679e-03 -5.39125873e+00] [-8.07523485e-03 -1.25604444e-04 9.99967387e-01 6.88493123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:413.08, Y:-5.39, Z:0.07 [[ 9.89383156e-01 1.45109724e-01 8.00860630e-03 4.13075075e+02] [-1.45106035e-01 9.89415560e-01 -1.04279395e-03 -5.39210579e+00] [-8.07515923e-03 -1.30374338e-04 9.99967387e-01 6.85984001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45864 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:413.10, Y:-5.39, Z:0.07 [[ 9.89324736e-01 1.45507462e-01 8.00909116e-03 4.13103922e+02] [-1.45503817e-01 9.89357145e-01 -1.03905659e-03 -5.39169463e+00] [-8.07504205e-03 -1.37388947e-04 9.99967387e-01 6.83310606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:413.13, Y:-5.39, Z:0.07 [[ 9.89427356e-01 1.44807993e-01 8.00957551e-03 4.13132366e+02] [-1.44804356e-01 9.89459765e-01 -1.03530947e-03 -5.39337906e+00] [-8.07507379e-03 -1.35457914e-04 9.99967387e-01 6.80997367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51864 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:413.16, Y:-5.39, Z:0.07 [[ 9.89523939e-01 1.44146502e-01 8.01005587e-03 4.13161729e+02] [-1.44142873e-01 9.89556349e-01 -1.03157958e-03 -5.39126937e+00] [-8.07510023e-03 -1.33819769e-04 9.99967387e-01 6.75853325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:413.19, Y:-5.39, Z:0.07 [[ 9.89784815e-01 1.42344130e-01 8.01053672e-03 4.13189249e+02] [-1.42340472e-01 9.89817222e-01 -1.02783201e-03 -5.39273826e+00] [-8.07527306e-03 -1.22891062e-04 9.99967387e-01 6.75403836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57864 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:413.22, Y:-5.39, Z:0.07 [[ 9.89923812e-01 1.41374217e-01 8.01108288e-03 4.13217884e+02] [-1.41370562e-01 9.89956219e-01 -1.02355736e-03 -5.39465199e+00] [-8.07532594e-03 -1.19287492e-04 9.99967387e-01 6.58726306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60864 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:413.25, Y:-5.39, Z:0.07 [[ 9.90190750e-01 1.39492269e-01 8.01156488e-03 4.13245992e+02] [-1.39488583e-01 9.90223154e-01 -1.01977063e-03 -5.39399444e+00] [-8.07548717e-03 -1.07754387e-04 9.99967387e-01 6.56272660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63864 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:413.28, Y:-5.39, Z:0.07 [[ 9.90187865e-01 1.39512718e-01 8.01210562e-03 4.13275074e+02] [-1.39509067e-01 9.90220273e-01 -1.01550432e-03 -5.39133434e+00] [-8.07542518e-03 -1.12221332e-04 9.99967387e-01 6.54072105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66864 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:413.30, Y:-5.39, Z:0.07 [[ 9.90147150e-01 1.39801361e-01 8.01257895e-03 4.13304167e+02] [-1.39797750e-01 9.90179562e-01 -1.01175579e-03 -5.39293209e+00] [-8.07533675e-03 -1.18353405e-04 9.99967387e-01 6.52622083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.69864 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:413.33, Y:-5.39, Z:0.07 [[ 9.89969495e-01 1.41053855e-01 8.01304715e-03 4.13331782e+02] [-1.41050315e-01 9.90001915e-01 -1.00803397e-03 -5.39399294e+00] [-8.07511911e-03 -1.32319944e-04 9.99967387e-01 6.60440134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72864 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:413.36, Y:-5.39, Z:0.07 [[ 9.89749492e-01 1.42589369e-01 8.01337727e-03 4.13361606e+02] [-1.42585901e-01 9.89781920e-01 -1.00540282e-03 -5.39000403e+00] [-8.07485570e-03 -1.47497692e-04 9.99967387e-01 6.55144387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.75864 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:413.39, Y:-5.39, Z:0.06 [[ 9.89741191e-01 1.42646955e-01 8.01384588e-03 4.13390893e+02] [-1.42643519e-01 9.89773622e-01 -1.00165369e-03 -5.38976008e+00] [-8.07477611e-03 -1.51745260e-04 9.99967387e-01 6.40182554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78864 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:413.42, Y:-5.39, Z:0.06 [[ 9.90073735e-01 1.40320243e-01 8.01430571e-03 4.13418893e+02] [-1.40316761e-01 9.90106161e-01 -9.97960917e-04 -5.38936149e+00] [-8.07504758e-03 -1.36486524e-04 9.99967387e-01 6.29693520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.81864 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:413.45, Y:-5.39, Z:0.06 [[ 9.90390993e-01 1.38063184e-01 8.01483888e-03 4.13447161e+02] [-1.38059662e-01 9.90423416e-01 -9.93660345e-04 -5.39150190e+00] [-8.07527201e-03 -1.22413695e-04 9.99967387e-01 6.36120582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84864 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:413.48, Y:-5.39, Z:0.07 [[ 9.91041802e-01 1.33311315e-01 8.01500150e-03 4.13475882e+02] [-1.33307649e-01 9.91074208e-01 -9.92346910e-04 -5.39085386e+00] [-8.07575234e-03 -8.50037358e-05 9.99967387e-01 6.58266704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.87864 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:413.50, Y:-5.39, Z:0.06 [[ 9.91235827e-01 1.31860863e-01 8.01545800e-03 4.13504186e+02] [-1.31857179e-01 9.91268232e-01 -9.88645836e-04 -5.39299696e+00] [-8.07583257e-03 -7.69145070e-05 9.99967387e-01 6.48675805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90864 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:413.53, Y:-5.40, Z:0.07 [[ 9.91470003e-01 1.30088345e-01 8.01591413e-03 4.13532060e+02] [-1.30084633e-01 9.91502405e-01 -9.84933652e-04 -5.39553056e+00] [-8.07592652e-03 -6.62150750e-05 9.99967387e-01 6.50964376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93864 meters Centerline goodness : 0.990663 Centerline is valid? [True, True] Translation: X:413.56, Y:-5.40, Z:0.07 [[ 9.91726569e-01 1.28117715e-01 8.01643084e-03 4.13561485e+02] [-1.28113973e-01 9.91758967e-01 -9.80709951e-04 -5.39720176e+00] [-8.07601349e-03 -5.44206925e-05 9.99967387e-01 7.37592751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96864 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:413.59, Y:-5.40, Z:0.06 [[ 9.92033149e-01 1.25721829e-01 8.01583458e-03 4.13589986e+02] [-1.25717969e-01 9.92065533e-01 -9.85589019e-04 -5.40060117e+00] [-8.07614326e-03 -2.99974668e-05 9.99967387e-01 6.38884473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99864 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:413.62, Y:-5.40, Z:0.06 [[ 9.92425922e-01 1.22582698e-01 8.01693214e-03 4.13618244e+02] [-1.22578808e-01 9.92458302e-01 -9.76578956e-04 -5.40466396e+00] [-8.07618254e-03 -1.35237184e-05 9.99967387e-01 6.33492976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02864 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:413.65, Y:-5.41, Z:0.06 [[ 9.92490047e-01 1.22062396e-01 8.01737967e-03 4.13646408e+02] [-1.22058520e-01 9.92522429e-01 -9.72890971e-04 -5.40839321e+00] [-8.07618254e-03 -1.30048880e-05 9.99967387e-01 6.31193632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05864 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:413.68, Y:-5.41, Z:0.06 [[ 9.92684376e-01 1.20471751e-01 8.01788750e-03 4.13675037e+02] [-1.20467856e-01 9.92716756e-01 -9.68687651e-04 -5.41301193e+00] [-8.07619076e-03 -4.29662080e-06 9.99967387e-01 6.28680726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08864 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:413.70, Y:-5.42, Z:0.07 [[ 9.92760375e-01 1.19843833e-01 8.01833084e-03 4.13703281e+02] [-1.19839948e-01 9.92792756e-01 -9.65003815e-04 -5.41739525e+00] [-8.07619053e-03 -2.89879900e-06 9.99967387e-01 7.10932134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11863999999997 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:413.73, Y:-5.42, Z:0.06 [[ 9.93163691e-01 1.16454203e-01 8.01883511e-03 4.13731843e+02] [-1.16450241e-01 9.93196062e-01 -9.60797317e-04 -5.42380390e+00] [-8.07616434e-03 2.04337287e-05 9.99967387e-01 6.32825345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14864 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:413.76, Y:-5.43, Z:0.06 [[ 9.93443012e-01 1.14046805e-01 8.01922061e-03 4.13760341e+02] [-1.14042791e-01 9.93475377e-01 -9.57568928e-04 -5.42913119e+00] [-8.07610589e-03 3.67558638e-05 9.99967387e-01 6.30808185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17864 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:413.79, Y:-5.43, Z:0.06 [[ 9.93645741e-01 1.12266768e-01 8.01965541e-03 4.13787675e+02] [-1.12262725e-01 9.93678102e-01 -9.53913491e-04 -5.43366056e+00] [-8.07604875e-03 4.75437074e-05 9.99967387e-01 6.29663223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20864 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:413.82, Y:-5.44, Z:0.07 [[ 9.93521419e-01 1.13361669e-01 8.02015172e-03 4.13817225e+02] [-1.13357696e-01 9.93553789e-01 -9.49722296e-04 -5.43787813e+00] [-8.07611423e-03 3.44235268e-05 9.99967387e-01 7.16130395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23864 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:413.84, Y:-5.44, Z:0.07 [[ 9.93676607e-01 1.11993447e-01 8.01675045e-03 4.13844811e+02] [-1.11989197e-01 9.93708942e-01 -9.78470329e-04 -5.44479802e+00] [-8.07589888e-03 7.44936305e-05 9.99967387e-01 7.10920737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26864 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:413.87, Y:-5.45, Z:0.07 [[ 9.93763233e-01 1.11222020e-01 8.01866100e-03 4.13872657e+02] [-1.11217876e-01 9.93795582e-01 -9.62257867e-04 -5.45113790e+00] [-8.07593414e-03 6.44380473e-05 9.99967387e-01 7.16966092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29864 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:413.90, Y:-5.46, Z:0.06 [[ 9.94340828e-01 1.05934212e-01 8.01620376e-03 4.13900499e+02] [-1.05929727e-01 9.94373132e-01 -9.83210540e-04 -5.45796023e+00] [-8.07525328e-03 1.28492104e-04 9.99967386e-01 6.23068806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32864 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:413.93, Y:-5.46, Z:0.06 [[ 9.94493736e-01 1.04488588e-01 8.02146021e-03 4.13928477e+02] [-1.04484418e-01 9.94526081e-01 -9.38272292e-04 -5.46250295e+00] [-8.07559013e-03 9.49883129e-05 9.99967387e-01 6.23303651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35864 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:413.96, Y:-5.47, Z:0.06 [[ 9.94698079e-01 1.02525021e-01 8.02194408e-03 4.13955988e+02] [-1.02520821e-01 9.94730420e-01 -9.34116951e-04 -5.46776595e+00] [-8.07544216e-03 1.06748042e-04 9.99967387e-01 6.17753212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38864 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:413.98, Y:-5.48, Z:0.06 [[ 9.94836211e-01 1.01175855e-01 8.02242036e-03 4.13984437e+02] [-1.01171645e-01 9.94868551e-01 -9.30008456e-04 -5.47600632e+00] [-8.07534812e-03 1.13564627e-04 9.99967387e-01 6.24027903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41864 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:414.01, Y:-5.48, Z:0.06 [[ 9.94853808e-01 1.01002648e-01 8.02283272e-03 4.14012921e+02] [-1.00998460e-01 9.94886151e-01 -9.26437455e-04 -5.48079385e+00] [-8.07537780e-03 1.11376080e-04 9.99967387e-01 6.38646961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44864 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:414.04, Y:-5.49, Z:0.06 [[ 9.94795949e-01 1.01570900e-01 8.02324650e-03 4.14040327e+02] [-1.01566760e-01 9.94828298e-01 -9.22840057e-04 -5.48617279e+00] [-8.07548635e-03 1.03142396e-04 9.99967387e-01 6.23769098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47864 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:414.07, Y:-5.49, Z:0.06 [[ 9.94755297e-01 1.01968222e-01 8.02372302e-03 4.14068236e+02] [-1.01964129e-01 9.94787652e-01 -9.18678151e-04 -5.49242966e+00] [-8.07557656e-03 9.57280320e-05 9.99967387e-01 6.24323279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50864 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:414.10, Y:-5.50, Z:0.06 [[ 9.94455395e-01 1.04852661e-01 8.02416325e-03 4.14096161e+02] [-1.04848692e-01 9.94487765e-01 -9.14816696e-04 -5.49959444e+00] [-8.07585314e-03 6.84213751e-05 9.99967387e-01 6.23383749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53864 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:414.12, Y:-5.50, Z:0.06 [[ 9.94295094e-01 1.06361988e-01 8.02457567e-03 4.14123857e+02] [-1.06358097e-01 9.94327474e-01 -9.11184625e-04 -5.50256397e+00] [-8.07597146e-03 5.25078004e-05 9.99967387e-01 6.17525738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56864 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:414.15, Y:-5.50, Z:0.07 [[ 9.93335395e-01 1.14979962e-01 8.02504805e-03 4.14154032e+02] [-1.14976386e-01 9.93367811e-01 -9.07005112e-04 -5.50384922e+00] [-8.07611183e-03 -2.17307442e-05 9.99967387e-01 7.05114669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59864 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:414.18, Y:-5.51, Z:0.06 [[ 9.93328019e-01 1.15044115e-01 8.01857516e-03 4.14181761e+02] [-1.15040079e-01 9.93360383e-01 -9.64330620e-04 -5.50654667e+00] [-8.07627546e-03 3.54391059e-05 9.99967386e-01 6.04054509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62864 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:414.21, Y:-5.51, Z:0.06 [[ 9.93212946e-01 1.16032898e-01 8.02559541e-03 4.14210593e+02] [-1.16029399e-01 9.93245370e-01 -9.01857895e-04 -5.50901076e+00] [-8.07603067e-03 -3.54680736e-05 9.99967388e-01 6.06091791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65864 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:414.24, Y:-5.51, Z:0.07 [[ 9.92591788e-01 1.21231700e-01 8.02600960e-03 4.14242623e+02] [-1.21228400e-01 9.92624233e-01 -8.98156649e-04 -5.50840851e+00] [-8.07569668e-03 -8.14773861e-05 9.99967388e-01 6.95203439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68864 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:414.27, Y:-5.51, Z:0.07 [[ 9.92722300e-01 1.20158939e-01 8.01654019e-03 4.14271548e+02] [-1.20154921e-01 9.92754667e-01 -9.82784049e-04 -5.51026309e+00] [-8.07654798e-03 1.24048888e-05 9.99967384e-01 7.10941105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71864 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:414.30, Y:-5.51, Z:0.06 [[ 9.93569554e-01 1.12939101e-01 8.01871780e-03 4.14298152e+02] [-1.12935006e-01 9.93601911e-01 -9.63198746e-04 -5.51282085e+00] [-8.07619613e-03 5.14110091e-05 9.99967386e-01 6.10395492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:414.33, Y:-5.52, Z:0.06 [[ 9.93917438e-01 1.09834828e-01 8.02724850e-03 4.14326327e+02] [-1.09831256e-01 9.93949853e-01 -8.85901437e-04 -5.51576031e+00] [-8.07598529e-03 -1.12989468e-06 9.99967389e-01 6.11108349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77864 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:414.36, Y:-5.52, Z:0.07 [[ 9.94122491e-01 1.07963090e-01 8.02771367e-03 4.14356874e+02] [-1.07959490e-01 9.94154903e-01 -8.81665950e-04 -5.51643210e+00] [-8.07597828e-03 9.81607292e-06 9.99967389e-01 7.21967651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80864 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:414.38, Y:-5.52, Z:0.06 [[ 9.94679807e-01 1.02702143e-01 8.02190455e-03 4.14384790e+02] [-1.02697945e-01 9.94712149e-01 -9.34575456e-04 -5.51878758e+00] [-8.07546881e-03 1.05770226e-04 9.99967387e-01 6.07756308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83864 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:414.42, Y:-5.52, Z:0.07 [[ 9.94503321e-01 1.04396803e-01 8.02823468e-03 4.14415078e+02] [-1.04393128e-01 9.94535724e-01 -8.76601923e-04 -5.52084634e+00] [-8.07588063e-03 3.36909919e-05 9.99967389e-01 7.06725555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:414.44, Y:-5.52, Z:0.06 [[ 9.95139532e-01 9.81475538e-02 8.02301261e-03 4.14443873e+02] [-9.81432899e-02 9.95171865e-01 -9.24398698e-04 -5.52374456e+00] [-8.07500389e-03 1.32500835e-04 9.99967388e-01 6.04207196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89864 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:414.47, Y:-5.53, Z:0.06 [[ 9.95326725e-01 9.62302200e-02 8.02838537e-03 4.14471482e+02] [-9.62262912e-02 9.95359099e-01 -8.75108222e-04 -5.52736006e+00] [-8.07533828e-03 9.84768517e-05 9.99967389e-01 6.04003568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:414.50, Y:-5.53, Z:0.06 [[ 9.95761138e-01 9.16258327e-02 8.02883451e-03 4.14499323e+02] [-9.16217877e-02 9.95793497e-01 -8.70967920e-04 -5.53160142e+00] [-8.07486436e-03 1.31659837e-04 9.99967389e-01 6.03598847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95864 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:414.53, Y:-5.54, Z:0.07 [[ 9.95821850e-01 9.09635842e-02 8.02927721e-03 4.14527938e+02] [-9.09595507e-02 9.95854211e-01 -8.66867459e-04 -5.53623648e+00] [-8.07484289e-03 1.32906110e-04 9.99967389e-01 6.99683600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:414.56, Y:-5.54, Z:0.06 [[ 9.96173664e-01 8.70261006e-02 8.03048040e-03 4.14557207e+02] [-8.70220292e-02 9.96206020e-01 -8.55691389e-04 -5.54172817e+00] [-8.07448040e-03 1.53588527e-04 9.99967389e-01 6.00170669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01864 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:414.59, Y:-5.55, Z:0.06 [[ 9.96478895e-01 8.34585938e-02 8.02965902e-03 4.14585528e+02] [-8.34543451e-02 9.96511228e-01 -8.63330848e-04 -5.54600885e+00] [-8.07369775e-03 1.90181035e-04 9.99967389e-01 6.08507957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04864 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:414.61, Y:-5.55, Z:0.06 [[ 9.96687133e-01 8.09337825e-02 8.03003473e-03 4.14613887e+02] [-8.09294801e-02 9.96719459e-01 -8.59822004e-04 -5.54963792e+00] [-8.07328052e-03 2.07106992e-04 9.99967389e-01 6.10076505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07864 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:414.64, Y:-5.56, Z:0.06 [[ 9.96875340e-01 7.85816139e-02 8.03040626e-03 4.14643334e+02] [-7.85772633e-02 9.96907659e-01 -8.56337920e-04 -5.55771288e+00] [-8.07286592e-03 2.22654807e-04 9.99967389e-01 6.04627444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10864 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:414.67, Y:-5.56, Z:0.06 [[ 9.96961051e-01 7.74866072e-02 8.03045973e-03 4.14672252e+02] [-7.74822251e-02 9.96993366e-01 -8.55836283e-04 -5.56326336e+00] [-8.07263092e-03 2.31017551e-04 9.99967389e-01 6.07947453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13864 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:414.70, Y:-5.57, Z:0.06 [[ 9.96983420e-01 7.71982642e-02 8.03051285e-03 4.14701216e+02] [-7.71938767e-02 9.97015734e-01 -8.55337478e-04 -5.56705496e+00] [-8.07257824e-03 2.32850864e-04 9.99967389e-01 6.28303643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16864 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:414.73, Y:-5.57, Z:0.07 [[ 9.96875137e-01 7.85841620e-02 8.03056566e-03 4.14729885e+02] [-7.85798235e-02 9.96907458e-01 -8.54841387e-04 -5.57035970e+00] [-8.07290780e-03 2.21129694e-04 9.99967389e-01 7.12405913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.19864 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:414.76, Y:-5.58, Z:0.06 [[ 9.96790057e-01 7.96557320e-02 8.03407484e-03 4.14759427e+02] [-7.96516945e-02 9.96822418e-01 -8.21769929e-04 -5.57773687e+00] [-8.07400459e-03 1.79204419e-04 9.99967389e-01 6.13476501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:414.79, Y:-5.58, Z:0.06 [[ 9.96731161e-01 8.03896579e-02 8.03092038e-03 4.14788671e+02] [-8.03854047e-02 9.96763493e-01 -8.51520593e-04 -5.58169378e+00] [-8.07338170e-03 2.03168324e-04 9.99967389e-01 6.06520667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.25864 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:414.82, Y:-5.58, Z:0.07 [[ 9.96440717e-01 8.39130529e-02 8.03097325e-03 4.14818044e+02] [-8.39089180e-02 9.96473065e-01 -8.51021671e-04 -5.58447166e+00] [-8.07406035e-03 1.74122369e-04 9.99967389e-01 6.97684527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:414.85, Y:-5.59, Z:0.06 [[ 9.96440806e-01 8.39120182e-02 8.03075761e-03 4.14846905e+02] [-8.39078669e-02 9.96473152e-01 -8.53058798e-04 -5.58836421e+00] [-8.07401623e-03 1.76178856e-04 9.99967389e-01 6.06010890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.31864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:414.88, Y:-5.59, Z:0.06 [[ 9.96474990e-01 8.35050370e-02 8.03140500e-03 4.14875217e+02] [-8.35009219e-02 9.96507340e-01 -8.46919498e-04 -5.59260623e+00] [-8.07407608e-03 1.73304377e-04 9.99967389e-01 5.98570809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34864 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:414.90, Y:-5.60, Z:0.06 [[ 9.96387103e-01 8.45472135e-02 8.03177604e-03 4.14904584e+02] [-8.45431607e-02 9.96419461e-01 -8.43386010e-04 -5.59720252e+00] [-8.07432389e-03 1.61307211e-04 9.99967389e-01 6.07180473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.37864 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:414.93, Y:-5.60, Z:0.06 [[ 9.96270279e-01 8.59128705e-02 8.03182906e-03 4.14934310e+02] [-8.59088662e-02 9.96302643e-01 -8.42880760e-04 -5.60076360e+00] [-8.07454683e-03 1.49731722e-04 9.99967389e-01 5.96794844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40864 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:414.96, Y:-5.60, Z:0.06 [[ 9.95885625e-01 9.02624564e-02 8.03188227e-03 4.14964049e+02] [-9.02585976e-02 9.95918007e-01 -8.42373445e-04 -5.60401075e+00] [-8.07513087e-03 1.13961175e-04 9.99967389e-01 5.89595997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43864 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:414.99, Y:-5.61, Z:0.06 [[ 9.95737234e-01 9.18849813e-02 8.03193536e-03 4.14992508e+02] [-9.18811792e-02 9.95769622e-01 -8.41866880e-04 -5.60710290e+00] [-8.07531216e-03 1.00294506e-04 9.99967389e-01 5.84067525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:415.02, Y:-5.61, Z:0.06 [[ 9.95581589e-01 9.35563042e-02 8.03231152e-03 4.15021100e+02] [-9.35525856e-02 9.95613987e-01 -8.38262502e-04 -5.60961584e+00] [-8.07550644e-03 8.31152023e-05 9.99967389e-01 5.83522101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:415.05, Y:-5.61, Z:0.06 [[ 9.95187957e-01 9.76545245e-02 8.03268759e-03 4.15050205e+02] [-9.76509685e-02 9.95220373e-01 -8.34643160e-04 -5.61052177e+00] [-8.07580103e-03 4.62270982e-05 9.99967389e-01 5.71320040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:415.08, Y:-5.61, Z:0.06 [[ 9.94700937e-01 1.02496418e-01 8.03306418e-03 4.15078785e+02] [-1.02493049e-01 9.94733373e-01 -8.31002788e-04 -5.61001528e+00] [-8.07593184e-03 3.26600819e-06 9.99967389e-01 5.78470077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:415.11, Y:-5.61, Z:0.06 [[ 9.94537267e-01 1.04072516e-01 8.03341730e-03 4.15106338e+02] [-1.04069227e-01 9.94569712e-01 -8.27575008e-04 -5.61066930e+00] [-8.07592134e-03 -1.29773392e-05 9.99967389e-01 5.64128849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58864 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:415.14, Y:-5.61, Z:0.06 [[ 9.94523752e-01 1.04201555e-01 8.03385549e-03 4.15135308e+02] [-1.04198304e-01 9.94556200e-01 -8.23299099e-04 -5.61199674e+00] [-8.07590983e-03 -1.83236117e-05 9.99967389e-01 5.56137424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61863999999997 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:415.16, Y:-5.61, Z:0.06 [[ 9.94576963e-01 1.03692411e-01 8.03423408e-03 4.15164557e+02] [-1.03689173e-01 9.94609413e-01 -8.19587809e-04 -5.61111792e+00] [-8.07590988e-03 -1.79199339e-05 9.99967389e-01 5.64398374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64864 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:415.19, Y:-5.61, Z:0.06 [[ 9.94720686e-01 1.02304455e-01 8.03460800e-03 4.15192445e+02] [-1.02301202e-01 9.94753134e-01 -8.15905726e-04 -5.61213983e+00] [-8.07592228e-03 -1.03517479e-05 9.99967389e-01 5.59329975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67864 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:415.22, Y:-5.61, Z:0.06 [[ 9.95104414e-01 9.85020002e-02 8.03503889e-03 4.15221028e+02] [-9.84986576e-02 9.95136853e-01 -8.11640027e-04 -5.61148998e+00] [-8.07591147e-03 1.62260297e-05 9.99967389e-01 5.66875719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70864 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:415.25, Y:-5.61, Z:0.06 [[ 9.95368803e-01 9.57934170e-02 8.03541085e-03 4.15248429e+02] [-9.57900160e-02 9.95401236e-01 -8.07940603e-04 -5.61332526e+00] [-8.07585328e-03 3.44867364e-05 9.99967389e-01 5.64016059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73864 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:415.28, Y:-5.61, Z:0.07 [[ 9.95413409e-01 9.53287480e-02 8.03583116e-03 4.15278034e+02] [-9.53253658e-02 9.95445844e-01 -8.03738395e-04 -5.61460401e+00] [-8.07585410e-03 3.40334316e-05 9.99967389e-01 6.66854264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76864 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:415.31, Y:-5.62, Z:0.06 [[ 9.95704921e-01 9.22342141e-02 8.03489168e-03 4.15307977e+02] [-9.22306551e-02 9.95737337e-01 -8.13156109e-04 -5.61578624e+00] [-8.07564246e-03 6.86002160e-05 9.99967389e-01 5.78148375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79864 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:415.34, Y:-5.62, Z:0.06 [[ 9.95823957e-01 9.09398990e-02 8.03622316e-03 4.15336239e+02] [-9.09364058e-02 9.95856380e-01 -7.99777258e-04 -5.61856925e+00] [-8.07565578e-03 6.56521027e-05 9.99967389e-01 5.74872140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82864 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:415.36, Y:-5.62, Z:0.06 [[ 9.96148592e-01 8.73120581e-02 8.03658029e-03 4.15364671e+02] [-8.73084759e-02 9.96181006e-01 -7.96172423e-04 -5.62195009e+00] [-8.07540409e-03 9.14444621e-05 9.99967389e-01 5.83379457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85864 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:415.39, Y:-5.63, Z:0.06 [[ 9.96379334e-01 8.46382295e-02 8.03693624e-03 4.15391996e+02] [-8.46345894e-02 9.96411741e-01 -7.92562976e-04 -5.62550334e+00] [-8.07517876e-03 1.09490572e-04 9.99967389e-01 5.80300151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88864 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:415.42, Y:-5.63, Z:0.06 [[ 9.96610640e-01 8.18696088e-02 8.03733851e-03 4.15419906e+02] [-8.18659118e-02 9.96643041e-01 -7.88462367e-04 -5.62956485e+00] [-8.07490859e-03 1.27805939e-04 9.99967389e-01 5.74639103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91864 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:415.45, Y:-5.63, Z:0.06 [[ 9.96647098e-01 8.14245478e-02 8.03773728e-03 4.15448999e+02] [-8.14208692e-02 9.96679501e-01 -7.84376004e-04 -5.63269319e+00] [-8.07491544e-03 1.27306513e-04 9.99967389e-01 5.72271089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94864 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:415.48, Y:-5.64, Z:0.06 [[ 9.97026924e-01 7.66335578e-02 8.03808594e-03 4.15476832e+02] [-7.66297525e-02 9.97059312e-01 -7.80786613e-04 -5.63969860e+00] [-8.07428289e-03 1.62508739e-04 9.99967389e-01 5.64759255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97864 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:415.51, Y:-5.64, Z:0.06 [[ 9.97142720e-01 7.51117839e-02 8.03843132e-03 4.15505613e+02] [-7.51079579e-02 9.97175105e-01 -7.77214476e-04 -5.64475443e+00] [-8.07410156e-03 1.71243595e-04 9.99967389e-01 5.64296346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00864 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:415.54, Y:-5.65, Z:0.06 [[ 9.97108645e-01 7.55627397e-02 8.03877169e-03 4.15535249e+02] [-7.55589569e-02 9.97141036e-01 -7.73677911e-04 -5.65144104e+00] [-8.07425035e-03 1.64039730e-04 9.99967389e-01 5.67362968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03864 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:415.56, Y:-5.66, Z:0.06 [[ 9.97038302e-01 7.64852981e-02 8.03882026e-03 4.15564559e+02] [-7.64815493e-02 9.97070697e-01 -7.73172969e-04 -5.65572226e+00] [-8.07440848e-03 1.56061637e-04 9.99967389e-01 5.74856073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06864 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:415.59, Y:-5.66, Z:0.06 [[ 9.96923181e-01 7.79714487e-02 8.03886874e-03 4.15593252e+02] [-7.79677523e-02 9.96955582e-01 -7.72668489e-04 -5.65938930e+00] [-8.07464115e-03 1.43518602e-04 9.99967389e-01 5.74069949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09864 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:415.62, Y:-5.66, Z:0.06 [[ 9.96704831e-01 8.07146299e-02 8.03920806e-03 4.15622239e+02] [-8.07110512e-02 9.96737245e-01 -7.69121809e-04 -5.66241140e+00] [-8.07505747e-03 1.17734489e-04 9.99967389e-01 5.83407580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12864 meters Centerline goodness : 0.996434 Centerline is valid? [True, True] Translation: X:415.65, Y:-5.67, Z:0.06 [[ 9.96672580e-01 8.11118619e-02 8.03954771e-03 4.15650816e+02] [-8.11083249e-02 9.96704998e-01 -7.65554897e-04 -5.66550375e+00] [-8.07515297e-03 1.10933325e-04 9.99967389e-01 5.69970022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15864 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:415.68, Y:-5.67, Z:0.06 [[ 9.96615761e-01 8.18070006e-02 8.03988963e-03 4.15679092e+02] [-8.18035153e-02 9.96648185e-01 -7.61947118e-04 -5.66991182e+00] [-8.07527401e-03 1.01677272e-04 9.99967389e-01 5.65705170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18864 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:415.71, Y:-5.67, Z:0.06 [[ 9.96620337e-01 8.17511966e-02 8.04023020e-03 4.15707667e+02] [-8.17477386e-02 9.96652764e-01 -7.58336191e-04 -5.67382761e+00] [-8.07531255e-03 9.85026339e-05 9.99967389e-01 5.66614332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:415.74, Y:-5.68, Z:0.06 [[ 9.96681606e-01 8.10007779e-02 8.04056956e-03 4.15736375e+02] [-8.09973247e-02 9.96714033e-01 -7.54720718e-04 -5.67676148e+00] [-8.07528148e-03 1.00951633e-04 9.99967389e-01 5.67332664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24864 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:415.76, Y:-5.68, Z:0.06 [[ 9.96768731e-01 7.99214703e-02 8.04090896e-03 4.15764765e+02] [-7.99180113e-02 9.96801157e-01 -7.51087261e-04 -5.67886514e+00] [-8.07521536e-03 1.06046842e-04 9.99967389e-01 5.67586014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27864 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:415.79, Y:-5.68, Z:0.06 [[ 9.96832895e-01 7.91171166e-02 8.04124506e-03 4.15794427e+02] [-7.91136606e-02 9.96865322e-01 -7.47471484e-04 -5.68310526e+00] [-8.07517614e-03 1.08931830e-04 9.99967389e-01 5.51320129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30864 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:415.82, Y:-5.69, Z:0.06 [[ 9.96846378e-01 7.89470496e-02 8.04129310e-03 4.15823955e+02] [-7.89435922e-02 9.96878805e-01 -7.46954362e-04 -5.68598949e+00] [-8.07516450e-03 1.09790187e-04 9.99967389e-01 5.61791014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33864 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:415.85, Y:-5.69, Z:0.06 [[ 9.96894896e-01 7.83320104e-02 8.04134037e-03 4.15853908e+02] [-7.83285371e-02 9.96927321e-01 -7.46445130e-04 -5.68870812e+00] [-8.07510246e-03 1.14260912e-04 9.99967389e-01 5.65827766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:415.88, Y:-5.69, Z:0.06 [[ 9.96944162e-01 7.77024643e-02 8.04138818e-03 4.15883336e+02] [-7.76989747e-02 9.96976586e-01 -7.45929753e-04 -5.69215321e+00] [-8.07503631e-03 1.18842696e-04 9.99967389e-01 5.67525707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39864 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:415.91, Y:-5.70, Z:0.06 [[ 9.96943963e-01 7.77050231e-02 8.04143599e-03 4.15912633e+02] [-7.77015378e-02 9.96976387e-01 -7.45413984e-04 -5.69581016e+00] [-8.07504420e-03 1.18304029e-04 9.99967389e-01 5.73577164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:415.94, Y:-5.70, Z:0.06 [[ 9.96940732e-01 7.77464536e-02 8.04148319e-03 4.15941682e+02] [-7.77429737e-02 9.96973157e-01 -7.44904362e-04 -5.69898620e+00] [-8.07505656e-03 1.17456684e-04 9.99967389e-01 5.73841411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45864 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:415.97, Y:-5.70, Z:0.06 [[ 9.96914017e-01 7.80882658e-02 8.04153060e-03 4.15971464e+02] [-7.80848012e-02 9.96946443e-01 -7.44392257e-04 -5.70121364e+00] [-8.07510362e-03 1.14173757e-04 9.99967389e-01 5.73703707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:416.00, Y:-5.70, Z:0.06 [[ 9.96885588e-01 7.84503495e-02 8.04157832e-03 4.16001438e+02] [-7.84469008e-02 9.96918016e-01 -7.43876385e-04 -5.70364923e+00] [-8.07515166e-03 1.10722750e-04 9.99967389e-01 5.59939890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51864 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:416.03, Y:-5.71, Z:0.06 [[ 9.96838432e-01 7.90472820e-02 8.04162565e-03 4.16029782e+02] [-7.90438568e-02 9.96870862e-01 -7.43364367e-04 -5.70726169e+00] [-8.07522323e-03 1.05373064e-04 9.99967389e-01 5.60008968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:416.06, Y:-5.71, Z:0.06 [[ 9.96779168e-01 7.97910870e-02 8.04195640e-03 4.16058157e+02] [-7.97877150e-02 9.96811604e-01 -7.39768832e-04 -5.71042906e+00] [-8.07534241e-03 9.57368356e-05 9.99967389e-01 5.57204312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:416.09, Y:-5.71, Z:0.06 [[ 9.96720752e-01 8.05174784e-02 8.04228754e-03 4.16087249e+02] [-8.05141593e-02 9.96753193e-01 -7.36151118e-04 -5.71262047e+00] [-8.07544882e-03 8.62190759e-05 9.99967389e-01 5.60245837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60864 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:416.12, Y:-5.72, Z:0.06 [[ 9.96745779e-01 8.02070613e-02 8.04235865e-03 4.16116070e+02] [-8.02037383e-02 9.96778220e-01 -7.35373446e-04 -5.71516791e+00] [-8.07543008e-03 8.79531491e-05 9.99967389e-01 5.56863337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63864 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:416.14, Y:-5.72, Z:0.06 [[ 9.96749454e-01 8.01613454e-02 8.04269053e-03 4.16144271e+02] [-8.01580504e-02 9.96781898e-01 -7.31725656e-04 -5.71739166e+00] [-8.07546444e-03 8.46607551e-05 9.99967389e-01 5.59660231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66864 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:416.17, Y:-5.72, Z:0.06 [[ 9.96776684e-01 7.98220008e-02 8.04302075e-03 4.16173422e+02] [-7.98187241e-02 9.96809130e-01 -7.28077716e-04 -5.71964354e+00] [-8.07547314e-03 8.37472367e-05 9.99967389e-01 5.60958442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.69864 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:416.20, Y:-5.73, Z:0.06 [[ 9.97053689e-01 7.62840082e-02 8.04306769e-03 4.16202470e+02] [-7.62806206e-02 9.97086123e-01 -7.27558812e-04 -5.72524111e+00] [-8.07513229e-03 1.11885003e-04 9.99967389e-01 5.63256764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72864 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:416.23, Y:-5.73, Z:0.06 [[ 9.97221619e-01 7.40564065e-02 8.04311433e-03 4.16231866e+02] [-7.40529506e-02 9.97254046e-01 -7.27042841e-04 -5.72966831e+00] [-8.07487049e-03 1.29406491e-04 9.99967389e-01 5.61466737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.75864 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:416.26, Y:-5.73, Z:0.06 [[ 9.97266278e-01 7.34525575e-02 8.04316071e-03 4.16261315e+02] [-7.34490861e-02 9.97298703e-01 -7.26529384e-04 -5.73345143e+00] [-8.07479919e-03 1.33780451e-04 9.99967389e-01 5.59767654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78864 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:416.29, Y:-5.74, Z:0.06 [[ 9.97266294e-01 7.34523358e-02 8.04320683e-03 4.16291170e+02] [-7.34488685e-02 9.97298720e-01 -7.26018415e-04 -5.73702504e+00] [-8.07480763e-03 1.33269253e-04 9.99967389e-01 5.65605140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.81864 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:416.32, Y:-5.74, Z:0.06 [[ 9.97131545e-01 7.52594701e-02 8.04325311e-03 4.16320542e+02] [-7.52560658e-02 9.97163978e-01 -7.25505431e-04 -5.74194904e+00] [-8.07504341e-03 1.18120766e-04 9.99967389e-01 5.77760003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84864 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:416.35, Y:-5.75, Z:0.06 [[ 9.96896996e-01 7.83050733e-02 8.04329942e-03 4.16349453e+02] [-7.83017722e-02 9.96929439e-01 -7.24991578e-04 -5.74649915e+00] [-8.07537250e-03 9.29373268e-05 9.99967389e-01 5.92141642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:416.38, Y:-5.75, Z:0.06 [[ 9.96800343e-01 7.95259726e-02 8.04334608e-03 4.16378794e+02] [-7.95227154e-02 9.96832791e-01 -7.24473539e-04 -5.74973946e+00] [-8.07548559e-03 8.25267511e-05 9.99967389e-01 6.00883238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90864 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:416.41, Y:-5.75, Z:0.06 [[ 9.96643698e-01 8.14655890e-02 8.04339290e-03 4.16408746e+02] [-8.14623992e-02 9.96676153e-01 -7.23953333e-04 -5.75236521e+00] [-8.07563518e-03 6.62894436e-05 9.99967389e-01 5.99555331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93864 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:416.44, Y:-5.75, Z:0.06 [[ 9.96592129e-01 8.20940442e-02 8.04343989e-03 4.16438436e+02] [-8.20908790e-02 9.96624585e-01 -7.23430941e-04 -5.75482596e+00] [-8.07567932e-03 6.06725301e-05 9.99967389e-01 6.05344298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:416.47, Y:-5.76, Z:0.06 [[ 9.96607730e-01 8.19044199e-02 8.04348758e-03 4.16467936e+02] [-8.19012528e-02 9.96640187e-01 -7.22900239e-04 -5.75786113e+00] [-8.07567169e-03 6.16762565e-05 9.99967389e-01 5.99719429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:416.50, Y:-5.76, Z:0.06 [[ 9.96742591e-01 8.02465481e-02 8.04353457e-03 4.16497455e+02] [-8.02433313e-02 9.96775043e-01 -7.22377040e-04 -5.75945496e+00] [-8.07556278e-03 7.45839532e-05 9.99967389e-01 6.03116067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:416.53, Y:-5.76, Z:0.06 [[ 9.96813904e-01 7.93557907e-02 8.04358145e-03 4.16526654e+02] [-7.93525491e-02 9.96846353e-01 -7.21854638e-04 -5.76068625e+00] [-8.07549818e-03 8.12760476e-05 9.99967389e-01 6.14066543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:416.56, Y:-5.76, Z:0.06 [[ 9.96834158e-01 7.91009638e-02 8.04362865e-03 4.16556523e+02] [-7.90977182e-02 9.96866606e-01 -7.21328316e-04 -5.76172301e+00] [-8.07548256e-03 8.28120323e-05 9.99967389e-01 6.13326566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08864 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:416.59, Y:-5.76, Z:0.06 [[ 9.96893992e-01 7.83432654e-02 8.04367527e-03 4.16586599e+02] [-7.83399992e-02 9.96926439e-01 -7.20808092e-04 -5.76147564e+00] [-8.07542301e-03 8.84277415e-05 9.99967389e-01 5.85644086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11863999999997 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:416.62, Y:-5.76, Z:0.06 [[ 9.96889699e-01 7.83978716e-02 8.04372171e-03 4.16615732e+02] [-7.83946114e-02 9.96922146e-01 -7.20289540e-04 -5.76317748e+00] [-8.07543348e-03 8.74647856e-05 9.99967389e-01 5.99342959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:416.65, Y:-5.76, Z:0.06 [[ 9.96878162e-01 7.85444085e-02 8.04404318e-03 4.16645650e+02] [-7.85411823e-02 9.96910612e-01 -7.16681358e-04 -5.76323878e+00] [-8.07548332e-03 8.26553336e-05 9.99967389e-01 5.91880627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17864 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:416.67, Y:-5.77, Z:0.06 [[ 9.96903174e-01 7.82263034e-02 8.04408941e-03 4.16674954e+02] [-7.82230710e-02 9.96935624e-01 -7.16161994e-04 -5.76510337e+00] [-8.07546201e-03 8.47107875e-05 9.99967389e-01 5.92548029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:416.70, Y:-5.77, Z:0.06 [[ 9.96964407e-01 7.74419975e-02 8.04413525e-03 4.16704869e+02] [-7.74387437e-02 9.96996855e-01 -7.15646831e-04 -5.76763394e+00] [-8.07539866e-03 9.05466906e-05 9.99967389e-01 5.88501547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23864 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:416.73, Y:-5.77, Z:0.06 [[ 9.97164053e-01 7.48274220e-02 8.04418127e-03 4.16734403e+02] [-7.48240873e-02 9.97196492e-01 -7.15129131e-04 -5.77019449e+00] [-8.07514062e-03 1.11202541e-04 9.99967389e-01 5.82315144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:416.76, Y:-5.77, Z:0.06 [[ 9.97278450e-01 7.32869933e-02 8.04422674e-03 4.16763591e+02] [-7.32836126e-02 9.97310885e-01 -7.14617239e-04 -5.77309639e+00] [-8.07496704e-03 1.23162376e-04 9.99967389e-01 5.87826338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:416.79, Y:-5.78, Z:0.06 [[ 9.97425566e-01 7.12567927e-02 8.04427225e-03 4.16792999e+02] [-7.12533501e-02 9.97457994e-01 -7.14104575e-04 -5.77596155e+00] [-8.07470847e-03 1.39084812e-04 9.99967389e-01 5.79790312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32864 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:416.82, Y:-5.78, Z:0.06 [[ 9.97531495e-01 6.97581861e-02 8.04431780e-03 4.16822983e+02] [-6.97546989e-02 9.97563919e-01 -7.13591137e-04 -5.77893727e+00] [-8.07450001e-03 1.50700668e-04 9.99967389e-01 5.82308000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35864 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:416.85, Y:-5.78, Z:0.06 [[ 9.97693521e-01 6.74012373e-02 8.04436296e-03 4.16853562e+02] [-6.73976777e-02 9.97725937e-01 -7.13081713e-04 -5.78496445e+00] [-8.07413216e-03 1.69265623e-04 9.99967389e-01 5.87921248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:416.88, Y:-5.79, Z:0.06 [[ 9.97751424e-01 6.65385980e-02 8.04436296e-03 4.16882877e+02] [-6.65350104e-02 9.97783836e-01 -7.13081713e-04 -5.78989836e+00] [-8.07398279e-03 1.76246521e-04 9.99967389e-01 6.02193306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:416.91, Y:-5.79, Z:0.06 [[ 9.97794145e-01 6.58948514e-02 8.04440797e-03 4.16912077e+02] [-6.58912469e-02 9.97826556e-01 -7.12573606e-04 -5.79414406e+00] [-8.07387883e-03 1.80945701e-04 9.99967389e-01 5.92721841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:416.94, Y:-5.80, Z:0.06 [[ 9.97751370e-01 6.65393843e-02 8.04445276e-03 4.16941638e+02] [-6.65358048e-02 9.97783784e-01 -7.12067563e-04 -5.79915589e+00] [-8.07400505e-03 1.75222248e-04 9.99967389e-01 5.83339142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:416.97, Y:-5.80, Z:0.06 [[ 9.97737616e-01 6.67453011e-02 8.04455513e-03 4.16971763e+02] [-6.67417377e-02 9.97770031e-01 -7.10909097e-04 -5.80276594e+00] [-8.07406587e-03 1.72393159e-04 9.99967389e-01 5.74204130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:417.00, Y:-5.81, Z:0.06 [[ 9.97576615e-01 6.91099336e-02 8.04455513e-03 4.17002031e+02] [-6.91064470e-02 9.97609038e-01 -7.10909097e-04 -5.80602511e+00] [-8.07445179e-03 1.53255668e-04 9.99967389e-01 5.80882127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53864 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:417.03, Y:-5.81, Z:0.06 [[ 9.97448279e-01 7.09381064e-02 8.04455513e-03 4.17031486e+02] [-7.09346793e-02 9.97480710e-01 -7.10909097e-04 -5.80916132e+00] [-8.07471911e-03 1.38457118e-04 9.99967389e-01 5.79089270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:417.06, Y:-5.81, Z:0.06 [[ 9.97163500e-01 7.48347423e-02 8.04460030e-03 4.17061547e+02] [-7.48314460e-02 9.97195944e-01 -7.10397658e-04 -5.81298303e+00] [-8.07520521e-03 1.06393542e-04 9.99967389e-01 5.67427074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:417.09, Y:-5.82, Z:0.06 [[ 9.97020970e-01 7.67102942e-02 8.04460030e-03 4.17090858e+02] [-7.67070590e-02 9.97053420e-01 -7.10397658e-04 -5.81638442e+00] [-8.07539105e-03 9.12037323e-05 9.99967389e-01 5.56618507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62864 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:417.12, Y:-5.82, Z:0.05 [[ 9.96826108e-01 7.92022390e-02 8.04464606e-03 4.17120185e+02] [-7.91990890e-02 9.96858566e-01 -7.09879047e-04 -5.81980863e+00] [-8.07559835e-03 7.04973273e-05 9.99967389e-01 5.44353866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:417.15, Y:-5.82, Z:0.05 [[ 9.96812580e-01 7.93723026e-02 8.04469202e-03 4.17149324e+02] [-7.93691624e-02 9.96845040e-01 -7.09357866e-04 -5.82291951e+00] [-8.07561470e-03 6.85963775e-05 9.99967389e-01 5.45199098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:417.18, Y:-5.83, Z:0.05 [[ 9.96802790e-01 7.94951560e-02 8.04473775e-03 4.17178366e+02] [-7.94920240e-02 9.96835250e-01 -7.08838855e-04 -5.82610297e+00] [-8.07562742e-03 6.70800617e-05 9.99967389e-01 5.42006021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:417.21, Y:-5.83, Z:0.05 [[ 9.96722511e-01 8.04954556e-02 8.04478371e-03 4.17207811e+02] [-8.04923604e-02 9.96754974e-01 -7.08316871e-04 -5.82989325e+00] [-8.07569446e-03 5.84517403e-05 9.99967389e-01 5.35909774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:417.24, Y:-5.83, Z:0.05 [[ 9.96645847e-01 8.14391572e-02 8.04482971e-03 4.17237020e+02] [-8.14360969e-02 9.96678314e-01 -7.07793988e-04 -5.83272888e+00] [-8.07574946e-03 5.02804068e-05 9.99967389e-01 5.33692999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:417.27, Y:-5.84, Z:0.05 [[ 9.96451629e-01 8.37820399e-02 8.04487568e-03 4.17266597e+02] [-8.37790602e-02 9.96484104e-01 -7.07271102e-04 -5.83564014e+00] [-8.07584735e-03 3.07693182e-05 9.99967389e-01 5.17079631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:417.30, Y:-5.84, Z:0.05 [[ 9.96371134e-01 8.47339472e-02 8.04492196e-03 4.17295970e+02] [-8.47310027e-02 9.96403612e-01 -7.06744289e-04 -5.83785347e+00] [-8.07587453e-03 2.25253047e-05 9.99967389e-01 5.16190132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:417.33, Y:-5.84, Z:0.05 [[ 9.96376675e-01 8.46687611e-02 8.04496806e-03 4.17326006e+02] [-8.46658188e-02 9.96409153e-01 -7.06219192e-04 -5.84050776e+00] [-8.07587451e-03 2.25265235e-05 9.99967389e-01 5.13754486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.36, Y:-5.84, Z:0.05 [[ 9.96320387e-01 8.53285646e-02 8.04501422e-03 4.17355927e+02] [-8.53256480e-02 9.96352867e-01 -7.05692878e-04 -5.84333991e+00] [-8.07588875e-03 1.66501495e-05 9.99967389e-01 5.18034286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.39, Y:-5.85, Z:0.05 [[ 9.96270702e-01 8.59067205e-02 8.04506033e-03 4.17385177e+02] [-8.59038270e-02 9.96303184e-01 -7.05166868e-04 -5.84672415e+00] [-8.07589780e-03 1.14356205e-05 9.99967389e-01 5.08771010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:417.41, Y:-5.85, Z:0.05 [[ 9.96206395e-01 8.66492612e-02 8.04510654e-03 4.17414934e+02] [-8.66463962e-02 9.96238880e-01 -7.04639229e-04 -5.84933778e+00] [-8.07590440e-03 4.88661726e-06 9.99967389e-01 5.00130340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.44, Y:-5.85, Z:0.05 [[ 9.96151801e-01 8.72746543e-02 8.04515296e-03 4.17444153e+02] [-8.72718140e-02 9.96184288e-01 -7.04108831e-04 -5.85106264e+00] [-8.07590583e-03 -7.15813541e-07 9.99967389e-01 5.01470349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.47, Y:-5.85, Z:0.05 [[ 9.96120586e-01 8.76302038e-02 8.04519907e-03 4.17473775e+02] [-8.76273794e-02 9.96153074e-01 -7.03581593e-04 -5.85441607e+00] [-8.07590479e-03 -4.12760247e-06 9.99967389e-01 5.00391558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:417.50, Y:-5.86, Z:0.05 [[ 9.96172649e-01 8.70363533e-02 8.04524574e-03 4.17503421e+02] [-8.70335138e-02 9.96205136e-01 -7.03047569e-04 -5.85920727e+00] [-8.07590582e-03 1.50753114e-07 9.99967389e-01 4.91894250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.53, Y:-5.86, Z:0.05 [[ 9.96162204e-01 8.71558220e-02 8.04529197e-03 4.17533242e+02] [-8.71529907e-02 9.96194691e-01 -7.02518083e-04 -5.86234650e+00] [-8.07590569e-03 -1.34929526e-06 9.99967389e-01 4.89761934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.56, Y:-5.86, Z:0.05 [[ 9.96156978e-01 8.72155219e-02 8.04531519e-03 4.17562576e+02] [-8.72126946e-02 9.96189466e-01 -7.02252165e-04 -5.86499146e+00] [-8.07590553e-03 -2.10022197e-06 9.99967389e-01 4.79576892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.59, Y:-5.87, Z:0.05 [[ 9.95890798e-01 9.02041661e-02 8.04536199e-03 4.17592152e+02] [-9.02014407e-02 9.95923294e-01 -7.01715512e-04 -5.86816667e+00] [-8.07586108e-03 -2.68712215e-05 9.99967389e-01 4.62503413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:417.62, Y:-5.87, Z:0.05 [[ 9.95782217e-01 9.13950140e-02 8.04540833e-03 4.17621660e+02] [-9.13923317e-02 9.95814717e-01 -7.01183858e-04 -5.87086162e+00] [-8.07582072e-03 -3.70622102e-05 9.99967389e-01 4.67567079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.65, Y:-5.87, Z:0.05 [[ 9.95362942e-01 9.58534555e-02 8.04545486e-03 4.17651852e+02] [-9.58509232e-02 9.95395454e-01 -7.00649503e-04 -5.87117102e+00] [-8.07556887e-03 -7.37637257e-05 9.99967389e-01 4.61345595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.68, Y:-5.87, Z:0.05 [[ 9.95276120e-01 9.67507855e-02 8.04550094e-03 4.17680831e+02] [-9.67482867e-02 9.95308635e-01 -7.00120003e-04 -5.87269290e+00] [-8.07549372e-03 -8.15757112e-05 9.99967389e-01 4.61182271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:417.71, Y:-5.87, Z:0.04 [[ 9.95251694e-01 9.70017024e-02 8.04582344e-03 4.17709843e+02] [-9.69992420e-02 9.95284212e-01 -6.96393968e-04 -5.87444676e+00] [-8.07543244e-03 -8.73514986e-05 9.99967389e-01 4.47882949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:417.74, Y:-5.88, Z:0.04 [[ 9.95317191e-01 9.63272983e-02 8.04614611e-03 4.17738833e+02] [-9.63248461e-02 9.95349710e-01 -6.92645707e-04 -5.87577556e+00] [-8.07544988e-03 -8.56416056e-05 9.99967389e-01 4.49368337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:417.77, Y:-5.88, Z:0.04 [[ 9.95452508e-01 9.49186958e-02 8.04646689e-03 4.17767345e+02] [-9.49162279e-02 9.95485025e-01 -6.88898871e-04 -5.87712036e+00] [-8.07552668e-03 -7.79741762e-05 9.99967389e-01 4.41449752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.80, Y:-5.88, Z:0.04 [[ 9.95815454e-01 9.10320295e-02 8.04678567e-03 4.17796237e+02] [-9.10294649e-02 9.95847964e-01 -6.85155032e-04 -5.87588384e+00] [-8.07574618e-03 -5.02066240e-05 9.99967389e-01 4.36889375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.82, Y:-5.88, Z:0.04 [[ 9.95989693e-01 8.91054184e-02 8.04710137e-03 4.17824658e+02] [-8.91028211e-02 9.96022200e-01 -6.81426848e-04 -5.87717008e+00] [-8.07581043e-03 -3.83253166e-05 9.99967389e-01 4.34217301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.85, Y:-5.88, Z:0.04 [[ 9.96111110e-01 8.77376527e-02 8.04741627e-03 4.17853517e+02] [-8.77350409e-02 9.96143616e-01 -6.77687501e-04 -5.87866208e+00] [-8.07584105e-03 -3.09883469e-05 9.99967389e-01 4.31168456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.88, Y:-5.88, Z:0.04 [[ 9.96249544e-01 8.61514979e-02 8.04772851e-03 4.17882264e+02] [-8.61488645e-02 9.96282048e-01 -6.73959025e-04 -5.87853765e+00] [-8.07587002e-03 -2.18713012e-05 9.99967389e-01 4.26785861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:417.91, Y:-5.88, Z:0.04 [[ 9.96381267e-01 8.46144126e-02 8.04804178e-03 4.17911074e+02] [-8.46117594e-02 9.96413770e-01 -6.70197079e-04 -5.88032057e+00] [-8.07588799e-03 -1.31871604e-05 9.99967389e-01 4.23831762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.94, Y:-5.88, Z:0.04 [[ 9.96651886e-01 8.13648683e-02 8.04835264e-03 4.17940294e+02] [-8.13621395e-02 9.96684382e-01 -6.66442980e-04 -5.88274749e+00] [-8.07589243e-03 9.38046258e-06 9.99967389e-01 4.18215629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:417.97, Y:-5.89, Z:0.04 [[ 9.96893600e-01 7.83477773e-02 8.04839628e-03 4.17969628e+02] [-7.83449544e-02 9.96926088e-01 -6.65915532e-04 -5.88652312e+00] [-8.07582922e-03 3.32956929e-05 9.99967389e-01 4.18357528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:418.00, Y:-5.89, Z:0.04 [[ 9.97361981e-01 7.21408397e-02 8.04843971e-03 4.17998651e+02] [-7.21378188e-02 9.97394452e-01 -6.65390209e-04 -5.89215736e+00] [-8.07547092e-03 8.30380113e-05 9.99967389e-01 4.17227112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:418.03, Y:-5.90, Z:0.04 [[ 9.97538605e-01 6.96559713e-02 8.04848275e-03 4.18027783e+02] [-6.96528737e-02 9.97571068e-01 -6.64869276e-04 -5.89631333e+00] [-8.07524564e-03 1.02632818e-04 9.99967389e-01 4.12125098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58864 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:418.06, Y:-5.90, Z:0.05 [[ 9.97622277e-01 6.84471618e-02 8.04852529e-03 4.18056876e+02] [-6.84440291e-02 9.97654737e-01 -6.64353831e-04 -5.90090524e+00] [-8.07512251e-03 1.11900683e-04 9.99967389e-01 5.40578822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61863999999997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:418.09, Y:-5.91, Z:0.04 [[ 9.97736601e-01 6.67599479e-02 8.04884663e-03 4.18086858e+02] [-6.67567918e-02 9.97769059e-01 -6.60443488e-04 -5.90696979e+00] [-8.07498130e-03 1.21633463e-04 9.99967389e-01 4.10937032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:418.12, Y:-5.91, Z:0.04 [[ 9.97770773e-01 6.62472796e-02 8.04874768e-03 4.18116816e+02] [-6.62440972e-02 9.97803228e-01 -6.61647190e-04 -5.91190605e+00] [-8.07489875e-03 1.26990205e-04 9.99967389e-01 4.08490492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:418.15, Y:-5.92, Z:0.04 [[ 9.97802509e-01 6.57675433e-02 8.04874768e-03 4.18147223e+02] [-6.57643453e-02 9.97834963e-01 -6.61647190e-04 -5.91913056e+00] [-8.07483676e-03 1.30872606e-04 9.99967389e-01 4.05285919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:418.18, Y:-5.92, Z:0.04 [[ 9.97808585e-01 6.56753015e-02 8.04874768e-03 4.18178691e+02] [-6.56721005e-02 9.97841038e-01 -6.61647190e-04 -5.92408003e+00] [-8.07482462e-03 1.31619081e-04 9.99967389e-01 3.96735919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:418.21, Y:-5.93, Z:0.04 [[ 9.97840360e-01 6.51907580e-02 8.04870537e-03 4.18209290e+02] [-6.51875370e-02 9.97872811e-01 -6.62161542e-04 -5.92887496e+00] [-8.07475106e-03 1.36056232e-04 9.99967389e-01 3.97319095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.24, Y:-5.93, Z:0.04 [[ 9.97785512e-01 6.60249256e-02 8.04866319e-03 4.18240446e+02] [-6.60217276e-02 9.97817966e-01 -6.62673775e-04 -5.93379884e+00] [-8.07485372e-03 1.29819643e-04 9.99967389e-01 3.97757806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:418.27, Y:-5.94, Z:0.04 [[ 9.97751671e-01 6.65343784e-02 8.04862092e-03 4.18271804e+02] [-6.65311929e-02 9.97784125e-01 -6.63186775e-04 -5.93681485e+00] [-8.07491091e-03 1.26211362e-04 9.99967389e-01 3.94321216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:418.30, Y:-5.94, Z:0.04 [[ 9.97699255e-01 6.73158002e-02 8.04857865e-03 4.18302609e+02] [-6.73126360e-02 9.97731712e-01 -6.63699388e-04 -5.94166058e+00] [-8.07499961e-03 1.20401340e-04 9.99967389e-01 3.74935776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:418.33, Y:-5.95, Z:0.05 [[ 9.97739601e-01 6.67151381e-02 8.04853645e-03 4.18332623e+02] [-6.67119501e-02 9.97772055e-01 -6.64210754e-04 -5.94560234e+00] [-8.07491767e-03 1.25775810e-04 9.99967389e-01 4.85630293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.36, Y:-5.95, Z:0.04 [[ 9.97559823e-01 6.93508594e-02 8.05347451e-03 4.18364033e+02] [-6.93482405e-02 9.97592330e-01 -6.04319433e-04 -5.94978617e+00] [-8.07599447e-03 4.43504999e-05 9.99967388e-01 3.79670036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:418.39, Y:-5.95, Z:0.05 [[ 9.97551593e-01 6.94697137e-02 8.04854775e-03 4.18393495e+02] [-6.94666168e-02 9.97584056e-01 -6.64035179e-04 -5.95302174e+00] [-8.07523324e-03 1.03303967e-04 9.99967389e-01 4.74268878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:418.42, Y:-5.96, Z:0.05 [[ 9.97411951e-01 7.14462939e-02 8.05153236e-03 4.18424427e+02] [-7.14435538e-02 9.97444447e-01 -6.27792138e-04 -5.95686942e+00] [-8.07580966e-03 5.09372955e-05 9.99967389e-01 4.71836546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:418.46, Y:-5.96, Z:0.05 [[ 9.97359181e-01 7.21792461e-02 8.05108370e-03 4.18455244e+02] [-7.21764860e-02 9.97391675e-01 -6.33232583e-04 -5.95926202e+00] [-8.07579011e-03 5.04614007e-05 9.99967389e-01 4.59162199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:418.49, Y:-5.96, Z:0.04 [[ 9.97276163e-01 7.33173938e-02 8.05073815e-03 4.18486106e+02] [-7.33146370e-02 9.97308657e-01 -6.37418285e-04 -5.96141556e+00] [-8.07580471e-03 4.54451166e-05 9.99967389e-01 4.43524903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:418.52, Y:-5.96, Z:0.04 [[ 9.97204541e-01 7.42851229e-02 8.05130177e-03 4.18517218e+02] [-7.42824528e-02 9.97237043e-01 -6.30584663e-04 -5.96467445e+00] [-8.07589943e-03 3.07514459e-05 9.99967389e-01 4.33562037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:418.55, Y:-5.97, Z:0.03 [[ 9.97238157e-01 7.38327276e-02 8.04897425e-03 4.18548890e+02] [-7.38298153e-02 9.97270637e-01 -6.58763432e-04 -5.96874061e+00] [-8.07564398e-03 6.26897486e-05 9.99967389e-01 3.31776544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:418.58, Y:-5.98, Z:0.03 [[ 9.97351706e-01 7.22827569e-02 8.04844718e-03 4.18579324e+02] [-7.22797426e-02 9.97384177e-01 -6.65141214e-04 -5.97511506e+00] [-8.07547210e-03 8.16400340e-05 9.99967390e-01 3.38360910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:418.61, Y:-5.98, Z:0.03 [[ 9.97411452e-01 7.14536120e-02 8.04842565e-03 4.18610814e+02] [-7.14505686e-02 9.97443920e-01 -6.65401636e-04 -5.97876255e+00] [-8.07539858e-03 8.86146230e-05 9.99967390e-01 3.40511572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.64, Y:-5.98, Z:0.03 [[ 9.97401455e-01 7.15930273e-02 8.04838243e-03 4.18641586e+02] [-7.15899842e-02 9.97433923e-01 -6.65923915e-04 -5.98238994e+00] [-8.07540517e-03 8.80099096e-05 9.99967390e-01 3.36287049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:418.67, Y:-5.99, Z:0.04 [[ 9.97302033e-01 7.29649192e-02 8.04833925e-03 4.18673117e+02] [-7.29619166e-02 9.97334505e-01 -6.66445393e-04 -5.98550896e+00] [-8.07551358e-03 7.74250877e-05 9.99967390e-01 4.24217545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.70, Y:-5.99, Z:0.03 [[ 9.97263479e-01 7.34899816e-02 8.04833812e-03 4.18704218e+02] [-7.34869960e-02 9.97295953e-01 -6.66459072e-04 -5.98839281e+00] [-8.07555310e-03 7.31871013e-05 9.99967390e-01 3.23877431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:418.74, Y:-5.99, Z:0.04 [[ 9.97119430e-01 7.54192795e-02 8.04822884e-03 4.18735333e+02] [-7.54163462e-02 9.97151909e-01 -6.67776174e-04 -5.99190414e+00] [-8.07566994e-03 5.88845864e-05 9.99967390e-01 4.29477209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.77, Y:-5.99, Z:0.03 [[ 9.96765180e-01 7.99648734e-02 8.04951107e-03 4.18767391e+02] [-7.99622131e-02 9.96797682e-01 -6.52309347e-04 -5.99199074e+00] [-8.07589581e-03 6.54252423e-06 9.99967389e-01 3.38795742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:418.80, Y:-5.99, Z:0.03 [[ 9.96540447e-01 8.27185747e-02 8.04832906e-03 4.18798657e+02] [-8.27158889e-02 9.96572946e-01 -6.66581041e-04 -5.99260989e+00] [-8.07588564e-03 -1.44972305e-06 9.99967390e-01 3.31499595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:418.83, Y:-5.99, Z:0.04 [[ 9.96152504e-01 8.72663353e-02 8.04828447e-03 4.18830063e+02] [-8.72637935e-02 9.96185016e-01 -6.67118901e-04 -5.99294320e+00] [-8.07579742e-03 -3.77716701e-05 9.99967390e-01 4.14381366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:418.86, Y:-5.99, Z:0.04 [[ 9.95889446e-01 9.02190919e-02 8.04525846e-03 4.18860895e+02] [-9.02163521e-02 9.95921942e-01 -7.03564325e-04 -5.99034720e+00] [-8.07592437e-03 -2.51415835e-05 9.99967389e-01 4.12365082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:418.89, Y:-5.99, Z:0.04 [[ 9.95793859e-01 9.12680301e-02 8.04591484e-03 4.18891765e+02] [-9.12653885e-02 9.95826363e-01 -6.95627725e-04 -5.98985774e+00] [-8.07582268e-03 -4.16117273e-05 9.99967389e-01 4.10158094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:418.92, Y:-5.99, Z:0.03 [[ 9.95870241e-01 9.04308392e-02 8.04526577e-03 4.18921662e+02] [-9.04281067e-02 9.95902738e-01 -7.03502965e-04 -5.98718457e+00] [-8.07592057e-03 -2.69204844e-05 9.99967389e-01 3.02994492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:418.95, Y:-5.99, Z:0.04 [[ 9.95841263e-01 9.07490835e-02 8.04874432e-03 4.18951689e+02] [-9.07467036e-02 9.95873787e-01 -6.61156082e-04 -5.98748091e+00] [-8.07553279e-03 -7.19905065e-05 9.99967390e-01 4.02255778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:418.98, Y:-5.99, Z:0.04 [[ 9.95945461e-01 8.95984677e-02 8.04695499e-03 4.18980927e+02] [-8.95958732e-02 9.95977968e-01 -6.83059570e-04 -5.98739659e+00] [-8.07579098e-03 -4.06838815e-05 9.99967389e-01 4.06667926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51864 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:419.01, Y:-5.98, Z:0.04 [[ 9.96024565e-01 8.87147639e-02 8.04717347e-03 4.19011132e+02] [-8.87121622e-02 9.96057071e-01 -6.80378145e-04 -5.98350817e+00] [-8.07580362e-03 -3.62088128e-05 9.99967390e-01 3.86617054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:419.04, Y:-5.98, Z:0.03 [[ 9.96302833e-01 8.55333151e-02 8.04462799e-03 4.19040248e+02] [-8.55303556e-02 9.96335311e-01 -7.11842540e-04 -5.98379194e+00] [-8.07603318e-03 2.11508469e-05 9.99967388e-01 2.94665277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:419.07, Y:-5.98, Z:0.03 [[ 9.96371286e-01 8.47317011e-02 8.04978715e-03 4.19070285e+02] [-8.47292333e-02 9.96403802e-01 -6.47725796e-04 -5.98207806e+00] [-8.07572144e-03 -3.66769088e-05 9.99967390e-01 2.87440213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:419.10, Y:-5.98, Z:0.04 [[ 9.96220925e-01 8.64816102e-02 8.04983059e-03 4.19100654e+02] [-8.64792039e-02 9.96253446e-01 -6.47185566e-04 -5.98189609e+00] [-8.07564111e-03 -5.14031375e-05 9.99967390e-01 3.99085226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63864 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:419.13, Y:-5.98, Z:0.04 [[ 9.96296764e-01 8.56038849e-02 8.04566641e-03 4.19129043e+02] [-8.56010315e-02 9.96329250e-01 -6.98985698e-04 -5.98176437e+00] [-8.07596867e-03 7.67984587e-06 9.99967389e-01 4.00708805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:419.16, Y:-5.98, Z:0.03 [[ 9.96421263e-01 8.41422897e-02 8.04627999e-03 4.19158016e+02] [-8.41394508e-02 9.96453750e-01 -6.91289640e-04 -5.97907440e+00] [-8.07591256e-03 1.18061168e-05 9.99967389e-01 2.65340508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:419.19, Y:-5.98, Z:0.03 [[ 9.96378939e-01 8.46415842e-02 8.05057020e-03 4.19187221e+02] [-8.46391994e-02 9.96411461e-01 -6.37075389e-04 -5.97883043e+00] [-8.07560349e-03 -4.66253168e-05 9.99967391e-01 2.69540011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:419.22, Y:-5.98, Z:0.03 [[ 9.96417752e-01 8.41834173e-02 8.05086216e-03 4.19216366e+02] [-8.41810476e-02 9.96450275e-01 -6.33364226e-04 -5.98140986e+00] [-8.07560257e-03 -4.66346518e-05 9.99967391e-01 2.67172992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75864 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:419.25, Y:-5.98, Z:0.04 [[ 9.96030087e-01 8.86523788e-02 8.05115168e-03 4.19247403e+02] [-8.86501850e-02 9.96062623e-01 -6.29662243e-04 -5.97700087e+00] [-8.07527232e-03 -8.65735474e-05 9.99967391e-01 3.75892735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78864 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:419.28, Y:-5.98, Z:0.04 [[ 9.95950569e-01 8.95416424e-02 8.04724969e-03 4.19275880e+02] [-8.95390748e-02 9.95983078e-01 -6.79506517e-04 -5.97630748e+00] [-8.07576865e-03 -4.37883894e-05 9.99967389e-01 3.79801833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:419.30, Y:-5.98, Z:0.03 [[ 9.95974826e-01 8.92713878e-02 8.04773424e-03 4.19304051e+02] [-8.92688618e-02 9.96007338e-01 -6.73267130e-04 -5.97508670e+00] [-8.07570584e-03 -4.78549630e-05 9.99967390e-01 2.51624648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84864 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:419.33, Y:-5.97, Z:0.03 [[ 9.96049147e-01 8.84379290e-02 8.05163711e-03 4.19332906e+02] [-8.84357834e-02 9.96081686e-01 -6.22811400e-04 -5.97027194e+00] [-8.07516841e-03 -9.17020717e-05 9.99967391e-01 2.54328230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:419.36, Y:-5.97, Z:0.02 [[ 9.96119791e-01 8.76386220e-02 8.05196074e-03 4.19361310e+02] [-8.76364844e-02 9.96152330e-01 -6.18598835e-04 -5.96918016e+00] [-8.07519260e-03 -8.94469899e-05 9.99967391e-01 2.47333932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:419.39, Y:-5.97, Z:0.02 [[ 9.96387820e-01 8.45368185e-02 8.05228363e-03 4.19390590e+02] [-8.45346139e-02 9.96420354e-01 -6.14366890e-04 -5.96620073e+00] [-8.07539592e-03 -6.85490008e-05 9.99967391e-01 2.45165189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:419.42, Y:-5.97, Z:0.02 [[ 9.96547395e-01 8.26344132e-02 8.05256523e-03 4.19418939e+02] [-8.26321764e-02 9.96579927e-01 -6.10653399e-04 -5.96707390e+00] [-8.07548586e-03 -5.68559375e-05 9.99967391e-01 2.28811854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96864 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:419.45, Y:-5.97, Z:0.02 [[ 9.96866207e-01 7.86950838e-02 8.05288215e-03 4.19447700e+02] [-7.86927525e-02 9.96898733e-01 -6.06445100e-04 -5.96758878e+00] [-8.07563226e-03 -2.91588353e-05 9.99967391e-01 2.22775427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:419.48, Y:-5.97, Z:0.02 [[ 9.97089019e-01 7.58197532e-02 8.05316069e-03 4.19476719e+02] [-7.58173581e-02 9.97121540e-01 -6.02723517e-04 -5.96924010e+00] [-8.07567833e-03 -9.60036783e-06 9.99967391e-01 2.28177099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:419.50, Y:-5.97, Z:0.02 [[ 9.97461383e-01 7.07526128e-02 8.05343510e-03 4.19504363e+02] [-7.07500823e-02 9.97493893e-01 -5.99034330e-04 -5.97129431e+00] [-8.07563557e-03 2.77324158e-05 9.99967391e-01 2.14846059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:419.53, Y:-5.98, Z:0.02 [[ 9.97698949e-01 6.73197117e-02 8.05374770e-03 4.19532615e+02] [-6.73171035e-02 9.97731454e-01 -5.94801616e-04 -5.97501598e+00] [-8.07551927e-03 5.12779802e-05 9.99967391e-01 2.11184458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:419.56, Y:-5.98, Z:0.02 [[ 9.97916307e-01 6.40170050e-02 8.05401516e-03 4.19560376e+02] [-6.40143187e-02 9.97948805e-01 -5.91157708e-04 -5.97914479e+00] [-8.07533895e-03 7.43536242e-05 9.99967391e-01 2.21390790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11863999999997 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:419.59, Y:-5.98, Z:0.03 [[ 9.98216096e-01 5.91587109e-02 8.05431613e-03 4.19588475e+02] [-5.91558997e-02 9.98248584e-01 -5.87028318e-04 -5.98441964e+00] [-8.07493750e-03 1.09520799e-04 9.99967391e-01 3.22268884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14864 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:419.62, Y:-5.99, Z:0.02 [[ 9.98320272e-01 5.73735479e-02 8.05675715e-03 4.19618675e+02] [-5.73709500e-02 9.98352777e-01 -5.53383609e-04 -5.98807703e+00] [-8.07523545e-03 9.02302633e-05 9.99967391e-01 2.07814359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17864 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:419.65, Y:-5.99, Z:0.02 [[ 9.98426349e-01 5.54973064e-02 8.05451393e-03 4.19648150e+02] [-5.54943980e-02 9.98458828e-01 -5.84305839e-04 -5.99429471e+00] [-8.07452794e-03 1.36405944e-04 9.99967391e-01 2.03423978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:419.68, Y:-6.00, Z:0.02 [[ 9.98424087e-01 5.55379736e-02 8.05455060e-03 4.19677281e+02] [-5.55350706e-02 9.98456566e-01 -5.83799910e-04 -5.99792462e+00] [-8.07454200e-03 1.35569856e-04 9.99967391e-01 1.94361078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:419.71, Y:-6.00, Z:0.02 [[ 9.98427930e-01 5.54688343e-02 8.05458686e-03 4.19706477e+02] [-5.54659331e-02 9.98460410e-01 -5.83299244e-04 -6.00060599e+00] [-8.07454103e-03 1.35627081e-04 9.99967391e-01 1.91055644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26864 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:419.74, Y:-6.00, Z:0.02 [[ 9.98374897e-01 5.64153222e-02 8.05462338e-03 4.19735965e+02] [-5.64124559e-02 9.98407379e-01 -5.82794521e-04 -6.00321218e+00] [-8.07467396e-03 1.27466334e-04 9.99967391e-01 1.96886049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29864 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:419.76, Y:-6.01, Z:0.03 [[ 9.98314030e-01 5.74823514e-02 8.05466025e-03 4.19764899e+02] [-5.74795239e-02 9.98346516e-01 -5.82284445e-04 -6.00567987e+00] [-8.07481308e-03 1.18324694e-04 9.99967391e-01 3.05320613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32864 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:419.80, Y:-6.01, Z:0.02 [[ 9.98104235e-01 6.10165051e-02 8.05746003e-03 4.19795386e+02] [-6.10141062e-02 9.98136756e-01 -5.43436871e-04 -6.00704382e+00] [-8.07560564e-03 5.07879208e-05 9.99967390e-01 1.95845799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35864 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:419.83, Y:-6.01, Z:0.02 [[ 9.97985254e-01 6.29329275e-02 8.05482704e-03 4.19825038e+02] [-6.29302959e-02 9.98017756e-01 -5.80002871e-04 -6.00752302e+00] [-8.07536168e-03 7.19416636e-05 9.99967391e-01 1.97502608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:419.85, Y:-6.01, Z:0.02 [[ 9.97819194e-01 6.55131651e-02 8.05486367e-03 4.19854406e+02] [-6.55106216e-02 9.97851704e-01 -5.79493633e-04 -6.00538066e+00] [-8.07552390e-03 5.05507439e-05 9.99967391e-01 1.83837832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41864 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:419.88, Y:-6.01, Z:0.02 [[ 9.97746211e-01 6.66154139e-02 8.05512241e-03 4.19882813e+02] [-6.66129355e-02 9.97778726e-01 -5.75874553e-04 -6.00594483e+00] [-8.07559189e-03 3.80013034e-05 9.99967391e-01 1.77270560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44864 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:419.91, Y:-6.01, Z:0.02 [[ 9.97826746e-01 6.53979786e-02 8.05538268e-03 4.19911514e+02] [-6.53954902e-02 9.97859260e-01 -5.72210438e-04 -6.00650444e+00] [-8.07555961e-03 4.41811801e-05 9.99967391e-01 1.75267776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47864 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:419.94, Y:-6.01, Z:0.02 [[ 9.97925725e-01 6.38698191e-02 8.05563846e-03 4.19940602e+02] [-6.38673102e-02 9.97958237e-01 -5.68586719e-04 -6.00896046e+00] [-8.07550628e-03 5.29153536e-05 9.99967391e-01 1.66261456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50864 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:419.97, Y:-6.01, Z:0.02 [[ 9.98081213e-01 6.13921431e-02 8.05589291e-03 4.19968775e+02] [-6.13895827e-02 9.98113721e-01 -5.64958396e-04 -6.01189175e+00] [-8.07538125e-03 6.93264569e-05 9.99967391e-01 1.63866609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53864 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:420.00, Y:-6.02, Z:0.02 [[ 9.98358796e-01 5.66993184e-02 8.05614358e-03 4.19997094e+02] [-5.66966342e-02 9.98391294e-01 -5.61360941e-04 -6.01574603e+00] [-8.07501240e-03 1.03683408e-04 9.99967391e-01 1.56842178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56864 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:420.03, Y:-6.02, Z:0.02 [[ 9.98461553e-01 5.48600279e-02 8.05639175e-03 4.20026186e+02] [-5.48573127e-02 9.98494048e-01 -5.57776443e-04 -6.01863249e+00] [-8.07485885e-03 1.14966331e-04 9.99967391e-01 1.64477103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59864 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:420.06, Y:-6.02, Z:0.02 [[ 9.98684711e-01 5.06353764e-02 8.05642704e-03 4.20055141e+02] [-5.06325279e-02 9.98717195e-01 -5.57266255e-04 -6.02302269e+00] [-8.07430961e-03 1.48616022e-04 9.99967391e-01 1.60848977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62864 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:420.09, Y:-6.03, Z:0.01 [[ 9.98775975e-01 4.88020941e-02 8.05646188e-03 4.20085196e+02] [-4.87991901e-02 9.98808455e-01 -5.56762161e-04 -6.02651603e+00] [-8.07403340e-03 1.62931856e-04 9.99967391e-01 1.32862401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65864 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:420.12, Y:-6.03, Z:0.01 [[ 9.98905124e-01 4.60830367e-02 8.05646188e-03 4.20115794e+02] [-4.60800443e-02 9.98937595e-01 -5.56762161e-04 -6.03245791e+00] [-8.07355995e-03 1.84910456e-04 9.99967391e-01 1.29606919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68864 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:420.14, Y:-6.04, Z:0.02 [[ 9.98958658e-01 4.49075995e-02 8.05644470e-03 4.20144701e+02] [-4.49045669e-02 9.98991126e-01 -5.57010634e-04 -6.03776219e+00] [-8.07333077e-03 1.94659435e-04 9.99967391e-01 2.39038959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71864 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:420.18, Y:-6.04, Z:0.01 [[ 9.98941009e-01 4.52975820e-02 8.06158020e-03 4.20176535e+02] [-4.52951636e-02 9.98973531e-01 -4.82406042e-04 -6.04242906e+00] [-8.07515706e-03 1.16744584e-04 9.99967389e-01 1.17718275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74864 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:420.21, Y:-6.05, Z:0.01 [[ 9.98965654e-01 4.47517135e-02 8.05648054e-03 4.20206461e+02] [-4.47486818e-02 9.98998121e-01 -5.56265473e-04 -6.04832581e+00] [-8.07330276e-03 1.95173218e-04 9.99967391e-01 1.22750282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77864 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:420.24, Y:-6.05, Z:0.01 [[ 9.98994943e-01 4.40930570e-02 8.05649430e-03 4.20237833e+02] [-4.40900055e-02 9.99027408e-01 -5.56066225e-04 -6.05234918e+00] [-8.07317728e-03 2.00296468e-04 9.99967391e-01 9.21593009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80864 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:420.27, Y:-6.06, Z:0.01 [[ 9.98937448e-01 4.53769658e-02 8.05645865e-03 4.20268335e+02] [-4.53739519e-02 9.98969917e-01 -5.56582237e-04 -6.05934839e+00] [-8.07341584e-03 1.90437472e-04 9.99967391e-01 8.39417251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83864 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:420.30, Y:-6.06, Z:0.01 [[ 9.98847169e-01 4.73225875e-02 8.05642556e-03 4.20299323e+02] [-4.73196330e-02 9.98879643e-01 -5.57060782e-04 -6.06430359e+00] [-8.07376105e-03 1.75191484e-04 9.99967391e-01 7.68273014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:420.33, Y:-6.07, Z:0.01 [[ 9.98740855e-01 4.95156463e-02 8.05639279e-03 4.20329329e+02] [-4.95127593e-02 9.98773336e-01 -5.57534283e-04 -6.06859207e+00] [-8.07411697e-03 1.57938030e-04 9.99967391e-01 6.72418763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89864 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:420.36, Y:-6.07, Z:0.01 [[ 9.98366285e-01 5.65672721e-02 8.05639279e-03 4.20360125e+02] [-5.65646145e-02 9.98398785e-01 -5.57534283e-04 -6.07313305e+00] [-8.07503097e-03 1.00916678e-04 9.99967391e-01 6.49245828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:420.39, Y:-6.08, Z:0.01 [[ 9.98166024e-01 5.99973678e-02 8.05637615e-03 4.20390756e+02] [-5.99948199e-02 9.98198533e-01 -5.57774650e-04 -6.07510391e+00] [-8.07532786e-03 7.34108681e-05 9.99967391e-01 6.27796241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95864 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:420.42, Y:-6.08, Z:0.00 [[ 9.97764451e-01 6.63415037e-02 8.05637615e-03 4.20421437e+02] [-6.63391625e-02 9.97796976e-01 -5.57774650e-04 -6.07681575e+00] [-8.07563136e-03 2.20744704e-05 9.99967391e-01 4.44039011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters Centerline goodness : 0.986608 Centerline is valid? [True, True] Translation: X:420.45, Y:-6.09, Z:0.01 [[ 9.98430887e-01 5.54153251e-02 8.05637615e-03 4.20449209e+02] [-5.54126281e-02 9.98463384e-01 -5.57774650e-04 -6.08856112e+00] [-8.07490586e-03 1.10474463e-04 9.99967391e-01 1.38321881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01864 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:420.48, Y:-6.08, Z:0.00 [[ 9.97450869e-01 7.08997435e-02 8.06165158e-03 4.20481969e+02] [-7.08981668e-02 9.97483442e-01 -4.81554793e-04 -6.08281812e+00] [-8.07550608e-03 -9.12290718e-05 9.99967388e-01 2.38464242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04864 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:420.51, Y:-6.08, Z:0.00 [[ 9.97320581e-01 7.27100920e-02 8.05614929e-03 4.20511535e+02] [-7.27079355e-02 9.97353118e-01 -5.60622922e-04 -6.08486855e+00] [-8.07558856e-03 -2.66252054e-05 9.99967392e-01 3.02370669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07864 meters Centerline goodness : 0.983664 Centerline is valid? [True, True] Translation: X:420.54, Y:-6.09, Z:0.00 [[ 9.97196336e-01 7.43946566e-02 8.05618360e-03 4.20541463e+02] [-7.43925590e-02 9.97228877e-01 -5.60129461e-04 -6.08513867e+00] [-8.07552957e-03 -4.07610684e-05 9.99967392e-01 2.89437852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10864 meters Centerline goodness : 0.981798 Centerline is valid? [True, True] Translation: X:420.57, Y:-6.09, Z:0.00 [[ 9.97089159e-01 7.58175795e-02 8.05621798e-03 4.20569828e+02] [-7.58155325e-02 9.97121704e-01 -5.59634569e-04 -6.08580002e+00] [-8.07545994e-03 -5.27808943e-05 9.99967392e-01 1.82124772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13864 meters Centerline goodness : 0.981567 Centerline is valid? [True, True] Translation: X:420.60, Y:-6.09, Z:0.00 [[ 9.97074885e-01 7.60050522e-02 8.05645749e-03 4.20598568e+02] [-7.60030392e-02 9.97107431e-01 -5.56165182e-04 -6.08607428e+00] [-8.07542499e-03 -5.77769195e-05 9.99967392e-01 1.00746586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16864 meters Centerline goodness : 0.980311 Centerline is valid? [True, True] Translation: X:420.63, Y:-6.09, Z:-0.00 [[ 9.96977320e-01 7.72742772e-02 8.05669357e-03 4.20627700e+02] [-7.72723336e-02 9.97009870e-01 -5.52723966e-04 -6.08670140e+00] [-8.07531435e-03 -7.15062549e-05 9.99967392e-01 -4.42778736e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.19864 meters Centerline goodness : 0.974803 Centerline is valid? [True, True] Translation: X:420.66, Y:-6.09, Z:-0.00 [[ 9.96939635e-01 7.77589245e-02 8.05691172e-03 4.20657939e+02] [-7.77570225e-02 9.96972188e-01 -5.49525526e-04 -6.08656100e+00] [-8.07524742e-03 -7.86376887e-05 9.99967392e-01 -1.22293037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22864 meters Centerline goodness : 0.394301 Centerline is valid? [True, False] Translation: X:420.65, Y:-6.09, Z:-0.00 [[ 9.97553633e-01 6.64918317e-02 2.15774295e-02 4.20646201e+02] [-6.65358260e-02 9.97783155e-01 1.32663501e-03 -6.08625355e+00] [-2.14413853e-02 -2.75906167e-03 9.99766300e-01 -2.24368735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.25864 meters Centerline goodness : 0.969801 Centerline is valid? [False, True] Translation: X:420.67, Y:-6.09, Z:-0.00 [[ 9.98240528e-01 5.52153204e-02 2.16128931e-02 4.20669934e+02] [-5.52519034e-02 9.98471842e-01 1.09872011e-03 -6.08712755e+00] [-2.15191990e-02 -2.29094043e-03 9.99765810e-01 -2.82791801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28864 meters Centerline goodness : 0.968372 Centerline is valid? [True, True] Translation: X:420.70, Y:-6.09, Z:-0.01 [[ 9.98348170e-01 5.32757514e-02 2.15087335e-02 4.20700795e+02] [-5.32655918e-02 9.98579834e-01 -1.04538333e-03 -6.08629410e+00] [-2.15338811e-02 -1.02018885e-04 9.99768114e-01 -5.99410428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.31864 meters Centerline goodness : 0.392876 Centerline is valid? [True, False] Translation: X:420.69, Y:-6.09, Z:-0.01 [[ 9.98493935e-01 4.25631919e-02 3.46155478e-02 4.20689670e+02] [-4.26559015e-02 9.99087932e-01 1.94385376e-03 -6.08905756e+00] [-3.45012394e-02 -3.41748359e-03 9.99398812e-01 -5.98517358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34864 meters Centerline goodness : 0.393585 Centerline is valid? [False, False] Translation: X:420.67, Y:-6.09, Z:-0.01 [[ 9.98692567e-01 3.69794913e-02 3.52940980e-02 4.20672209e+02] [-3.72823124e-02 9.99273066e-01 7.96049883e-03 -6.09163522e+00] [-3.49740663e-02 -9.26593660e-03 9.99345264e-01 -7.46949554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.37864 meters Centerline goodness : 0.453329 Centerline is valid? [False, False] Translation: X:420.70, Y:-6.09, Z:-0.01 [[ 9.99335656e-01 1.90477612e-02 3.10713720e-02 4.20698280e+02] [-1.90350760e-02 9.99818569e-01 -7.04028595e-04 -6.08517179e+00] [-3.10791448e-02 1.12114949e-04 9.99516920e-01 -6.72853309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40864 meters Centerline goodness : 0.349199 Centerline is valid? [False, False] Translation: X:420.72, Y:-6.09, Z:-0.01 [[ 9.99773479e-01 1.68769419e-02 1.29676345e-02 4.20722285e+02] [-1.69510355e-02 9.99840497e-01 5.62522182e-03 -6.08975741e+00] [-1.28706296e-02 -5.84376242e-03 9.99900094e-01 -5.20112411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43864 meters Centerline goodness : 0.304782 Centerline is valid? [False, False] Translation: X:420.72, Y:-6.09, Z:-0.01 [[ 9.99824329e-01 1.30095967e-02 1.34930362e-02 4.20720999e+02] [-1.30163518e-02 9.99915198e-01 4.12940327e-04 -6.08607510e+00] [-1.34865197e-02 -5.88497891e-04 9.99908880e-01 -5.64535063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46864 meters Centerline goodness : 0.249484 Centerline is valid? [False, False] Translation: X:420.72, Y:-6.08, Z:-0.01 [[ 9.99864700e-01 8.98100531e-03 1.37812299e-02 4.20720434e+02] [-8.91187838e-03 9.99947439e-01 -5.06926103e-03 -6.08035111e+00] [-1.38260326e-02 4.94575852e-03 9.99892184e-01 -5.42659710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49864 meters Centerline goodness : 0.215558 Centerline is valid? [False, False] Translation: X:420.74, Y:-6.08, Z:-0.00 [[ 9.99976242e-01 2.62500320e-03 6.37371208e-03 4.20744169e+02] [-2.60879541e-03 9.99993346e-01 -2.54989599e-03 -6.08365565e+00] [-6.38036316e-03 2.53320770e-03 9.99976437e-01 -2.54338305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52864 meters Centerline goodness : 0.298724 Centerline is valid? [False, False] Translation: X:420.74, Y:-6.08, Z:-0.00 [[ 9.99975706e-01 2.61472250e-03 6.46148109e-03 4.20744366e+02] [-2.59809126e-03 9.99993294e-01 -2.58096053e-03 -6.08371385e+00] [-6.46818625e-03 2.56411031e-03 9.99975794e-01 -3.29974677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55864 meters Centerline goodness : 0.292576 Centerline is valid? [False, False] Translation: X:420.74, Y:-6.08, Z:-0.00 [[ 9.99974016e-01 2.59386421e-03 6.72607988e-03 4.20743928e+02] [-2.57566134e-03 9.99993001e-01 -2.71356312e-03 -6.08329013e+00] [-6.73307142e-03 2.69616851e-03 9.99973698e-01 -3.54248400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58864 meters Centerline goodness : 0.355017 Centerline is valid? [False, False] Translation: X:420.75, Y:-6.08, Z:-0.01 [[ 9.99982132e-01 5.23107813e-04 5.95502096e-03 4.20748775e+02] [-4.90260261e-04 9.99984666e-01 -5.51606651e-03 -6.07974447e+00] [-5.95781515e-03 5.51304844e-03 9.99967055e-01 -8.13592150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61863999999997 meters Centerline goodness : 0.355017 Centerline is valid? [False, False] Translation: X:420.75, Y:-6.08, Z:-0.01 [[ 9.99982132e-01 5.23107813e-04 5.95502096e-03 4.20748775e+02] [-4.90260261e-04 9.99984666e-01 -5.51606651e-03 -6.07974447e+00] [-5.95781515e-03 5.51304844e-03 9.99967055e-01 -8.13592150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64864 meters Centerline goodness : 0.332836 Centerline is valid? [False, False] Translation: X:420.75, Y:-6.08, Z:-0.01 [[ 9.99980974e-01 6.32385464e-04 6.13617486e-03 4.20748634e+02] [-5.92372821e-04 9.99978566e-01 -6.52040734e-03 -6.07508592e+00] [-6.14016676e-03 6.51664838e-03 9.99959915e-01 -8.44204629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67864 meters Centerline goodness : 0.389826 Centerline is valid? [False, False] Translation: X:420.75, Y:-6.07, Z:-0.01 [[ 9.99984686e-01 -1.50752223e-03 5.32500638e-03 4.20753622e+02] [ 1.55627351e-03 9.99956809e-01 -9.16290946e-03 -6.07241477e+00] [-5.31096310e-03 9.17105630e-03 9.99943841e-01 -1.27828313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70864 meters Centerline goodness : 0.373834 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.07, Z:-0.02 [[ 9.99990144e-01 2.70830710e-04 4.43156190e-03 4.20758684e+02] [-2.37854808e-04 9.99972295e-01 -7.43998247e-03 -6.07322044e+00] [-4.43345410e-03 7.43885507e-03 9.99962503e-01 -1.69652678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73864 meters Centerline goodness : 0.395888 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.07, Z:-0.02 [[ 9.99989392e-01 2.98440448e-04 4.59640225e-03 4.20758510e+02] [-2.63148414e-04 9.99970498e-01 -7.67687844e-03 -6.07223222e+00] [-4.59855773e-03 7.67558746e-03 9.99959969e-01 -1.73645369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76864 meters Centerline goodness : 0.273481 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.07, Z:-0.02 [[ 9.99988624e-01 3.10943204e-04 4.75968891e-03 4.20758392e+02] [-2.73727672e-04 9.99969405e-01 -7.81755556e-03 -6.07169183e+00] [-4.76197410e-03 7.81616377e-03 9.99958115e-01 -1.79836480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79864 meters Centerline goodness : 0.300967 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.07, Z:-0.02 [[ 9.99988406e-01 3.81418540e-04 4.80017192e-03 4.20758907e+02] [-3.45615225e-04 9.99972134e-01 -7.45737732e-03 -6.07321643e+00] [-4.80288254e-03 7.45563185e-03 9.99960672e-01 -1.92634461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82864 meters Centerline goodness : 0.147755 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.07, Z:-0.02 [[ 9.99987391e-01 3.73609315e-04 5.00776286e-03 4.20758720e+02] [-3.37642069e-04 9.99974158e-01 -7.18122021e-03 -6.07452083e+00] [-5.01031642e-03 7.17943884e-03 9.99961675e-01 -1.99774289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85864 meters Centerline goodness : 0.202815 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.08, Z:-0.03 [[ 9.99987881e-01 2.35407301e-03 4.32381316e-03 4.20763756e+02] [-2.33369162e-03 9.99986172e-01 -4.71276627e-03 -6.07682687e+00] [-4.33484756e-03 4.70261871e-03 9.99979547e-01 -2.52121341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88864 meters Centerline goodness : 0.142287 Centerline is valid? [False, False] Translation: X:420.76, Y:-6.08, Z:-0.03 [[ 9.99987630e-01 2.36943762e-03 4.37333789e-03 4.20763910e+02] [-2.34924490e-03 9.99986584e-01 -4.61660866e-03 -6.07727687e+00] [-4.38421799e-03 4.60627751e-03 9.99979780e-01 -2.60361683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91864 meters Centerline goodness : 0.150512 Centerline is valid? [False, False] Translation: X:420.79, Y:-6.07, Z:-0.03 [[ 9.99987882e-01 4.01887018e-03 -2.84319674e-03 4.20788430e+02] [-4.04722376e-03 9.99941428e-01 -1.00379727e-02 -6.07488590e+00] [ 2.80268889e-03 1.00493581e-02 9.99945576e-01 -2.54750564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94864 meters Centerline goodness : 0.175875 Centerline is valid? [False, False] Translation: X:420.79, Y:-6.08, Z:-0.03 [[ 9.99991664e-01 1.85746930e-03 -3.63617454e-03 4.20793595e+02] [-1.90176899e-03 9.99923552e-01 -1.22177419e-02 -6.07580382e+00] [ 3.61320248e-03 1.22245552e-02 9.99918749e-01 -3.01548170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97864 meters Centerline goodness : 0.126699 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.08, Z:-0.03 [[ 9.99989925e-01 -2.57378982e-04 -4.48138399e-03 4.20799089e+02] [ 1.92125541e-04 9.99894047e-01 -1.45553486e-02 -6.07616453e+00] [ 4.48465542e-03 1.45543410e-02 9.99884023e-01 -3.49111521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00864 meters Centerline goodness : 0.211926 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.08, Z:-0.04 [[ 9.99982526e-01 4.12178524e-03 -4.23780992e-03 4.20800052e+02] [-4.16044181e-03 9.99949448e-01 -9.15384018e-03 -6.08251195e+00] [ 4.19986553e-03 9.17131138e-03 9.99949123e-01 -3.60398770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03864 meters Centerline goodness : 0.133473 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.08, Z:-0.03 [[ 9.99991514e-01 2.58780364e-03 -3.20536748e-03 4.20795847e+02] [-2.62243066e-03 9.99937740e-01 -1.08461461e-02 -6.08312301e+00] [ 3.17710022e-03 1.08544599e-02 9.99936041e-01 -3.27461671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06864 meters Centerline goodness : 0.136225 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.09, Z:-0.04 [[ 9.99982213e-01 4.46523857e-03 -3.95409677e-03 4.20801520e+02] [-4.50014122e-03 9.99950601e-01 -8.86250053e-03 -6.08631358e+00] [ 3.91432826e-03 8.88013689e-03 9.99952909e-01 -3.76604639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09864 meters Centerline goodness : 0.126103 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.09, Z:-0.04 [[ 9.99981283e-01 4.63110054e-03 -3.99836491e-03 4.20802426e+02] [-4.66548144e-03 9.99951854e-01 -8.63266471e-03 -6.08731294e+00] [ 3.95819366e-03 8.65115743e-03 9.99954744e-01 -3.90292171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12864 meters Centerline goodness : 0.110679 Centerline is valid? [False, False] Translation: X:420.80, Y:-6.09, Z:-0.04 [[ 9.99981080e-01 4.77143087e-03 -3.88253449e-03 4.20802969e+02] [-4.80324520e-03 9.99954625e-01 -8.22657389e-03 -6.08918025e+00] [ 3.84310579e-03 8.24506700e-03 9.99958624e-01 -4.01965913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15864 meters Centerline goodness : 0.110382 Centerline is valid? [False, False] Translation: X:420.81, Y:-6.09, Z:-0.04 [[ 9.99970096e-01 6.32266187e-03 -4.45327270e-03 4.20808288e+02] [-6.34953251e-03 9.99961565e-01 -6.04583974e-03 -6.09493631e+00] [ 4.41487574e-03 6.07393515e-03 9.99971808e-01 -4.49372485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18864 meters Centerline goodness : 0.130490 Centerline is valid? [False, False] Translation: X:420.81, Y:-6.10, Z:-0.05 [[ 9.99970246e-01 6.44993904e-03 -4.23143762e-03 4.20808656e+02] [-6.47449348e-03 9.99962132e-01 -5.81505524e-03 -6.09548352e+00] [ 4.19377063e-03 5.84227864e-03 9.99974140e-01 -4.66193031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21864 meters Centerline goodness : 0.133249 Centerline is valid? [False, False] Translation: X:420.81, Y:-6.10, Z:-0.05 [[ 9.99970399e-01 6.74691800e-03 -3.69877810e-03 4.20809695e+02] [-6.76798410e-03 9.99960778e-01 -5.71280288e-03 -6.09570823e+00] [ 3.66008922e-03 5.73766704e-03 9.99976841e-01 -4.80557428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24864 meters Centerline goodness : 0.130490 Centerline is valid? [False, False] Translation: X:420.81, Y:-6.10, Z:-0.05 [[ 9.99969868e-01 6.85070981e-03 -3.65109407e-03 4.20810353e+02] [-6.87051452e-03 9.99961602e-01 -5.43966875e-03 -6.09699743e+00] [ 3.61368828e-03 5.46458974e-03 9.99978540e-01 -4.94271006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27864 meters Centerline goodness : 0.124667 Centerline is valid? [False, False] Translation: X:420.82, Y:-6.10, Z:-0.06 [[ 9.99966190e-01 6.82199612e-03 -4.59122097e-03 4.20820645e+02] [-6.84756637e-03 9.99961004e-01 -5.57689665e-03 -6.09844065e+00] [ 4.55299636e-03 5.60814679e-03 9.99973909e-01 -5.88352673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30864 meters Centerline goodness : 0.117981 Centerline is valid? [False, False] Translation: X:420.82, Y:-6.10, Z:-0.06 [[ 9.99964988e-01 6.99155790e-03 -4.59782312e-03 4.20821435e+02] [-7.01693409e-03 9.99960110e-01 -5.52640073e-03 -6.09818346e+00] [ 4.55900156e-03 5.55846986e-03 9.99974159e-01 -6.02702637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33864 meters Centerline goodness : 0.117663 Centerline is valid? [False, False] Translation: X:420.83, Y:-6.10, Z:-0.07 [[ 9.99954080e-01 7.23995547e-03 -6.27856840e-03 4.20831742e+02] [-7.27412198e-03 9.99958767e-01 -5.43611299e-03 -6.09729257e+00] [ 6.23895230e-03 5.48153444e-03 9.99965514e-01 -7.01004547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36863999999997 meters Centerline goodness : 0.134413 Centerline is valid? [False, False] Translation: X:420.84, Y:-6.10, Z:-0.08 [[ 9.99944110e-01 9.31093260e-03 -5.00831394e-03 4.20836301e+02] [-9.32991203e-03 9.99949332e-01 -3.77966382e-03 -6.09883108e+00] [ 4.97286798e-03 3.82617970e-03 9.99980315e-01 -7.57209008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39864 meters Centerline goodness : 0.125919 Centerline is valid? [False, False] Translation: X:420.84, Y:-6.10, Z:-0.08 [[ 9.99951779e-01 7.64438810e-03 -6.16470782e-03 4.20842778e+02] [-7.67834375e-03 9.99955377e-01 -5.50334303e-03 -6.09740543e+00] [ 6.12236305e-03 5.55041239e-03 9.99965854e-01 -8.19378776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42864 meters Centerline goodness : 0.131353 Centerline is valid? [False, False] Translation: X:420.84, Y:-6.10, Z:-0.08 [[ 9.99950425e-01 8.25289409e-03 -5.57116820e-03 4.20844878e+02] [-8.28396723e-03 9.99950132e-01 -5.57764876e-03 -6.09557343e+00] [ 5.52485863e-03 5.62352362e-03 9.99968925e-01 -8.41019712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45864 meters Centerline goodness : 0.127336 Centerline is valid? [False, False] Translation: X:420.87, Y:-6.10, Z:-0.08 [[ 9.99954051e-01 6.59629401e-04 -9.56352031e-03 4.20868943e+02] [-6.97213970e-04 9.99992045e-01 -3.92719193e-03 -6.09904571e+00] [ 9.56085375e-03 3.93367929e-03 9.99946557e-01 -8.23287586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48864 meters Centerline goodness : 0.129157 Centerline is valid? [False, False] Translation: X:420.87, Y:-6.10, Z:-0.08 [[ 9.99953598e-01 8.49601271e-04 -9.59581008e-03 4.20870150e+02] [-8.87465345e-04 9.99991835e-01 -3.94232795e-03 -6.09835536e+00] [ 9.59238233e-03 3.95066097e-03 9.99946188e-01 -8.39544162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51864 meters Centerline goodness : 0.125169 Centerline is valid? [False, False] Translation: X:420.88, Y:-6.10, Z:-0.09 [[ 9.99951363e-01 1.11068492e-03 -9.79985610e-03 4.20880701e+02] [-1.15125991e-03 9.99990785e-01 -4.13569735e-03 -6.09756791e+00] [ 9.79517234e-03 4.14677838e-03 9.99943428e-01 -9.39446720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54864 meters Centerline goodness : 0.127456 Centerline is valid? [False, False] Translation: X:420.89, Y:-6.10, Z:-0.10 [[ 9.99939337e-01 2.91001519e-03 -1.06232528e-02 4.20886987e+02] [-2.93678197e-03 9.99992550e-01 -2.50491114e-03 -6.09814174e+00] [ 1.06158843e-02 2.53595736e-03 9.99940434e-01 -1.00497686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57864 meters Centerline goodness : 0.242880 Centerline is valid? [False, False] Translation: X:420.89, Y:-6.09, Z:-0.10 [[ 9.99939593e-01 3.63781858e-03 -1.03719056e-02 4.20889669e+02] [-3.66725013e-03 9.99989299e-01 -2.82001608e-03 -6.09424692e+00] [ 1.03615359e-02 2.85788210e-03 9.99942234e-01 -1.02121668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60864 meters Centerline goodness : 0.121113 Centerline is valid? [False, False] Translation: X:420.89, Y:-6.09, Z:-0.10 [[ 9.99937198e-01 3.87625855e-03 -1.05154384e-02 4.20891333e+02] [-3.90901290e-03 9.99987567e-01 -3.09611956e-03 -6.09242535e+00] [ 1.05033063e-02 3.13703010e-03 9.99939918e-01 -1.03681326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63864 meters Centerline goodness : 0.138932 Centerline is valid? [False, False] Translation: X:420.90, Y:-6.09, Z:-0.11 [[ 9.99921870e-01 4.03707924e-03 -1.18303089e-02 4.20903427e+02] [-4.07915590e-03 9.99985433e-01 -3.53471398e-03 -6.09109048e+00] [ 1.18158666e-02 3.58269549e-03 9.99923772e-01 -1.13737330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66864 meters Centerline goodness : 0.121744 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.09, Z:-0.11 [[ 9.99878729e-01 -3.69433595e-03 -1.51287333e-02 4.20927137e+02] [ 3.66276440e-03 9.99991057e-01 -2.11403684e-03 -6.09419400e+00] [ 1.51364080e-02 2.05836749e-03 9.99883319e-01 -1.11219536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.69864 meters Centerline goodness : 0.075810 Centerline is valid? [False, False] Translation: X:420.92, Y:-6.09, Z:-0.12 [[ 9.99988188e-01 -1.30361140e-03 -4.68229206e-03 4.20922798e+02] [ 1.29992960e-03 9.99998844e-01 -7.89281676e-04 -6.09116110e+00] [ 4.68331557e-03 7.83185703e-04 9.99988727e-01 -1.15063406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72864 meters Centerline goodness : 0.101701 Centerline is valid? [False, False] Translation: X:420.92, Y:-6.09, Z:-0.12 [[ 9.99987947e-01 -1.24466774e-03 -4.74946999e-03 4.20923924e+02] [ 1.24083286e-03 9.99998902e-01 -8.10293758e-04 -6.09110001e+00] [ 4.75047332e-03 8.04390693e-04 9.99988393e-01 -1.16133790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.75864 meters Centerline goodness : 0.126138 Centerline is valid? [False, False] Translation: X:420.92, Y:-6.09, Z:-0.12 [[ 9.99987534e-01 -1.28223705e-03 -4.82579622e-03 4.20924736e+02] [ 1.27929967e-03 9.99998995e-01 -6.11720068e-04 -6.09254905e+00] [ 4.82657574e-03 6.05538803e-04 9.99988169e-01 -1.17041437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78864 meters Centerline goodness : 0.138475 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.09, Z:-0.12 [[ 9.99987800e-01 -1.10650724e-03 -4.81408123e-03 4.20925437e+02] [ 1.10429413e-03 9.99999283e-01 -4.62348552e-04 -6.09306615e+00] [ 4.81458937e-03 4.57026750e-04 9.99988305e-01 -1.17583234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.81864 meters Centerline goodness : 0.077714 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.09, Z:-0.12 [[ 9.99984189e-01 2.36216110e-04 -5.61835850e-03 4.20930794e+02] [-2.31111195e-04 9.99999560e-01 9.09245240e-04 -6.09466343e+00] [ 5.61857081e-03 -9.07932399e-04 9.99983804e-01 -1.22879744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84864 meters Centerline goodness : 0.078294 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.10, Z:-0.13 [[ 9.99973632e-01 -6.11227879e-04 -7.23620003e-03 4.20940526e+02] [ 6.17811906e-04 9.99999397e-01 9.07673174e-04 -6.09895175e+00] [ 7.23564088e-03 -9.12119851e-04 9.99973406e-01 -1.31670741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87864 meters Centerline goodness : 0.076964 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.10, Z:-0.13 [[ 9.99973041e-01 -7.67532362e-04 -7.30254529e-03 4.20941141e+02] [ 7.77815889e-04 9.99998710e-01 1.40547560e-03 -6.10285529e+00] [ 7.30145712e-03 -1.41111774e-03 9.99972348e-01 -1.32407799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90864 meters Centerline goodness : 0.078944 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.11, Z:-0.12 [[ 9.99983363e-01 -9.84574038e-04 -5.68375766e-03 4.20931646e+02] [ 9.94605513e-04 9.99997952e-01 1.76238033e-03 -6.10673110e+00] [ 5.68201083e-03 -1.76800410e-03 9.99982294e-01 -1.23749423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93864 meters Centerline goodness : 0.076221 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.11, Z:-0.13 [[ 9.99970725e-01 -1.64041559e-03 -7.47380330e-03 4.20942884e+02] [ 1.65898551e-03 9.99995551e-01 2.47914602e-03 -6.11499210e+00] [ 7.46970322e-03 -2.49147238e-03 9.99968998e-01 -1.33691900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96864 meters Centerline goodness : 0.079493 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.12, Z:-0.12 [[ 9.99981202e-01 -1.88913385e-03 -5.83321991e-03 4.20933337e+02] [ 1.90701290e-03 9.99993497e-01 3.06099942e-03 -6.12002166e+00] [ 5.82739934e-03 -3.07206591e-03 9.99978302e-01 -1.24887493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99864 meters Centerline goodness : 0.072981 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.13, Z:-0.13 [[ 9.99968033e-01 -2.98010608e-03 -7.41969986e-03 4.20943673e+02] [ 3.00897243e-03 9.99987937e-01 3.88238267e-03 -6.13132876e+00] [ 7.40804044e-03 -3.90458423e-03 9.99964937e-01 -1.34015697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02864 meters Centerline goodness : 0.077725 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.13, Z:-0.14 [[ 9.99953748e-01 -4.73673488e-03 -8.37045592e-03 4.20949285e+02] [ 4.76309076e-03 9.99983753e-01 3.13155459e-03 -6.13499255e+00] [ 8.35548659e-03 -3.17127899e-03 9.99960064e-01 -1.39320322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05864 meters Centerline goodness : 0.075374 Centerline is valid? [False, False] Translation: X:420.96, Y:-6.14, Z:-0.15 [[ 9.99935074e-01 -5.21727812e-03 -1.01305256e-02 4.20960056e+02] [ 5.25222254e-03 9.99980339e-01 3.42588233e-03 -6.13929009e+00] [ 1.01124527e-02 -3.47886767e-03 9.99942816e-01 -1.49121583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08864 meters Centerline goodness : 0.074494 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.14, Z:-0.15 [[ 9.99975539e-01 1.71128185e-03 -6.78178510e-03 4.20938482e+02] [-1.69237316e-03 9.99994668e-01 2.79291757e-03 -6.14245540e+00] [ 6.78652841e-03 -2.78137194e-03 9.99973103e-01 -1.54391758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11863999999997 meters Centerline goodness : 0.074039 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.14, Z:-0.15 [[ 9.99980973e-01 2.12435332e-04 -6.16517549e-03 4.20934072e+02] [-2.01220260e-04 9.99998324e-01 1.81966342e-03 -6.14409917e+00] [ 6.16555172e-03 -1.81838824e-03 9.99979340e-01 -1.50053083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14864 meters Centerline goodness : 0.073914 Centerline is valid? [False, False] Translation: X:420.92, Y:-6.15, Z:-0.14 [[ 9.99989709e-01 4.28091884e-04 -4.51640578e-03 4.20924382e+02] [-4.16146101e-04 9.99996414e-01 2.64558398e-03 -6.14807145e+00] [ 4.51752214e-03 -2.64367727e-03 9.99986301e-01 -1.41389460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17864 meters Centerline goodness : 0.110545 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.15, Z:-0.15 [[ 9.99980019e-01 4.77309395e-04 -6.30339593e-03 4.20935319e+02] [-4.59641962e-04 9.99995963e-01 2.80399478e-03 -6.14869269e+00] [ 6.30470886e-03 -2.80104145e-03 9.99976202e-01 -1.51362567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20864 meters Centerline goodness : 0.074509 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.15, Z:-0.14 [[ 9.99989309e-01 3.38335576e-04 -4.61164778e-03 4.20925590e+02] [-3.24978808e-04 9.99995752e-01 2.89675296e-03 -6.15050316e+00] [ 4.61260826e-03 -2.89522330e-03 9.99985171e-01 -1.42679644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23864 meters Centerline goodness : 0.072470 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.15, Z:-0.15 [[ 9.99979237e-01 2.79424978e-04 -6.43798369e-03 4.20936347e+02] [-2.62150974e-04 9.99996364e-01 2.68382647e-03 -6.14981421e+00] [ 6.43871021e-03 -2.68208302e-03 9.99975674e-01 -1.52970454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26864 meters Centerline goodness : 0.073660 Centerline is valid? [False, False] Translation: X:420.93, Y:-6.15, Z:-0.14 [[ 9.99988529e-01 5.69753186e-04 -4.75578660e-03 4.20926181e+02] [-5.57367261e-04 9.99996451e-01 2.60530953e-03 -6.14833535e+00] [ 4.75725410e-03 -2.60262892e-03 9.99985297e-01 -1.43482550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29864 meters Centerline goodness : 0.119350 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.15, Z:-0.14 [[ 9.99950176e-01 -7.70041475e-03 -6.35206616e-03 4.20948888e+02] [ 7.71998470e-03 9.99965512e-01 3.06213575e-03 -6.14612598e+00] [ 6.32826737e-03 -3.11102103e-03 9.99975137e-01 -1.40500724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32864 meters Centerline goodness : 0.074427 Centerline is valid? [False, False] Translation: X:420.96, Y:-6.14, Z:-0.15 [[ 9.99937931e-01 -7.79714034e-03 -7.95859743e-03 4.20959789e+02] [ 7.81925757e-03 9.99965643e-01 2.75171449e-03 -6.14462983e+00] [ 7.93686850e-03 -2.81377402e-03 9.99964544e-01 -1.51057604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35864 meters Centerline goodness : 0.074903 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.14, Z:-0.14 [[ 9.99950876e-01 -7.64461772e-03 -6.30916592e-03 4.20949378e+02] [ 7.66014892e-03 9.99967681e-01 2.44120483e-03 -6.14263835e+00] [ 6.29029994e-03 -2.48941406e-03 9.99977117e-01 -1.41403125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38864 meters Centerline goodness : 0.135921 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.14, Z:-0.13 [[ 9.99961953e-01 -7.31404287e-03 -4.75367044e-03 4.20939260e+02] [ 7.32593792e-03 9.99970066e-01 2.48971047e-03 -6.14127863e+00] [ 4.73531829e-03 -2.52444084e-03 9.99985602e-01 -1.31204564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41864 meters Centerline goodness : 0.075717 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.14, Z:-0.14 [[ 9.99957127e-01 -7.37722716e-03 -5.59646222e-03 4.20949074e+02] [ 7.39033981e-03 9.99969986e-01 2.32597403e-03 -6.14035329e+00] [ 5.57913500e-03 -2.36723407e-03 9.99981635e-01 -1.41719582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44864 meters Centerline goodness : 0.124672 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.14, Z:-0.13 [[ 9.99961920e-01 -7.74489069e-03 -4.02189335e-03 4.20938998e+02] [ 7.75415887e-03 9.99967305e-01 2.29397466e-03 -6.14250808e+00] [ 4.00399527e-03 -2.32507370e-03 9.99989281e-01 -1.31952756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47864 meters Centerline goodness : 0.129691 Centerline is valid? [False, False] Translation: X:420.94, Y:-6.14, Z:-0.13 [[ 9.99960507e-01 -7.85449149e-03 -4.15828946e-03 4.20939205e+02] [ 7.86555504e-03 9.99965552e-01 2.65096750e-03 -6.14497183e+00] [ 4.13732421e-03 -2.68357006e-03 9.99987840e-01 -1.32390697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50864 meters Centerline goodness : 0.074988 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.15, Z:-0.14 [[ 9.99953741e-01 -8.24151114e-03 -4.95924822e-03 4.20949029e+02] [ 8.25503213e-03 9.99962249e-01 2.71215404e-03 -6.14681990e+00] [ 4.93670875e-03 -2.75296733e-03 9.99984025e-01 -1.43151838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53864 meters Centerline goodness : 0.074988 Centerline is valid? [False, False] Translation: X:420.95, Y:-6.15, Z:-0.14 [[ 9.99953741e-01 -8.24151114e-03 -4.95924822e-03 4.20949029e+02] [ 8.25503213e-03 9.99962249e-01 2.71215404e-03 -6.14681990e+00] [ 4.93670875e-03 -2.75296733e-03 9.99984025e-01 -1.43151838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56864 meters Centerline goodness : 0.076523 Centerline is valid? [False, False] Translation: X:420.97, Y:-6.15, Z:-0.14 [[ 9.99974137e-01 -1.48761659e-03 -7.03644012e-03 4.20969743e+02] [ 1.49779492e-03 9.99997839e-01 1.44146950e-03 -6.14630297e+00] [ 7.03428057e-03 -1.45197137e-03 9.99974205e-01 -1.38579102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59864 meters Centerline goodness : 0.073186 Centerline is valid? [False, False] Translation: X:420.98, Y:-6.15, Z:-0.15 [[ 9.99969923e-01 -1.94273882e-03 -7.50855469e-03 4.20978820e+02] [ 1.95555305e-03 9.99996643e-01 1.69965280e-03 -6.14973439e+00] [ 7.50522750e-03 -1.71428506e-03 9.99970366e-01 -1.48529486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62864 meters Centerline goodness : 0.652785 Centerline is valid? [False, False] Translation: X:420.97, Y:-6.16, Z:-0.14 [[ 9.99967762e-01 -4.15368769e-03 -6.87186123e-03 4.20973485e+02] [ 4.15828412e-03 9.99991140e-01 6.54724163e-04 -6.15557343e+00] [ 6.86908083e-03 -6.83278207e-04 9.99976174e-01 -1.42991626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65864 meters Centerline goodness : 0.497716 Centerline is valid? [False, False] Translation: X:420.98, Y:-6.16, Z:-0.15 [[ 9.99951374e-01 -4.85731001e-03 -8.58236334e-03 4.20984080e+02] [ 4.86825271e-03 9.99987363e-01 1.25459074e-03 -6.16245042e+00] [ 8.57616095e-03 -1.29631085e-03 9.99962384e-01 -1.53532071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68864 meters Centerline goodness : 0.077754 Centerline is valid? [False, False] Translation: X:421.00, Y:-6.16, Z:-0.14 [[ 9.99948424e-01 3.77124664e-03 -9.43009694e-03 4.20999372e+02] [-3.75788350e-03 9.99991910e-01 1.43439066e-03 -6.16327576e+00] [ 9.43543009e-03 -1.39887947e-03 9.99954507e-01 -1.43140050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71864 meters Centerline goodness : 0.074030 Centerline is valid? [False, False] Translation: X:421.01, Y:-6.17, Z:-0.15 [[ 9.99941317e-01 3.39699302e-03 -1.02870228e-02 4.21009229e+02] [-3.38047988e-03 9.99992970e-01 1.62220291e-03 -6.16648009e+00] [ 1.02924611e-02 -1.58733264e-03 9.99945771e-01 -1.53792610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74864 meters Centerline goodness : 0.075936 Centerline is valid? [False, False] Translation: X:421.00, Y:-6.17, Z:-0.14 [[ 9.99958087e-01 2.97041167e-03 -8.66026094e-03 4.20999348e+02] [-2.95440034e-03 9.99993904e-01 1.86103570e-03 -6.17023381e+00] [ 8.66573619e-03 -1.83537182e-03 9.99960767e-01 -1.44384420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77864 meters Centerline goodness : 0.074140 Centerline is valid? [False, False] Translation: X:421.01, Y:-6.18, Z:-0.15 [[ 9.99942107e-01 2.30922438e-03 -1.05095359e-02 4.21009989e+02] [-2.28428187e-03 9.99994548e-01 2.38470695e-03 -6.17647245e+00] [ 1.05149854e-02 -2.36056215e-03 9.99941930e-01 -1.54863581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80864 meters Centerline goodness : 0.134573 Centerline is valid? [False, False] Translation: X:421.00, Y:-6.18, Z:-0.14 [[ 9.99957567e-01 2.16815913e-03 -8.95334381e-03 4.20999434e+02] [-2.14227754e-03 9.99993502e-01 2.89929700e-03 -6.18010245e+00] [ 8.95957178e-03 -2.87999343e-03 9.99955715e-01 -1.44533426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83864 meters Centerline goodness : 0.075638 Centerline is valid? [False, False] Translation: X:421.01, Y:-6.18, Z:-0.16 [[ 9.99941158e-01 1.83092467e-03 -1.06924670e-02 4.21010340e+02] [-1.79952768e-03 9.99994044e-01 2.94524895e-03 -6.18214029e+00] [ 1.06977958e-02 -2.92583426e-03 9.99938496e-01 -1.55548795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters Centerline goodness : 0.074422 Centerline is valid? [False, False] Translation: X:421.02, Y:-6.18, Z:-0.17 [[ 9.99921174e-01 1.43692278e-03 -1.24731965e-02 4.21021027e+02] [-1.40198019e-03 9.99995070e-01 2.80970594e-03 -6.18349968e+00] [ 1.24771723e-02 -2.79199729e-03 9.99918259e-01 -1.65669146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89864 meters Centerline goodness : 0.071643 Centerline is valid? [False, False] Translation: X:421.02, Y:-6.18, Z:-0.17 [[ 9.99918961e-01 1.55090220e-03 -1.26359183e-02 4.21021450e+02] [-1.51650949e-03 9.99995121e-01 2.73094893e-03 -6.18257216e+00] [ 1.26400921e-02 -2.71156513e-03 9.99916434e-01 -1.66563324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters Centerline goodness : 0.076890 Centerline is valid? [False, False] Translation: X:421.01, Y:-6.18, Z:-0.16 [[ 9.99937381e-01 1.95497511e-03 -1.10187395e-02 4.21010837e+02] [-1.92568813e-03 9.99994587e-01 2.66790781e-03 -6.18009567e+00] [ 1.10238955e-02 -2.64652209e-03 9.99935733e-01 -1.56445602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95864 meters Centerline goodness : 0.434648 Centerline is valid? [False, False] Translation: X:421.03, Y:-6.18, Z:-0.15 [[ 9.99911730e-01 -6.15823048e-03 -1.17732308e-02 4.21031500e+02] [ 6.20511734e-03 9.99972946e-01 3.95012530e-03 -6.18182745e+00] [ 1.17485865e-02 -4.02283090e-03 9.99922891e-01 -1.52285842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters Centerline goodness : 0.432789 Centerline is valid? [False, False] Translation: X:421.04, Y:-6.18, Z:-0.16 [[ 9.99889146e-01 -6.26119524e-03 -1.35089671e-02 4.21042372e+02] [ 6.30911879e-03 9.99973945e-01 3.50784021e-03 -6.18011696e+00] [ 1.34866518e-02 -3.59268103e-03 9.99902597e-01 -1.62991261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01864 meters Centerline goodness : 0.419981 Centerline is valid? [False, False] Translation: X:421.05, Y:-6.18, Z:-0.17 [[ 9.99863963e-01 -6.21130448e-03 -1.52799193e-02 4.21052606e+02] [ 6.26426637e-03 9.99974529e-01 3.42069399e-03 -6.17927022e+00] [ 1.52582831e-02 -3.51594614e-03 9.99877404e-01 -1.72534644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9065.92 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%| | 0/14439 [00:00